diff --git a/README.md b/README.md
index dd89225f991517b0d7bd45b33a6dd4f949d906d6..0f98c6bbd99d83454000fa1a7054495ea83f9b90 100644
--- a/README.md
+++ b/README.md
@@ -70,6 +70,24 @@ Yonder is rendered from a single open-source 3D scene dataset:
 > fully-experiment-relevant artifact. **Yonder ships its own rendered observations only —
 > no upstream meshes are redistributed.**
 
+## Preview gallery
+
+A curated frame from each of the **227 scenes** (167 HSSD-derived
+indoor + 60 Isaac-sim-native). Frames are picked from each scene's actual NPZ drone
+trajectory by an edge-density + spatial-variance scoring heuristic over 10 waypoints × 12
+yaws of candidate frames per scene. **Full gallery:** [`previews/INDEX.md`](previews/INDEX.md).
+
+| | | | |
+|---|---|---|---|
+| ![hssd-102817053](previews/augmented/hssd-102817053.jpg) | ![hssd-105515151_173104068](previews/augmented/hssd-105515151_173104068.jpg) | ![hssd-107734119_175999932](previews/augmented/hssd-107734119_175999932.jpg) | ![hssd-107734146_175999971](previews/augmented/hssd-107734146_175999971.jpg) |
+| `hssd-102817053` | `hssd-105515151_173104068` | `hssd-107734119_175999932` | `hssd-107734146_175999971` |
+| ![hssd-108736872_177263607](previews/augmented/hssd-108736872_177263607.jpg) | ![hssd-102816729](previews/augmented/hssd-102816729.jpg) | ![hssd-104348133_171513054](previews/augmented/hssd-104348133_171513054.jpg) | ![hssd-108294870_176710551](previews/augmented/hssd-108294870_176710551.jpg) |
+| `hssd-108736872_177263607` | `hssd-102816729` | `hssd-104348133_171513054` | `hssd-108294870_176710551` |
+| ![hssd-108736722_177263382](previews/augmented/hssd-108736722_177263382.jpg) | ![hssd-108294465_176709960](previews/augmented/hssd-108294465_176709960.jpg) | ![hssd-106366323_174226647](previews/augmented/hssd-106366323_174226647.jpg) | ![hssd-108294624_176710203](previews/augmented/hssd-108294624_176710203.jpg) |
+| `hssd-108736722_177263382` | `hssd-108294465_176709960` | `hssd-106366323_174226647` | `hssd-108294624_176710203` |
+| ![warehouse_v00](previews/isaac-sim-native/warehouse_v00.jpg) | ![hospital_v00](previews/isaac-sim-native/hospital_v00.jpg) | ![rivermark_v00](previews/isaac-sim-native/rivermark_v00.jpg) | ![office_v00](previews/isaac-sim-native/office_v00.jpg) |
+| `warehouse_v00` | `hospital_v00` | `rivermark_v00` | `office_v00` |
+
 ## License
 
 - **Dataset (this repo):** [CC-BY-NC-4.0](https://creativecommons.org/licenses/by-nc/4.0/)
diff --git a/previews/INDEX.md b/previews/INDEX.md
new file mode 100644
index 0000000000000000000000000000000000000000..8d2a5166bccd6f380c34aec14a04855c582fbd46
--- /dev/null
+++ b/previews/INDEX.md
@@ -0,0 +1,129 @@
+# Yonder preview gallery
+
+Curated frames from each scene's drone trajectory. Frames are picked from the actual
+NPZ recordings (10 waypoints × 12 yaws candidates) and scored on edge density,
+spatial variance, and balanced top/bottom luminance.
+
+## Augmented (HSSD-derived) — 167 scenes
+
+|   |   |   |   |
+|---|---|---|---|
+| ![hssd-102343992](augmented/hssd-102343992.jpg) | ![hssd-102344022](augmented/hssd-102344022.jpg) | ![hssd-102344049](augmented/hssd-102344049.jpg) | ![hssd-102344094](augmented/hssd-102344094.jpg) |
+| `hssd-102343992` | `hssd-102344022` | `hssd-102344049` | `hssd-102344094` |
+| ![hssd-102344115](augmented/hssd-102344115.jpg) | ![hssd-102344193](augmented/hssd-102344193.jpg) | ![hssd-102344250](augmented/hssd-102344250.jpg) | ![hssd-102344280](augmented/hssd-102344280.jpg) |
+| `hssd-102344115` | `hssd-102344193` | `hssd-102344250` | `hssd-102344280` |
+| ![hssd-102344307](augmented/hssd-102344307.jpg) | ![hssd-102344328](augmented/hssd-102344328.jpg) | ![hssd-102344403](augmented/hssd-102344403.jpg) | ![hssd-102344439](augmented/hssd-102344439.jpg) |
+| `hssd-102344307` | `hssd-102344328` | `hssd-102344403` | `hssd-102344439` |
+| ![hssd-102344457](augmented/hssd-102344457.jpg) | ![hssd-102344469](augmented/hssd-102344469.jpg) | ![hssd-102344529](augmented/hssd-102344529.jpg) | ![hssd-102815835](augmented/hssd-102815835.jpg) |
+| `hssd-102344457` | `hssd-102344469` | `hssd-102344529` | `hssd-102815835` |
+| ![hssd-102815859](augmented/hssd-102815859.jpg) | ![hssd-102816009](augmented/hssd-102816009.jpg) | ![hssd-102816036](augmented/hssd-102816036.jpg) | ![hssd-102816051](augmented/hssd-102816051.jpg) |
+| `hssd-102815859` | `hssd-102816009` | `hssd-102816036` | `hssd-102816051` |
+| ![hssd-102816066](augmented/hssd-102816066.jpg) | ![hssd-102816114](augmented/hssd-102816114.jpg) | ![hssd-102816216](augmented/hssd-102816216.jpg) | ![hssd-102816600](augmented/hssd-102816600.jpg) |
+| `hssd-102816066` | `hssd-102816114` | `hssd-102816216` | `hssd-102816600` |
+| ![hssd-102816615](augmented/hssd-102816615.jpg) | ![hssd-102816627](augmented/hssd-102816627.jpg) | ![hssd-102816729](augmented/hssd-102816729.jpg) | ![hssd-102816756](augmented/hssd-102816756.jpg) |
+| `hssd-102816615` | `hssd-102816627` | `hssd-102816729` | `hssd-102816756` |
+| ![hssd-102816786](augmented/hssd-102816786.jpg) | ![hssd-102816852](augmented/hssd-102816852.jpg) | ![hssd-102817053](augmented/hssd-102817053.jpg) | ![hssd-102817140](augmented/hssd-102817140.jpg) |
+| `hssd-102816786` | `hssd-102816852` | `hssd-102817053` | `hssd-102817140` |
+| ![hssd-102817200](augmented/hssd-102817200.jpg) | ![hssd-103997403_171030405](augmented/hssd-103997403_171030405.jpg) | ![hssd-103997424_171030444](augmented/hssd-103997424_171030444.jpg) | ![hssd-103997445_171030492](augmented/hssd-103997445_171030492.jpg) |
+| `hssd-102817200` | `hssd-103997403_171030405` | `hssd-103997424_171030444` | `hssd-103997445_171030492` |
+| ![hssd-103997460_171030507](augmented/hssd-103997460_171030507.jpg) | ![hssd-103997478_171030525](augmented/hssd-103997478_171030525.jpg) | ![hssd-103997478_171030528](augmented/hssd-103997478_171030528.jpg) | ![hssd-103997541_171030615](augmented/hssd-103997541_171030615.jpg) |
+| `hssd-103997460_171030507` | `hssd-103997478_171030525` | `hssd-103997478_171030528` | `hssd-103997541_171030615` |
+| ![hssd-103997562_171030642](augmented/hssd-103997562_171030642.jpg) | ![hssd-103997586_171030666](augmented/hssd-103997586_171030666.jpg) | ![hssd-103997586_171030669](augmented/hssd-103997586_171030669.jpg) | ![hssd-103997613_171030702](augmented/hssd-103997613_171030702.jpg) |
+| `hssd-103997562_171030642` | `hssd-103997586_171030666` | `hssd-103997586_171030669` | `hssd-103997613_171030702` |
+| ![hssd-103997643_171030747](augmented/hssd-103997643_171030747.jpg) | ![hssd-103997718_171030855](augmented/hssd-103997718_171030855.jpg) | ![hssd-103997781_171030978](augmented/hssd-103997781_171030978.jpg) | ![hssd-103997799_171031002](augmented/hssd-103997799_171031002.jpg) |
+| `hssd-103997643_171030747` | `hssd-103997718_171030855` | `hssd-103997781_171030978` | `hssd-103997799_171031002` |
+| ![hssd-103997895_171031182](augmented/hssd-103997895_171031182.jpg) | ![hssd-103997919_171031233](augmented/hssd-103997919_171031233.jpg) | ![hssd-103997940_171031257](augmented/hssd-103997940_171031257.jpg) | ![hssd-103997970_171031287](augmented/hssd-103997970_171031287.jpg) |
+| `hssd-103997895_171031182` | `hssd-103997919_171031233` | `hssd-103997940_171031257` | `hssd-103997970_171031287` |
+| ![hssd-103997994_171031320](augmented/hssd-103997994_171031320.jpg) | ![hssd-104348010_171512832](augmented/hssd-104348010_171512832.jpg) | ![hssd-104348028_171512877](augmented/hssd-104348028_171512877.jpg) | ![hssd-104348037_171512898](augmented/hssd-104348037_171512898.jpg) |
+| `hssd-103997994_171031320` | `hssd-104348010_171512832` | `hssd-104348028_171512877` | `hssd-104348037_171512898` |
+| ![hssd-104348082_171512994](augmented/hssd-104348082_171512994.jpg) | ![hssd-104348133_171513054](augmented/hssd-104348133_171513054.jpg) | ![hssd-104348160_171513093](augmented/hssd-104348160_171513093.jpg) | ![hssd-104348181_171513120](augmented/hssd-104348181_171513120.jpg) |
+| `hssd-104348082_171512994` | `hssd-104348133_171513054` | `hssd-104348160_171513093` | `hssd-104348181_171513120` |
+| ![hssd-104348202_171513150](augmented/hssd-104348202_171513150.jpg) | ![hssd-104348253_171513237](augmented/hssd-104348253_171513237.jpg) | ![hssd-104348328_171513363](augmented/hssd-104348328_171513363.jpg) | ![hssd-104348361_171513414](augmented/hssd-104348361_171513414.jpg) |
+| `hssd-104348202_171513150` | `hssd-104348253_171513237` | `hssd-104348328_171513363` | `hssd-104348361_171513414` |
+| ![hssd-104348394_171513453](augmented/hssd-104348394_171513453.jpg) | ![hssd-104348463_171513588](augmented/hssd-104348463_171513588.jpg) | ![hssd-104348511_171513654](augmented/hssd-104348511_171513654.jpg) | ![hssd-104862384_172226319](augmented/hssd-104862384_172226319.jpg) |
+| `hssd-104348394_171513453` | `hssd-104348463_171513588` | `hssd-104348511_171513654` | `hssd-104862384_172226319` |
+| ![hssd-104862396_172226349](augmented/hssd-104862396_172226349.jpg) | ![hssd-104862417_172226382](augmented/hssd-104862417_172226382.jpg) | ![hssd-104862501_172226556](augmented/hssd-104862501_172226556.jpg) | ![hssd-104862513_172226580](augmented/hssd-104862513_172226580.jpg) |
+| `hssd-104862396_172226349` | `hssd-104862417_172226382` | `hssd-104862501_172226556` | `hssd-104862513_172226580` |
+| ![hssd-104862534_172226625](augmented/hssd-104862534_172226625.jpg) | ![hssd-104862558_172226664](augmented/hssd-104862558_172226664.jpg) | ![hssd-104862573_172226682](augmented/hssd-104862573_172226682.jpg) | ![hssd-104862621_172226772](augmented/hssd-104862621_172226772.jpg) |
+| `hssd-104862534_172226625` | `hssd-104862558_172226664` | `hssd-104862573_172226682` | `hssd-104862621_172226772` |
+| ![hssd-104862639_172226823](augmented/hssd-104862639_172226823.jpg) | ![hssd-104862660_172226844](augmented/hssd-104862660_172226844.jpg) | ![hssd-104862669_172226853](augmented/hssd-104862669_172226853.jpg) | ![hssd-104862681_172226874](augmented/hssd-104862681_172226874.jpg) |
+| `hssd-104862639_172226823` | `hssd-104862660_172226844` | `hssd-104862669_172226853` | `hssd-104862681_172226874` |
+| ![hssd-104862687_172226883](augmented/hssd-104862687_172226883.jpg) | ![hssd-105515151_173104068](augmented/hssd-105515151_173104068.jpg) | ![hssd-105515160_173104077](augmented/hssd-105515160_173104077.jpg) | ![hssd-105515175_173104107](augmented/hssd-105515175_173104107.jpg) |
+| `hssd-104862687_172226883` | `hssd-105515151_173104068` | `hssd-105515160_173104077` | `hssd-105515175_173104107` |
+| ![hssd-105515184_173104128](augmented/hssd-105515184_173104128.jpg) | ![hssd-105515211_173104179](augmented/hssd-105515211_173104179.jpg) | ![hssd-105515211_173104185](augmented/hssd-105515211_173104185.jpg) | ![hssd-105515235_173104215](augmented/hssd-105515235_173104215.jpg) |
+| `hssd-105515184_173104128` | `hssd-105515211_173104179` | `hssd-105515211_173104185` | `hssd-105515235_173104215` |
+| ![hssd-105515286_173104287](augmented/hssd-105515286_173104287.jpg) | ![hssd-105515301_173104305](augmented/hssd-105515301_173104305.jpg) | ![hssd-105515307_173104317](augmented/hssd-105515307_173104317.jpg) | ![hssd-105515337_173104347](augmented/hssd-105515337_173104347.jpg) |
+| `hssd-105515286_173104287` | `hssd-105515301_173104305` | `hssd-105515307_173104317` | `hssd-105515337_173104347` |
+| ![hssd-105515379_173104395](augmented/hssd-105515379_173104395.jpg) | ![hssd-105515403_173104449](augmented/hssd-105515403_173104449.jpg) | ![hssd-105515430_173104494](augmented/hssd-105515430_173104494.jpg) | ![hssd-105515448_173104512](augmented/hssd-105515448_173104512.jpg) |
+| `hssd-105515379_173104395` | `hssd-105515403_173104449` | `hssd-105515430_173104494` | `hssd-105515448_173104512` |
+| ![hssd-105515490_173104566](augmented/hssd-105515490_173104566.jpg) | ![hssd-105515505_173104584](augmented/hssd-105515505_173104584.jpg) | ![hssd-105515541_173104641](augmented/hssd-105515541_173104641.jpg) | ![hssd-106365897_174225972](augmented/hssd-106365897_174225972.jpg) |
+| `hssd-105515490_173104566` | `hssd-105515505_173104584` | `hssd-105515541_173104641` | `hssd-106365897_174225972` |
+| ![hssd-106366104_174226329](augmented/hssd-106366104_174226329.jpg) | ![hssd-106366104_174226332](augmented/hssd-106366104_174226332.jpg) | ![hssd-106366134_174226362](augmented/hssd-106366134_174226362.jpg) | ![hssd-106366173_174226431](augmented/hssd-106366173_174226431.jpg) |
+| `hssd-106366104_174226329` | `hssd-106366104_174226332` | `hssd-106366134_174226362` | `hssd-106366173_174226431` |
+| ![hssd-106366248_174226527](augmented/hssd-106366248_174226527.jpg) | ![hssd-106366263_174226557](augmented/hssd-106366263_174226557.jpg) | ![hssd-106366302_174226617](augmented/hssd-106366302_174226617.jpg) | ![hssd-106366323_174226647](augmented/hssd-106366323_174226647.jpg) |
+| `hssd-106366248_174226527` | `hssd-106366263_174226557` | `hssd-106366302_174226617` | `hssd-106366323_174226647` |
+| ![hssd-106366353_174226695](augmented/hssd-106366353_174226695.jpg) | ![hssd-106366371_174226743](augmented/hssd-106366371_174226743.jpg) | ![hssd-106366386_174226770](augmented/hssd-106366386_174226770.jpg) | ![hssd-106366410_174226806](augmented/hssd-106366410_174226806.jpg) |
+| `hssd-106366353_174226695` | `hssd-106366371_174226743` | `hssd-106366386_174226770` | `hssd-106366410_174226806` |
+| ![hssd-106366434_174226881](augmented/hssd-106366434_174226881.jpg) | ![hssd-106878858_174886965](augmented/hssd-106878858_174886965.jpg) | ![hssd-106878867_174886977](augmented/hssd-106878867_174886977.jpg) | ![hssd-106878915_174887025](augmented/hssd-106878915_174887025.jpg) |
+| `hssd-106366434_174226881` | `hssd-106878858_174886965` | `hssd-106878867_174886977` | `hssd-106878915_174887025` |
+| ![hssd-106878945_174887058](augmented/hssd-106878945_174887058.jpg) | ![hssd-106878960_174887073](augmented/hssd-106878960_174887073.jpg) | ![hssd-106879005_174887124](augmented/hssd-106879005_174887124.jpg) | ![hssd-106879023_174887148](augmented/hssd-106879023_174887148.jpg) |
+| `hssd-106878945_174887058` | `hssd-106878960_174887073` | `hssd-106879005_174887124` | `hssd-106879023_174887148` |
+| ![hssd-106879044_174887172](augmented/hssd-106879044_174887172.jpg) | ![hssd-106879080_174887211](augmented/hssd-106879080_174887211.jpg) | ![hssd-107733912_175999623](augmented/hssd-107733912_175999623.jpg) | ![hssd-107733960_175999701](augmented/hssd-107733960_175999701.jpg) |
+| `hssd-106879044_174887172` | `hssd-106879080_174887211` | `hssd-107733912_175999623` | `hssd-107733960_175999701` |
+| ![hssd-107734017_175999794](augmented/hssd-107734017_175999794.jpg) | ![hssd-107734056_175999839](augmented/hssd-107734056_175999839.jpg) | ![hssd-107734080_175999881](augmented/hssd-107734080_175999881.jpg) | ![hssd-107734110_175999914](augmented/hssd-107734110_175999914.jpg) |
+| `hssd-107734017_175999794` | `hssd-107734056_175999839` | `hssd-107734080_175999881` | `hssd-107734110_175999914` |
+| ![hssd-107734119_175999932](augmented/hssd-107734119_175999932.jpg) | ![hssd-107734119_175999935](augmented/hssd-107734119_175999935.jpg) | ![hssd-107734119_175999938](augmented/hssd-107734119_175999938.jpg) | ![hssd-107734146_175999971](augmented/hssd-107734146_175999971.jpg) |
+| `hssd-107734119_175999932` | `hssd-107734119_175999935` | `hssd-107734119_175999938` | `hssd-107734146_175999971` |
+| ![hssd-107734158_175999998](augmented/hssd-107734158_175999998.jpg) | ![hssd-107734176_176000019](augmented/hssd-107734176_176000019.jpg) | ![hssd-107734188_176000034](augmented/hssd-107734188_176000034.jpg) | ![hssd-107734227_176000091](augmented/hssd-107734227_176000091.jpg) |
+| `hssd-107734158_175999998` | `hssd-107734176_176000019` | `hssd-107734188_176000034` | `hssd-107734227_176000091` |
+| ![hssd-107734254_176000121](augmented/hssd-107734254_176000121.jpg) | ![hssd-107734287_176000160](augmented/hssd-107734287_176000160.jpg) | ![hssd-107734338_176000244](augmented/hssd-107734338_176000244.jpg) | ![hssd-107734449_176000403](augmented/hssd-107734449_176000403.jpg) |
+| `hssd-107734254_176000121` | `hssd-107734287_176000160` | `hssd-107734338_176000244` | `hssd-107734449_176000403` |
+| ![hssd-107734479_176000442](augmented/hssd-107734479_176000442.jpg) | ![hssd-108294417_176709879](augmented/hssd-108294417_176709879.jpg) | ![hssd-108294465_176709960](augmented/hssd-108294465_176709960.jpg) | ![hssd-108294537_176710050](augmented/hssd-108294537_176710050.jpg) |
+| `hssd-107734479_176000442` | `hssd-108294417_176709879` | `hssd-108294465_176709960` | `hssd-108294537_176710050` |
+| ![hssd-108294558_176710095](augmented/hssd-108294558_176710095.jpg) | ![hssd-108294573_176710113](augmented/hssd-108294573_176710113.jpg) | ![hssd-108294624_176710203](augmented/hssd-108294624_176710203.jpg) | ![hssd-108294684_176710278](augmented/hssd-108294684_176710278.jpg) |
+| `hssd-108294558_176710095` | `hssd-108294573_176710113` | `hssd-108294624_176710203` | `hssd-108294684_176710278` |
+| ![hssd-108294765_176710386](augmented/hssd-108294765_176710386.jpg) | ![hssd-108294783_176710410](augmented/hssd-108294783_176710410.jpg) | ![hssd-108294798_176710428](augmented/hssd-108294798_176710428.jpg) | ![hssd-108294816_176710461](augmented/hssd-108294816_176710461.jpg) |
+| `hssd-108294765_176710386` | `hssd-108294783_176710410` | `hssd-108294798_176710428` | `hssd-108294816_176710461` |
+| ![hssd-108294846_176710506](augmented/hssd-108294846_176710506.jpg) | ![hssd-108294870_176710551](augmented/hssd-108294870_176710551.jpg) | ![hssd-108294897_176710602](augmented/hssd-108294897_176710602.jpg) | ![hssd-108294939_176710668](augmented/hssd-108294939_176710668.jpg) |
+| `hssd-108294846_176710506` | `hssd-108294870_176710551` | `hssd-108294897_176710602` | `hssd-108294939_176710668` |
+| ![hssd-108736635_177263256](augmented/hssd-108736635_177263256.jpg) | ![hssd-108736656_177263304](augmented/hssd-108736656_177263304.jpg) | ![hssd-108736689_177263340](augmented/hssd-108736689_177263340.jpg) | ![hssd-108736722_177263382](augmented/hssd-108736722_177263382.jpg) |
+| `hssd-108736635_177263256` | `hssd-108736656_177263304` | `hssd-108736689_177263340` | `hssd-108736722_177263382` |
+| ![hssd-108736737_177263406](augmented/hssd-108736737_177263406.jpg) | ![hssd-108736779_177263484](augmented/hssd-108736779_177263484.jpg) | ![hssd-108736800_177263517](augmented/hssd-108736800_177263517.jpg) | ![hssd-108736824_177263559](augmented/hssd-108736824_177263559.jpg) |
+| `hssd-108736737_177263406` | `hssd-108736779_177263484` | `hssd-108736800_177263517` | `hssd-108736824_177263559` |
+| ![hssd-108736851_177263586](augmented/hssd-108736851_177263586.jpg) | ![hssd-108736872_177263607](augmented/hssd-108736872_177263607.jpg) | ![hssd-108736884_177263634](augmented/hssd-108736884_177263634.jpg) |
+| `hssd-108736851_177263586` | `hssd-108736872_177263607` | `hssd-108736884_177263634` |
+
+## Isaac-sim-native — 60 scenes
+
+|   |   |   |   |
+|---|---|---|---|
+| ![cdn_warehouse_v00](isaac-sim-native/cdn_warehouse_v00.jpg) | ![hospital_v00](isaac-sim-native/hospital_v00.jpg) | ![hospital_v01](isaac-sim-native/hospital_v01.jpg) | ![hospital_v02](isaac-sim-native/hospital_v02.jpg) |
+| `cdn_warehouse_v00` | `hospital_v00` | `hospital_v01` | `hospital_v02` |
+| ![hospital_v03](isaac-sim-native/hospital_v03.jpg) | ![hospital_v04](isaac-sim-native/hospital_v04.jpg) | ![hospital_v05](isaac-sim-native/hospital_v05.jpg) | ![hospital_v06](isaac-sim-native/hospital_v06.jpg) |
+| `hospital_v03` | `hospital_v04` | `hospital_v05` | `hospital_v06` |
+| ![hospital_v07](isaac-sim-native/hospital_v07.jpg) | ![hospital_v08](isaac-sim-native/hospital_v08.jpg) | ![hospital_v09](isaac-sim-native/hospital_v09.jpg) | ![office_v00](isaac-sim-native/office_v00.jpg) |
+| `hospital_v07` | `hospital_v08` | `hospital_v09` | `office_v00` |
+| ![office_v01](isaac-sim-native/office_v01.jpg) | ![office_v02](isaac-sim-native/office_v02.jpg) | ![office_v03](isaac-sim-native/office_v03.jpg) | ![office_v04](isaac-sim-native/office_v04.jpg) |
+| `office_v01` | `office_v02` | `office_v03` | `office_v04` |
+| ![office_v05](isaac-sim-native/office_v05.jpg) | ![office_v06](isaac-sim-native/office_v06.jpg) | ![office_v07](isaac-sim-native/office_v07.jpg) | ![office_v08](isaac-sim-native/office_v08.jpg) |
+| `office_v05` | `office_v06` | `office_v07` | `office_v08` |
+| ![office_v09](isaac-sim-native/office_v09.jpg) | ![rivermark_v00](isaac-sim-native/rivermark_v00.jpg) | ![rivermark_v01](isaac-sim-native/rivermark_v01.jpg) | ![rivermark_v02](isaac-sim-native/rivermark_v02.jpg) |
+| `office_v09` | `rivermark_v00` | `rivermark_v01` | `rivermark_v02` |
+| ![rivermark_v03](isaac-sim-native/rivermark_v03.jpg) | ![rivermark_v04](isaac-sim-native/rivermark_v04.jpg) | ![rivermark_v06](isaac-sim-native/rivermark_v06.jpg) | ![rivermark_v07](isaac-sim-native/rivermark_v07.jpg) |
+| `rivermark_v03` | `rivermark_v04` | `rivermark_v06` | `rivermark_v07` |
+| ![rivermark_v08](isaac-sim-native/rivermark_v08.jpg) | ![rivermark_v09](isaac-sim-native/rivermark_v09.jpg) | ![simple_room_v00](isaac-sim-native/simple_room_v00.jpg) | ![simple_room_v01](isaac-sim-native/simple_room_v01.jpg) |
+| `rivermark_v08` | `rivermark_v09` | `simple_room_v00` | `simple_room_v01` |
+| ![simple_room_v02](isaac-sim-native/simple_room_v02.jpg) | ![simple_room_v03](isaac-sim-native/simple_room_v03.jpg) | ![simple_room_v04](isaac-sim-native/simple_room_v04.jpg) | ![simple_room_v05](isaac-sim-native/simple_room_v05.jpg) |
+| `simple_room_v02` | `simple_room_v03` | `simple_room_v04` | `simple_room_v05` |
+| ![simple_room_v06](isaac-sim-native/simple_room_v06.jpg) | ![simple_room_v07](isaac-sim-native/simple_room_v07.jpg) | ![simple_room_v08](isaac-sim-native/simple_room_v08.jpg) | ![simple_room_v09](isaac-sim-native/simple_room_v09.jpg) |
+| `simple_room_v06` | `simple_room_v07` | `simple_room_v08` | `simple_room_v09` |
+| ![small_warehouse_v00](isaac-sim-native/small_warehouse_v00.jpg) | ![small_warehouse_v01](isaac-sim-native/small_warehouse_v01.jpg) | ![small_warehouse_v02](isaac-sim-native/small_warehouse_v02.jpg) | ![small_warehouse_v03](isaac-sim-native/small_warehouse_v03.jpg) |
+| `small_warehouse_v00` | `small_warehouse_v01` | `small_warehouse_v02` | `small_warehouse_v03` |
+| ![small_warehouse_v04](isaac-sim-native/small_warehouse_v04.jpg) | ![small_warehouse_v05](isaac-sim-native/small_warehouse_v05.jpg) | ![small_warehouse_v06](isaac-sim-native/small_warehouse_v06.jpg) | ![small_warehouse_v07](isaac-sim-native/small_warehouse_v07.jpg) |
+| `small_warehouse_v04` | `small_warehouse_v05` | `small_warehouse_v06` | `small_warehouse_v07` |
+| ![small_warehouse_v08](isaac-sim-native/small_warehouse_v08.jpg) | ![small_warehouse_v09](isaac-sim-native/small_warehouse_v09.jpg) | ![warehouse_v00](isaac-sim-native/warehouse_v00.jpg) | ![warehouse_v01](isaac-sim-native/warehouse_v01.jpg) |
+| `small_warehouse_v08` | `small_warehouse_v09` | `warehouse_v00` | `warehouse_v01` |
+| ![warehouse_v02](isaac-sim-native/warehouse_v02.jpg) | ![warehouse_v03](isaac-sim-native/warehouse_v03.jpg) | ![warehouse_v04](isaac-sim-native/warehouse_v04.jpg) | ![warehouse_v05](isaac-sim-native/warehouse_v05.jpg) |
+| `warehouse_v02` | `warehouse_v03` | `warehouse_v04` | `warehouse_v05` |
+| ![warehouse_v06](isaac-sim-native/warehouse_v06.jpg) | ![warehouse_v07](isaac-sim-native/warehouse_v07.jpg) | ![warehouse_v08](isaac-sim-native/warehouse_v08.jpg) | ![warehouse_v09](isaac-sim-native/warehouse_v09.jpg) |
+| `warehouse_v06` | `warehouse_v07` | `warehouse_v08` | `warehouse_v09` |
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