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+    "colmap_reconstruction": "/workspace/data/0002_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0002_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0002_/sam6d_sequences/Tube/Tube_world_pose.json b/0002_/sam6d_sequences/Tube/Tube_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceda2545e3d9141833bd328ba2e20d6f274c77b8
--- /dev/null
+++ b/0002_/sam6d_sequences/Tube/Tube_world_pose.json
@@ -0,0 +1,351 @@
+{
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+    "colmap_reconstruction": "/workspace/data/0002_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0002_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0002_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json b/0002_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..26360c228d6ea0d7f0a15235709f2d4309c65283
--- /dev/null
+++ b/0002_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,400 @@
+{
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+      "silhouette_iou_frames": 13
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+  ],
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+  "world_from_object": [
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+  ],
+  "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": 0.7,
+    "automatic_support_threshold_frames": 13,
+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 49,
+    "number_of_candidate_observations": 79,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 66,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0002_/experimental_multi_instance/pem/TubeHolder/TubeHolder_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0002_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0002_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0002_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0002_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d583015c138f352d87e70a7e9ab0e31ca9139f
--- /dev/null
+++ b/0002_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
@@ -0,0 +1,353 @@
+{
+  "object_name": "eppendorf_tarto",
+  "object_path": "/workspace/data/0002_/objects/stl/eppendorf_tarto.stl",
+  "coordinate_system": "world",
+  "translation_unit": "metre",
+  "instance_count": 1,
+  "low_support": false,
+  "instances": [
+    {
+      "instance_id": "eppendorf_tarto_001",
+      "instance_index": 1,
+      "R": [
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+        -0.08467860959447217,
+        0.3390209319306858,
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+        0.08571989686024938,
+        0.3209608839108718
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+      ],
+      "number_of_inliers": 9,
+      "number_of_position_inliers": 9,
+      "number_of_orientation_inliers": 9,
+      "orientation_status": "adaptive_consensus",
+      "orientation_threshold_deg": 10.0,
+      "position_inlier_frame_ids": [
+        31,
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+        148,
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+      "orientation_inlier_frame_ids": [
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+          "rotation_error_deg": 2.375340576923799
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0027350717400773292,
+          "rotation_error_deg": 3.7756756205487503
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.005218042466539554,
+          "rotation_error_deg": 1.635903049425364
+        },
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0054931467230233295,
+          "rotation_error_deg": 4.264496156423791
+        },
+        {
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+          "detection_index": 2,
+          "bbox": [
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+          "score": 0.3947249948978424,
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.004575477454283417,
+          "rotation_error_deg": 2.0659777733343025
+        },
+        {
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+          ],
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0019208688963960224,
+          "rotation_error_deg": 1.8038267594440967
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+        {
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+          "detection_index": 0,
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+          "score": 0.38594362139701843,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.003798858182103357,
+          "rotation_error_deg": 3.5686907824178324
+        },
+        {
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+          "detection_index": 0,
+          "bbox": [
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+          ],
+          "score": 0.40493154525756836,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0019177305981564771,
+          "rotation_error_deg": 1.7802463308352687
+        }
+      ],
+      "silhouette_iou_median": 0.8171430421131001,
+      "silhouette_iou_frames": 9
+    }
+  ],
+  "R": [
+    [
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+      0.1178288924485506,
+      0.6441271775821327
+    ],
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+      -0.6862448210890598,
+      0.6029321845833793
+    ],
+    [
+      0.5130717712694965,
+      -0.7177634691406298,
+      -0.4707153703604646
+    ]
+  ],
+  "quaternion_xyzw": [
+    0.8533388648464215,
+    -0.08467860959447217,
+    0.3390209319306858,
+    -0.38692004669261715
+  ],
+  "translation": [
+    -0.13081573633865623,
+    0.08571989686024938,
+    0.3209608839108718
+  ],
+  "world_from_object": [
+    [
+      0.7557886815799925,
+      0.1178288924485506,
+      0.6441271775821327,
+      -0.13081573633865623
+    ],
+    [
+      -0.4068670868010313,
+      -0.6862448210890598,
+      0.6029321845833793,
+      0.08571989686024938
+    ],
+    [
+      0.5130717712694965,
+      -0.7177634691406298,
+      -0.4707153703604646,
+      0.3209608839108718
+    ],
+    [
+      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": 0.7,
+    "automatic_support_threshold_frames": 9,
+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 43,
+    "number_of_candidate_observations": 93,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 84,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 18,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 90,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 181,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 183,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 228,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 239,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0002_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0002_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0002_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0002_/sam6d_sequences/ransac_run_summary.json b/0002_/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..36356c95e6f07a00d05d0b33e763f8ea906bc43e
--- /dev/null
+++ b/0002_/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,15 @@
+{
+  "format": "label_factory_multi_instance_pose_fitting_summary_v1",
+  "objects_requested": [
+    "Slide_holder"
+  ],
+  "found_objects": {
+    "Slide_holder": 2
+  },
+  "non_found_objects": [],
+  "objects_succeeded": [
+    "Slide_holder"
+  ],
+  "low_support_objects": [],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index 250874b09ea91f54077a1de8e1ae449acad3da43..91aac891160d79b0fc5e18173e72786d1709a52f 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0001_/`
+- Directory: `0002_/`
 - RGB-D frames: 250
-- Annotated object instances: 6
-- Selected upload files: 1542
+- Annotated object instances: 5
+- Selected upload files: 1538
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0001_/sam6d_scene/annotations.json` and
-`0001_/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0002_/sam6d_scene/annotations.json` and
+`0002_/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations