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diff --git a/0007/sam6d_sequences/Rachet/Rachet_world_pose.json b/0007/sam6d_sequences/Rachet/Rachet_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1063c25af3b1d48d0021d989d91b9b758edf17
--- /dev/null
+++ b/0007/sam6d_sequences/Rachet/Rachet_world_pose.json
@@ -0,0 +1,528 @@
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+    "colmap_reconstruction": "/workspace/data/0007/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0007/reconstruction/metric_alignment"
+  }
+}
diff --git a/0007/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0007/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f79a74b2f332396079868baddd417f065a5f19f
--- /dev/null
+++ b/0007/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,877 @@
+{
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+      "silhouette_iou_median": 0.8715968847766757,
+      "silhouette_iou_frames": 39
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+  ],
+  "R": [
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+    [
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+      0.12819153537475808
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+    [
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+      -0.6282910833420812
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+  ],
+  "quaternion_xyzw": [
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+    -0.08097902488377363,
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+  "world_from_object": [
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+    "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": 5,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 44,
+    "number_of_candidate_observations": 45,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 6,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 18,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 20,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 22,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 23,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 25,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 72,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 73,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 76,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 83,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 86,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 91,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 107,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 140,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 209,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 218,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 219,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 221,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 222,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0007/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0007/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0007/reconstruction/metric_alignment"
+  }
+}
diff --git a/0007/sam6d_sequences/ransac_run_summary.json b/0007/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f216a70f3a2b84f54b2f60fa908c2a773185c10f
--- /dev/null
+++ b/0007/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,21 @@
+{
+  "format": "label_factory_multi_instance_pose_fitting_summary_v1",
+  "objects_requested": [
+    "Pliers",
+    "Rachet",
+    "Screwdriver"
+  ],
+  "found_objects": {
+    "Pliers": 2,
+    "Rachet": 1,
+    "Screwdriver": 1
+  },
+  "non_found_objects": [],
+  "objects_succeeded": [
+    "Pliers",
+    "Rachet",
+    "Screwdriver"
+  ],
+  "low_support_objects": [],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index 9efc5ed72d6a13c1f9e6f54ba0a1b4ffe389f884..e391eddf7f76de15599980535150ba83a3ea0030 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0006/`
+- Directory: `0007/`
 - RGB-D frames: 250
 - Annotated object instances: 4
-- Selected upload files: 1535
+- Selected upload files: 1538
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0006/sam6d_scene/annotations.json` and
-`0006/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0007/sam6d_scene/annotations.json` and
+`0007/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations