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index 0000000000000000000000000000000000000000..782ea78158be33c7ad28314a9919338c4e303457
--- /dev/null
+++ b/0005/sam6d_scene/visualizations/colors.json
@@ -0,0 +1,34 @@
+{
+  "1": {
+    "instance_name": "Pliers_001",
+    "rgb": [
+      255,
+      31,
+      31
+    ]
+  },
+  "2": {
+    "instance_name": "Pliers_002",
+    "rgb": [
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+      255
+    ]
+  },
+  "3": {
+    "instance_name": "Rachet_001",
+    "rgb": [
+      162,
+      255,
+      31
+    ]
+  },
+  "4": {
+    "instance_name": "Screwdriver_001",
+    "rgb": [
+      255,
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+      227
+    ]
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+}
diff --git a/0005/sam6d_sequences/Pliers/Pliers_world_pose.json b/0005/sam6d_sequences/Pliers/Pliers_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..6970f864834e4e04b53f1863e1d81aa878cea4c3
--- /dev/null
+++ b/0005/sam6d_sequences/Pliers/Pliers_world_pose.json
@@ -0,0 +1,2080 @@
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diff --git a/0005/sam6d_sequences/Rachet/Rachet_world_pose.json b/0005/sam6d_sequences/Rachet/Rachet_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..e502d9102d4f1d86e32ee22097aca9e6ced3812a
--- /dev/null
+++ b/0005/sam6d_sequences/Rachet/Rachet_world_pose.json
@@ -0,0 +1,469 @@
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diff --git a/0005/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0005/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f2a5d37c7935c692c393040d4f4d3d17d373b2f
--- /dev/null
+++ b/0005/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,977 @@
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+          "selected_orientation_inlier": true,
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+          "rotation_error_deg": 2.105887590007866
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+          "rotation_error_deg": 35.68618833206325
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+          "rotation_error_deg": 10.40899215503085
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+          "rotation_error_deg": 13.88879144997899
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0013747184090808842,
+          "rotation_error_deg": 2.6512563472548734
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+          "translation_error_m": 0.002382390715541141,
+          "rotation_error_deg": 21.6695768906749
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+          "translation_error_m": 0.0038218177736614916,
+          "rotation_error_deg": 14.117650440209216
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+        {
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+        {
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+        {
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+          "translation_error_m": 0.0012509874921148346,
+          "rotation_error_deg": 14.336932602879061
+        }
+      ],
+      "silhouette_iou_median": 0.8356652929661613,
+      "silhouette_iou_frames": 40
+    }
+  ],
+  "R": [
+    [
+      0.09022916381558305,
+      0.9945947003840253,
+      -0.05138170846860016
+    ],
+    [
+      -0.9341208914772924,
+      0.06662635236758246,
+      -0.35068374538301567
+    ],
+    [
+      -0.34536481885509085,
+      0.07963862842994146,
+      0.9350833282435254
+    ]
+  ],
+  "quaternion_xyzw": [
+    0.148761119924256,
+    0.10162905626403597,
+    -0.6667510427551576,
+    0.72317681870112
+  ],
+  "translation": [
+    -0.029613943606201704,
+    0.20509436257282518,
+    0.2567328844911036
+  ],
+  "world_from_object": [
+    [
+      0.09022916381558305,
+      0.9945947003840253,
+      -0.05138170846860016,
+      -0.029613943606201704
+    ],
+    [
+      -0.9341208914772924,
+      0.06662635236758246,
+      -0.35068374538301567,
+      0.20509436257282518
+    ],
+    [
+      -0.34536481885509085,
+      0.07963862842994146,
+      0.9350833282435254,
+      0.2567328844911036
+    ],
+    [
+      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": 5,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 48,
+    "number_of_candidate_observations": 48,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 2,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 34,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 41,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 61,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 63,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 74,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 78,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 85,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 89,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 90,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 144,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 150,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 195,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 197,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 199,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0005/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0005/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0005/reconstruction/metric_alignment"
+  }
+}
diff --git a/0005/sam6d_sequences/ransac_run_summary.json b/0005/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f216a70f3a2b84f54b2f60fa908c2a773185c10f
--- /dev/null
+++ b/0005/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 f1902c76f2e169d1976a19ad99f2bcd7007e6f17..86c5355a46b17fb4f111211f10e02e6baf562950 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0004/`
+- Directory: `0005/`
 - RGB-D frames: 250
-- Annotated object instances: 3
+- Annotated object instances: 4
 - Selected upload files: 1535
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0004/sam6d_scene/annotations.json` and
-`0004/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0005/sam6d_scene/annotations.json` and
+`0005/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations