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+}
diff --git a/0003_/sam6d_sequences/Tube/Tube_world_pose.json b/0003_/sam6d_sequences/Tube/Tube_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddaf65e38b5e0e3d62c9f1bc93e4e2c566ec9a8d
--- /dev/null
+++ b/0003_/sam6d_sequences/Tube/Tube_world_pose.json
@@ -0,0 +1,719 @@
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+    "colmap_reconstruction": "/workspace/data/0003_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0003_/reconstruction/metric_alignment"
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+}
diff --git a/0003_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json b/0003_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e13f195fe2ca221448d53c0395fb7753011ac97
--- /dev/null
+++ b/0003_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,382 @@
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+    "colmap_reconstruction": "/workspace/data/0003_/reconstruction/sfm_filtered",
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+}
diff --git a/0003_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0003_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..106cf038d6b6b63f1103acf179431b49701cd5ac
--- /dev/null
+++ b/0003_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
@@ -0,0 +1,362 @@
+{
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+          "detection_index": 0,
+          "bbox": [
+            468,
+            266,
+            162,
+            130
+          ],
+          "score": 0.41318050026893616,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": false,
+          "translation_error_m": 0.006067465212521989,
+          "rotation_error_deg": 10.352175471314322
+        },
+        {
+          "frame_id": 122,
+          "detection_index": 0,
+          "bbox": [
+            196,
+            116,
+            446,
+            244
+          ],
+          "score": 0.35971441864967346,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.003526869699745988,
+          "rotation_error_deg": 4.431801933133519
+        },
+        {
+          "frame_id": 130,
+          "detection_index": 1,
+          "bbox": [
+            182,
+            72,
+            294,
+            390
+          ],
+          "score": 0.37481486797332764,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0024875659940878647,
+          "rotation_error_deg": 1.0370329869967834
+        },
+        {
+          "frame_id": 134,
+          "detection_index": 1,
+          "bbox": [
+            76,
+            276,
+            468,
+            330
+          ],
+          "score": 0.41015928983688354,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0032061386412611543,
+          "rotation_error_deg": 1.5424221671925453
+        },
+        {
+          "frame_id": 176,
+          "detection_index": 0,
+          "bbox": [
+            0,
+            276,
+            358,
+            360
+          ],
+          "score": 0.4422629177570343,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.00240592400554936,
+          "rotation_error_deg": 4.435547775128006
+        },
+        {
+          "frame_id": 213,
+          "detection_index": 2,
+          "bbox": [
+            474,
+            372,
+            164,
+            116
+          ],
+          "score": 0.39252981543540955,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0030134986250406233,
+          "rotation_error_deg": 8.87180556076245
+        },
+        {
+          "frame_id": 239,
+          "detection_index": 0,
+          "bbox": [
+            394,
+            248,
+            174,
+            130
+          ],
+          "score": 0.4198276698589325,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0024044686419307827,
+          "rotation_error_deg": 3.049217490960371
+        },
+        {
+          "frame_id": 249,
+          "detection_index": 0,
+          "bbox": [
+            342,
+            492,
+            216,
+            242
+          ],
+          "score": 0.47247615456581116,
+          "selected_position_inlier": true,
+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.0014281327061045205,
+          "rotation_error_deg": 1.7998520919772616
+        }
+      ],
+      "silhouette_iou_median": 0.9073344067514297,
+      "silhouette_iou_frames": 11
+    }
+  ],
+  "R": [
+    [
+      -0.8697645631148335,
+      0.19049932217956395,
+      -0.45521381020218354
+    ],
+    [
+      0.06487415222170258,
+      -0.8703325108568217,
+      -0.48817278182952395
+    ],
+    [
+      -0.4891839624550035,
+      -0.45412699632898645,
+      0.7446258940448113
+    ]
+  ],
+  "quaternion_xyzw": [
+    -0.2529535795838719,
+    -0.2523916392301856,
+    0.9333706348520487,
+    -0.033648254312654315
+  ],
+  "translation": [
+    -0.10283614563930205,
+    0.3224822545875222,
+    0.011147627911747544
+  ],
+  "world_from_object": [
+    [
+      -0.8697645631148335,
+      0.19049932217956395,
+      -0.45521381020218354,
+      -0.10283614563930205
+    ],
+    [
+      0.06487415222170258,
+      -0.8703325108568217,
+      -0.48817278182952395,
+      0.3224822545875222
+    ],
+    [
+      -0.4891839624550035,
+      -0.45412699632898645,
+      0.7446258940448113,
+      0.011147627911747544
+    ],
+    [
+      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": 10,
+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 47,
+    "number_of_candidate_observations": 100,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 89,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0003_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0003_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0003_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0003_/sam6d_sequences/ransac_run_summary.json b/0003_/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..883a2cb632685b995787aa2de59b7a49ddcf604d
--- /dev/null
+++ b/0003_/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 91aac891160d79b0fc5e18173e72786d1709a52f..9895fbda3952ac760a8344a152e7aaae5c816f1d 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0002_/`
+- Directory: `0003_/`
 - RGB-D frames: 250
-- Annotated object instances: 5
+- Annotated object instances: 6
 - Selected upload files: 1538
 
 Depth images are stored in millimetres. Pose conventions and coordinate-system
-metadata are recorded in `0002_/sam6d_scene/annotations.json` and
-`0002_/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0003_/sam6d_scene/annotations.json` and
+`0003_/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations