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+}
diff --git a/0001/sam6d_sequences/Rachet/Rachet_world_pose.json b/0001/sam6d_sequences/Rachet/Rachet_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..0535fb25c81e611b90493e9aa7c8188e3260632f
--- /dev/null
+++ b/0001/sam6d_sequences/Rachet/Rachet_world_pose.json
@@ -0,0 +1,526 @@
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diff --git a/0001/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0001/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda35bc29816e9f488995bda93831915b632f233
--- /dev/null
+++ b/0001/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,892 @@
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+        }
+      ],
+      "silhouette_iou_median": 0.8131849322053982,
+      "silhouette_iou_frames": 40
+    }
+  ],
+  "R": [
+    [
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+      -0.7520578202142584,
+      0.5915223991355638
+    ],
+    [
+      0.27342655424380913,
+      -0.5271443809792136,
+      -0.8045848128298211
+    ],
+    [
+      0.9169120094419487,
+      0.395635990092685,
+      0.05238826475946376
+    ]
+  ],
+  "quaternion_xyzw": [
+    0.6643535666081752,
+    -0.18011164913815325,
+    0.5676323889848112,
+    0.4516498681004212
+  ],
+  "translation": [
+    0.08754601090021788,
+    0.10761757679467297,
+    0.37085096098067905
+  ],
+  "world_from_object": [
+    [
+      0.29070652964026145,
+      -0.7520578202142584,
+      0.5915223991355638,
+      0.08754601090021788
+    ],
+    [
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+      -0.8045848128298211,
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+    ],
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+      0.37085096098067905
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+    [
+      0.0,
+      0.0,
+      0.0,
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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": 0.67,
+    "automatic_support_threshold_frames": 3,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 46,
+    "number_of_candidate_observations": 47,
+    "number_of_raw_pose_clusters": 4,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 0,
+    "rejected_pose_clusters": [
+      {
+        "number_of_inliers": 4,
+        "translation": [
+          0.09172194606221315,
+          0.10920801901036399,
+          0.3675468475700748
+        ],
+        "reason": "duplicate_position_cluster",
+        "duplicate_of": "Screwdriver_001"
+      },
+      {
+        "number_of_inliers": 2,
+        "translation": [
+          0.08446862424674798,
+          0.10245240253397264,
+          0.36976385706190396
+        ],
+        "reason": "insufficient_unique_frame_support"
+      },
+      {
+        "number_of_inliers": 1,
+        "translation": [
+          0.17722574375806088,
+          0.16990198738235213,
+          0.31454531526298135
+        ],
+        "reason": "insufficient_unique_frame_support"
+      }
+    ]
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 62,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 65,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 67,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 68,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 70,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 72,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 77,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 114,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 150,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 189,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0001/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0001/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0001/reconstruction/metric_alignment"
+  }
+}
diff --git a/0001/sam6d_sequences/ransac_run_summary.json b/0001/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f216a70f3a2b84f54b2f60fa908c2a773185c10f
--- /dev/null
+++ b/0001/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 6f94275057f54ddfe8e5b49b36ccaff31846dfdc..04d010b80006c6aa7635bb890677e1c412323963 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0000/`
+- Directory: `0001/`
 - 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 `0000/sam6d_scene/annotations.json` and
-`0000/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0001/sam6d_scene/annotations.json` and
+`0001/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations