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diff --git a/0004/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0004/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2740f67c17ee3a79b4ce7ca2083fcd15df1825
--- /dev/null
+++ b/0004/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,1057 @@
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+      "silhouette_iou_median": 0.8815741555708236,
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+  ],
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+  ],
+  "ransac": {
+    "estimation_mode": "position_then_orientation",
+    "translation_threshold_m": 0.005,
+    "rotation_threshold_deg": 5.0,
+    "maximum_rotation_threshold_deg": 30.0,
+    "minimum_score": 0.0,
+    "symmetry_mode": "auto",
+    "symmetry_tolerance_fraction": 0.01,
+    "number_of_rotational_symmetries": 4,
+    "maximum_instances": 0,
+    "minimum_instance_frame_fraction": 0.05,
+    "low_support_fallback_used": false,
+    "min_silhouette_iou": 0.7,
+    "automatic_support_threshold_frames": 7,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 51,
+    "number_of_candidate_observations": 57,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 6,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 99,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 145,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 149,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 152,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 156,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 159,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 160,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 207,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 209,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 212,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 220,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 222,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 225,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0004/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0004/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0004/reconstruction/metric_alignment"
+  }
+}
diff --git a/0004/sam6d_sequences/ransac_run_summary.json b/0004/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..19963bc0e92417bf9e4271217e9717a3b7e0d676
--- /dev/null
+++ b/0004/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,15 @@
+{
+  "format": "label_factory_multi_instance_pose_fitting_summary_v1",
+  "objects_requested": [
+    "Pliers"
+  ],
+  "found_objects": {
+    "Pliers": 1
+  },
+  "non_found_objects": [],
+  "objects_succeeded": [
+    "Pliers"
+  ],
+  "low_support_objects": [],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index 7d6165a1ba2519c11f88d8b25a16649b6db07071..f1902c76f2e169d1976a19ad99f2bcd7007e6f17 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0003/`
+- Directory: `0004/`
 - RGB-D frames: 250
-- Annotated object instances: 4
+- Annotated object instances: 3
 - Selected upload files: 1535
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0003/sam6d_scene/annotations.json` and
-`0003/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0004/sam6d_scene/annotations.json` and
+`0004/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations