Recently, it has been shown that (4 + 1)-dimensional Yang-Mills theory may be written as a (3 + 1)-dimensional BPS Skyrme model, in which the Skyrme field is coupled toan infinite tower of vector mesons. Truncating this tower to a single vector meson yields an extension of the standard Skyrme model to a theory of pions coupled to the ρ meson, with the significant simplification that no additional free parameters are introduced. The present paper is concerned with this truncated theory and results are presented for Skyrmions with baryon numbers one to four. The approach involves the use of an extended version of the Atiyah-Manton construction, in which the Skyrme field is approximated by the holonomy of a Yang-Mills instanton. It is found th...