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+    "colmap_reconstruction": "/workspace/data/0007_/reconstruction/sfm_filtered",
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+}
diff --git a/0007_/sam6d_sequences/Tube/Tube_world_pose.json b/0007_/sam6d_sequences/Tube/Tube_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..5644cc2485789718ac2c83f546561a1447daa186
--- /dev/null
+++ b/0007_/sam6d_sequences/Tube/Tube_world_pose.json
@@ -0,0 +1,818 @@
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+}
diff --git a/0007_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json b/0007_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6fdc2b4ab1ae809585df19b5dbca5f75e12e70
--- /dev/null
+++ b/0007_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,454 @@
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+    "rejected_pose_clusters": []
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+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0007_/experimental_multi_instance/pem/TubeHolder/TubeHolder_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/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0007_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ad9fe0b291175db1bec2b1f9afbe02974e419b
--- /dev/null
+++ b/0007_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
@@ -0,0 +1,457 @@
+{
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+      "silhouette_iou_median": 0.8997618481235159,
+      "silhouette_iou_frames": 16
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+  ],
+  "R": [
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+      0.927949421258067
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+    ],
+    [
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+      0.3581945166740973
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+  ],
+  "quaternion_xyzw": [
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+    -0.22920238914622373,
+    0.7857883034600155,
+    -0.2482619593946674
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+  "translation": [
+    -0.15530034629727787,
+    0.2116466181857654,
+    0.18491011099263702
+  ],
+  "world_from_object": [
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+      0.15268909918385934,
+      0.927949421258067,
+      -0.15530034629727787
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+      -0.1029881537431745,
+      0.2116466181857654
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+      0.18491011099263702
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+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "ransac": {
+    "estimation_mode": "position_then_orientation",
+    "translation_threshold_m": 0.01,
+    "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": 1,
+    "maximum_instances": 0,
+    "minimum_instance_frame_fraction": 0.05,
+    "low_support_fallback_used": false,
+    "min_silhouette_iou": 0.1,
+    "automatic_support_threshold_frames": 15,
+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 56,
+    "number_of_candidate_observations": 135,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 119,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 0,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0007_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_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..883a2cb632685b995787aa2de59b7a49ddcf604d
--- /dev/null
+++ b/0007_/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,15 @@
+{
+  "format": "label_factory_multi_instance_pose_fitting_summary_v1",
+  "objects_requested": [
+    "Tube"
+  ],
+  "found_objects": {
+    "Tube": 2
+  },
+  "non_found_objects": [],
+  "objects_succeeded": [
+    "Tube"
+  ],
+  "low_support_objects": [],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index a3f18f4725be1fff1f04d4cf1a3e8eeeac3f3eb7..0123b3a8fe58cf51606f84403797b4b547899627 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: 6
 - 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