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+    "object_poses": "/workspace/data/0006_/experimental_multi_instance/pem/Slide_holder/Slide_holder_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0006_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0006_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0006_/sam6d_sequences/Tube/Tube_world_pose.json b/0006_/sam6d_sequences/Tube/Tube_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e42a1fcba2c81bb2f162b9d056e0dec78ea0474
--- /dev/null
+++ b/0006_/sam6d_sequences/Tube/Tube_world_pose.json
@@ -0,0 +1,638 @@
+{
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+  "object_path": "/workspace/data/0006_/objects/stl/Tube.stl",
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+}
diff --git a/0006_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json b/0006_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34cf40778edba763a2100dcee359a873ea3e729
--- /dev/null
+++ b/0006_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,383 @@
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+    "min_silhouette_iou": 0.0,
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+    "position_suppression_threshold_m": 0.02,
+    "number_of_candidate_frames": 50,
+    "number_of_candidate_observations": 84,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 73,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 25,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 112,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 115,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 117,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 127,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0006_/experimental_multi_instance/pem/TubeHolder/TubeHolder_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0006_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0006_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0006_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0006_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f57e258f02f429a220371f939301922573fb372
--- /dev/null
+++ b/0006_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
@@ -0,0 +1,373 @@
+{
+  "object_name": "eppendorf_tarto",
+  "object_path": "/workspace/data/0006_/objects/stl/eppendorf_tarto.stl",
+  "coordinate_system": "world",
+  "translation_unit": "metre",
+  "instance_count": 1,
+  "low_support": false,
+  "instances": [
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+      ],
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+      "number_of_inliers": 11,
+      "number_of_position_inliers": 11,
+      "number_of_orientation_inliers": 11,
+      "orientation_status": "adaptive_consensus",
+      "orientation_threshold_deg": 10.0,
+      "position_inlier_frame_ids": [
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+          "rotation_error_deg": 4.232491353018225
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+        {
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+        {
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+          "selected_orientation_inlier": true,
+          "translation_error_m": 0.004366850887526369,
+          "rotation_error_deg": 2.6350995916867075
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+      "silhouette_iou_median": 0.8112827910861394,
+      "silhouette_iou_frames": 11
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+  ],
+  "R": [
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+      -0.4805979476587008
+    ],
+    [
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+      -0.5380624032322638,
+      0.7186468981152312
+    ]
+  ],
+  "quaternion_xyzw": [
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+    -0.27523004720600913,
+    0.9252808343709833,
+    -0.05638108373694786
+  ],
+  "translation": [
+    0.09427227014356097,
+    0.3348864939247248,
+    -0.00555214382247586
+  ],
+  "world_from_object": [
+    [
+      -0.8637924026785697,
+      -0.03592264660603968,
+      0.5025656658941199,
+      0.09427227014356097
+    ],
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+      -0.8421391890232499,
+      -0.4805979476587008,
+      0.3348864939247248
+    ],
+    [
+      0.4404945925403354,
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+      0.7186468981152312,
+      -0.00555214382247586
+    ],
+    [
+      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": 53,
+    "number_of_candidate_observations": 175,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 164,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 30,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 112,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0006_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0006_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0006_/reconstruction/metric_alignment"
+  }
+}
diff --git a/0006_/sam6d_sequences/ransac_run_summary.json b/0006_/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..883a2cb632685b995787aa2de59b7a49ddcf604d
--- /dev/null
+++ b/0006_/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 71973f7e9215e68ebd7ec8ce06b6266ac267606b..a3f18f4725be1fff1f04d4cf1a3e8eeeac3f3eb7 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0005_/`
+- Directory: `0006_/`
 - 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 `0005_/sam6d_scene/annotations.json` and
-`0005_/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0006_/sam6d_scene/annotations.json` and
+`0006_/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations