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diff --git a/0003/sam6d_sequences/Rachet/Rachet_world_pose.json b/0003/sam6d_sequences/Rachet/Rachet_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..04178d2335148a4b9b3cb4beb0923e1c447d603e
--- /dev/null
+++ b/0003/sam6d_sequences/Rachet/Rachet_world_pose.json
@@ -0,0 +1,429 @@
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diff --git a/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7bea63d78085fde584915553b69cca1c6259d1
--- /dev/null
+++ b/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,801 @@
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+      0.17072380403786497
+    ],
+    [
+      0.9734748204757495,
+      0.05822546984834187,
+      0.22126131284218573,
+      0.18343835497077168
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "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": 0.0,
+    "automatic_support_threshold_frames": 7,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 46,
+    "number_of_candidate_observations": 47,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 11,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 43,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 46,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 69,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 127,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 143,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 154,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 188,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 204,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 243,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 248,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 249,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0003/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0003/reconstruction/metric_alignment"
+  }
+}
diff --git a/0003/sam6d_sequences/ransac_run_summary.json b/0003/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc763af3fc845e5a0c294ebfe940bb9bd275555
--- /dev/null
+++ b/0003/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,23 @@
+{
+  "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": [
+    "Rachet"
+  ],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index c4a6008972bd70dcd3c3aed20a94ab01bac62e1e..7d6165a1ba2519c11f88d8b25a16649b6db07071 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0002/`
+- Directory: `0003/`
 - RGB-D frames: 250
 - Annotated object instances: 4
 - Selected upload files: 1535
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0002/sam6d_scene/annotations.json` and
-`0002/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0003/sam6d_scene/annotations.json` and
+`0003/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations