Particles to usd_point_instancer (Maya)

Hello all, I’m trying to find a way with MayaUSD / Bifrost to load a particleShape from disk (non-animated, but with per-particle translation and rotation data), then use it to drive a usd_point_instancer. The goal of this is to convert a large number of purposely positioned geometric instances to point instances (e.g., a very large number of cars in a parking lot). I’m not interested in randomly positioned / rotated particles, but rather in a purposely created set of points - derived from layout.

I have a script to convert objects to particles, and ArnoldUSD does a good job of exporting Maya particles to usd points, but I can’t find a way to drive a point_instancer with it yet (very new to MayaUSD + Bifrost).