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diff --git a/0005_/sam6d_sequences/Tube/Tube_world_pose.json b/0005_/sam6d_sequences/Tube/Tube_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..fade64d29a353c1dad1c83a61902eb1b273343a7
--- /dev/null
+++ b/0005_/sam6d_sequences/Tube/Tube_world_pose.json
@@ -0,0 +1,540 @@
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+    "object_poses": "/workspace/data/0005_/experimental_multi_instance/pem/Tube/Tube_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/TubeHolder/TubeHolder_world_pose.json b/0005_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e7c8e4dfae667d805753d0c299a050b5e3c743
--- /dev/null
+++ b/0005_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,463 @@
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+    "colmap_reconstruction": "/workspace/data/0005_/reconstruction/sfm_filtered",
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+}
diff --git a/0005_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0005_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..44137d4a03be0fb15f73048fffff585f52f3e144
--- /dev/null
+++ b/0005_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0032377293216808677,
+          "rotation_error_deg": 2.520893855521727
+        },
+        {
+          "frame_id": 232,
+          "detection_index": 0,
+          "bbox": [
+            466,
+            288,
+            160,
+            94
+          ],
+          "score": 0.3984515964984894,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.004408184629468001,
+          "rotation_error_deg": 6.727144841826351
+        }
+      ],
+      "silhouette_iou_median": 0.9223318340255937,
+      "silhouette_iou_frames": 12
+    }
+  ],
+  "R": [
+    [
+      0.6034605715820783,
+      0.1490323442863563,
+      -0.7833420063435539
+    ],
+    [
+      0.5326256753054446,
+      -0.8064213863549242,
+      0.2568938256066525
+    ],
+    [
+      -0.5934182576827667,
+      -0.5722533599603544,
+      -0.5660219637636287
+    ]
+  ],
+  "quaternion_xyzw": [
+    0.8625404224876407,
+    0.19757277508972873,
+    -0.3990422443204533,
+    -0.24032125450297018
+  ],
+  "translation": [
+    -0.1569136506505925,
+    0.10756517148851566,
+    0.30840034413490436
+  ],
+  "world_from_object": [
+    [
+      0.6034605715820783,
+      0.1490323442863563,
+      -0.7833420063435539,
+      -0.1569136506505925
+    ],
+    [
+      0.5326256753054446,
+      -0.8064213863549242,
+      0.2568938256066525,
+      0.10756517148851566
+    ],
+    [
+      -0.5934182576827667,
+      -0.5722533599603544,
+      -0.5660219637636287,
+      0.30840034413490436
+    ],
+    [
+      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": 0.0,
+    "automatic_support_threshold_frames": 12,
+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 56,
+    "number_of_candidate_observations": 114,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 102,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 11,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 17,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 126,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 175,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0005_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_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..883a2cb632685b995787aa2de59b7a49ddcf604d
--- /dev/null
+++ b/0005_/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 24921f2502fcac3582a5bf2b6000d828b86ab115..71973f7e9215e68ebd7ec8ce06b6266ac267606b 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: 6
 - Selected upload files: 1538
 
 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