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+    "colmap_reconstruction": "/workspace/data/0004_/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0004_/reconstruction/metric_alignment"
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+}
diff --git a/0004_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json b/0004_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..811299b7b963513f8241f4cff48784e087fe9a4c
--- /dev/null
+++ b/0004_/sam6d_sequences/TubeHolder/TubeHolder_world_pose.json
@@ -0,0 +1,423 @@
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diff --git a/0004_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json b/0004_/sam6d_sequences/eppendorf_tarto/eppendorf_tarto_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..890da8c5d1eb7a92436ff6344a49a298ce20cea4
--- /dev/null
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diff --git a/0004_/sam6d_sequences/ransac_run_summary.json b/0004_/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..883a2cb632685b995787aa2de59b7a49ddcf604d
--- /dev/null
+++ b/0004_/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 9895fbda3952ac760a8344a152e7aaae5c816f1d..24921f2502fcac3582a5bf2b6000d828b86ab115 100644
--- a/README.md
+++ b/README.md
@@ -142,14 +142,14 @@ Each numbered directory contributes:
 
 ## Latest generated contribution
 
-- Directory: `0003_/`
+- Directory: `0004_/`
 - 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 `0003_/sam6d_scene/annotations.json` and
-`0003_/reconstruction/metric_alignment/camera_poses_metric.json`.
+metadata are recorded in `0004_/sam6d_scene/annotations.json` and
+`0004_/reconstruction/metric_alignment/camera_poses_metric.json`.
 
 ## Limitations