diff --git a/web/app.js b/web/app.js
index 1ac8ccc..24c42dd 100644
--- a/web/app.js
+++ b/web/app.js
@@ -114,14 +114,9 @@ const graspCanvas = $('graspCanvas');
 const graspCtx = graspCanvas.getContext('2d');
 let displayedGrasp = null;
 let graspRgbInFlight = false;
-const cropCanvas = $('cropCanvas');
-const cropCtx = cropCanvas.getContext('2d');
-const scatterXY = $('scatterXY');
-const scatterXZ = $('scatterXZ');
+// (rimossi cropCanvas/scatter — ora c'è findResultCanvas)
 let lastDetections = [];       // all detections, sorted by confidence desc
 let lastSelectedClass = null;  // class name whose point cloud is displayed
-let lastCropBbox = null;
-let lastPoints = null;   // array of [x,y,z]
 let knownClasses = [];   // names discovered from /api/perception/classes
 
 // Stable per-class color palette (Okabe-Ito, colour-blind safe).
@@ -161,60 +156,6 @@ function drawGraspFrame() {
   });
 }
 
-function drawCrop() {
-  cropCtx.fillStyle = '#000';
-  cropCtx.fillRect(0, 0, cropCanvas.width, cropCanvas.height);
-  if (!lastCropBbox || !displayedGrasp) return;
-  const { x1, y1, x2, y2 } = lastCropBbox;
-  const sw = Math.max(1, x2 - x1), sh = Math.max(1, y2 - y1);
-  const scale = Math.min(cropCanvas.width / sw, cropCanvas.height / sh);
-  const dw = sw * scale, dh = sh * scale;
-  const dx = (cropCanvas.width - dw) / 2, dy = (cropCanvas.height - dh) / 2;
-  cropCtx.drawImage(displayedGrasp, x1, y1, sw, sh, dx, dy, dw, dh);
-  cropCtx.strokeStyle = '#4da3ff';
-  cropCtx.lineWidth = 2;
-  cropCtx.strokeRect(dx, dy, dw, dh);
-}
-
-function drawScatter(canvas, pts, axU, axV, label) {
-  const ctx = canvas.getContext('2d');
-  ctx.fillStyle = '#0d1014';
-  ctx.fillRect(0, 0, canvas.width, canvas.height);
-  if (!pts || pts.length === 0) {
-    ctx.fillStyle = '#666';
-    ctx.font = '12px sans-serif';
-    ctx.fillText('(no points)', 10, 20);
-    return;
-  }
-  let uMin = Infinity, uMax = -Infinity, vMin = Infinity, vMax = -Infinity;
-  for (const p of pts) {
-    if (p[axU] < uMin) uMin = p[axU]; if (p[axU] > uMax) uMax = p[axU];
-    if (p[axV] < vMin) vMin = p[axV]; if (p[axV] > vMax) vMax = p[axV];
-  }
-  const pad = 20;
-  const du = Math.max(1e-6, uMax - uMin), dv = Math.max(1e-6, vMax - vMin);
-  const s = Math.min((canvas.width - 2*pad) / du, (canvas.height - 2*pad) / dv);
-  // axes
-  ctx.strokeStyle = '#2a2f37';
-  ctx.strokeRect(pad, pad, canvas.width - 2*pad, canvas.height - 2*pad);
-  // points
-  ctx.fillStyle = '#3ecf8e';
-  for (const p of pts) {
-    const x = pad + (p[axU] - uMin) * s;
-    const y = canvas.height - pad - (p[axV] - vMin) * s;
-    ctx.fillRect(x - 1, y - 1, 2, 2);
-  }
-  ctx.fillStyle = '#9aa0a6';
-  ctx.font = '11px ui-monospace, monospace';
-  ctx.fillText(label, pad + 2, 14);
-  ctx.fillText(`u:[${uMin.toFixed(2)},${uMax.toFixed(2)}] v:[${vMin.toFixed(2)},${vMax.toFixed(2)}]`, pad, canvas.height - 4);
-}
-
-function drawScatters() {
-  drawScatter(scatterXY, lastPoints, 0, 1, 'Top-down (X→, Y↑)');
-  drawScatter(scatterXZ, lastPoints, 0, 2, 'Laterale (X→, Z↑)');
-}
-
 function refreshGraspRgb() {
   if (graspRgbInFlight) return;
   graspRgbInFlight = true;
@@ -223,7 +164,6 @@ function refreshGraspRgb() {
     displayedGrasp = img;
     graspRgbInFlight = false;
     drawGraspFrame();
-    drawCrop();
   };
   img.onerror = () => { graspRgbInFlight = false; };
   img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`;
@@ -266,11 +206,9 @@ function applyScanResponse(r) {
   lastDetections = Array.isArray(r.detections) ? r.detections : [];
   const sel = r.selected || null;
   lastSelectedClass = sel ? sel.class : null;
-  lastCropBbox = sel ? sel.bbox : null;
-  lastPoints = r.points_base || r.points_camera || null;
   refreshObjectPickOptions(lastDetections);
   renderGraspLegend(lastDetections);
-  drawGraspFrame(); drawCrop(); drawScatters();
+  drawGraspFrame();
 }
 
 $('detectBtn').addEventListener('click', async () => {
@@ -295,27 +233,6 @@ $('detectBtn').addEventListener('click', async () => {
   } catch (e) { setStatus(e.message, 'err'); }
 });
 
-$('planBtn').addEventListener('click', async () => {
-  try {
-    setStatus('Pianifico…');
-    const body = { conf: +$('graspConf').value || null, class_name: pickedClass() };
-    const r = await api('POST', '/api/grasp/plan', body);
-    if (r.detection) {
-      // keep the multi-class view, but highlight the planned class
-      lastSelectedClass = r.detection.class || lastSelectedClass;
-      lastCropBbox = r.detection.bbox;
-      if (!lastDetections.some(d => d.class === r.detection.class)) {
-        lastDetections = [r.detection, ...lastDetections];
-      }
-    }
-    $('graspOut').textContent = JSON.stringify(r, null, 2);
-    renderGraspLegend(lastDetections);
-    drawGraspFrame(); drawCrop();
-    const src = r.source ? `source=${r.source}${r.sam21_fallback_reason ? ` (${r.sam21_fallback_reason})` : ''} · ` : '';
-    setStatus(`Plan ok · ${src}n=${r.n_points ?? '?'} · ${fmtTimings(r.timings_ms)}`, 'ok');
-  } catch (e) { setStatus(e.message, 'err'); }
-});
-
 // --- continuous detection loop ---
 const STATS_WINDOW = 5;
 const MISS_LIMIT = 5;  // consecutive frames without detection before clearing the view
@@ -327,12 +244,8 @@ let missStreak = 0;
 function clearDetectionState(reason) {
   lastDetections = [];
   lastSelectedClass = null;
-  lastCropBbox = null;
-  lastPoints = null;
   recentCentroids = [];
   drawGraspFrame();   // redraws RGB without bbox overlay
-  drawCrop();         // wipes crop thumbnail
-  drawScatters();     // wipes scatter plots
   updateStats();      // resets table to dashes
   refreshObjectPickOptions([]);
   renderGraspLegend([]);
@@ -385,11 +298,9 @@ async function loopTick() {
     const frame = r.points_base ? 'base' : 'camera';
     lastDetections = Array.isArray(r.detections) ? r.detections : [];
     lastSelectedClass = r.selected ? r.selected.class : null;
-    lastCropBbox = r.selected ? r.selected.bbox : null;
-    lastPoints = pts;
     refreshObjectPickOptions(lastDetections);
     renderGraspLegend(lastDetections);
-    drawGraspFrame(); drawCrop(); drawScatters();
+    drawGraspFrame();
     const c = centroidOf(pts);
     if (c) {
       recentCentroids.push(c);
@@ -467,21 +378,6 @@ document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', (
   if (btn.dataset.tab !== 'grasp' && loopTimer) stopLoop();
 }));
 
-$('executeBtn').addEventListener('click', async () => {
-  if (!$('graspDryRun').checked && !confirm('Eseguire realmente la presa sul robot?')) return;
-  try {
-    setStatus('Esecuzione…');
-    const body = {
-      conf: +$('graspConf').value || null,
-      class_name: pickedClass(),
-      dry_run: $('graspDryRun').checked,
-    };
-    const r = await api('POST', '/api/grasp/execute', body);
-    $('graspOut').textContent = JSON.stringify(r, null, 2);
-    setStatus(`Grasp eseguito · ${fmtTimings(r.timings_ms)}`, 'ok');
-  } catch (e) { setStatus(e.message, 'err'); }
-});
-
 // --- object pick select + legend + class discovery ---
 
 // Build per-class summary: best (highest-confidence) detection and instance count.
@@ -575,6 +471,102 @@ $('graspObjectPick').addEventListener('change', () => {
   if (!loopTimer) $('detectBtn').click();
 });
 
+// ==================== FIT MODELLO ====================
+const findCanvas = $('findResultCanvas');
+const findCtx = findCanvas.getContext('2d');
+let findResult = null;
+let findRgbImg = null;
+
+async function loadRecipes() {
+  const sel = $('findModelPick');
+  try {
+    const r = await api('GET', '/api/models/recipes');
+    sel.innerHTML = '<option value="">— seleziona modello —</option>';
+    (r.recipes || []).forEach(rec => {
+      const opt = document.createElement('option');
+      opt.value = rec.id;
+      opt.textContent = `${rec.name} (${rec.symmetry_type})`;
+      sel.appendChild(opt);
+    });
+    sel.disabled = (r.recipes || []).length === 0;
+    $('findBtn').disabled = !sel.value;
+  } catch (e) {
+    sel.innerHTML = `<option value="">errore: ${e.message}</option>`;
+  }
+}
+
+$('findModelPick').addEventListener('change', () => {
+  $('findBtn').disabled = !$('findModelPick').value;
+});
+
+$('findRecipesRefreshBtn').addEventListener('click', loadRecipes);
+
+$('findBtn').addEventListener('click', async () => {
+  const recipeId = $('findModelPick').value;
+  if (!recipeId) return;
+  $('findBtn').disabled = true;
+  $('findStatus').textContent = 'Cerco posa…';
+  $('findStatus').className = 'status-line';
+  try {
+    const body = {
+      recipe_id: recipeId,
+      conf: +$('graspConf').value || null,
+      class_name: pickedClass(),
+    };
+    const r = await api('POST', '/api/grasp/find_model', body);
+    findResult = r;
+    findRgbImg = new Image();
+    findRgbImg.onload = drawFindResult;
+    findRgbImg.src = 'data:image/jpeg;base64,' + r.rgb_jpeg_b64;
+    const fit = r.fit_ok
+      ? `OK · fitness=${(r.fitness ?? 0).toFixed(2)} · rmse=${(r.inlier_rmse_mm ?? 0).toFixed(2)}mm`
+      : `Fit fallito: ${r.fit_reason}`;
+    $('findStatus').textContent = `${fit} · ${fmtTimings(r.timings_ms)}`;
+    $('findStatus').className = 'status-line ' + (r.fit_ok ? 'ok' : 'warn');
+    $('findDetails').textContent = JSON.stringify({
+      detection: r.detection,
+      recipe: r.recipe,
+      n_accepted: r.n_accepted,
+      n_excluded: r.n_excluded,
+      fitness: r.fitness,
+      rmse_mm: r.inlier_rmse_mm,
+      timings: r.timings_ms,
+    }, null, 2);
+  } catch (e) {
+    $('findStatus').textContent = `errore: ${e.message}`;
+    $('findStatus').className = 'status-line err';
+  } finally {
+    $('findBtn').disabled = !$('findModelPick').value;
+  }
+});
+
+['findShowModel', 'findShowAccepted', 'findShowExcluded'].forEach(id =>
+  $(id).addEventListener('change', drawFindResult));
+
+function drawFindResult() {
+  if (!findResult || !findRgbImg || !findRgbImg.complete) return;
+  const [W, H] = findResult.rgb_size;
+  if (findCanvas.width !== W) { findCanvas.width = W; findCanvas.height = H; }
+  findCtx.drawImage(findRgbImg, 0, 0);
+  const dot = (pts, color, r) => {
+    findCtx.fillStyle = color;
+    for (const [u, v] of pts) findCtx.fillRect(u - r, v - r, r*2+1, r*2+1);
+  };
+  if ($('findShowExcluded').checked) dot(findResult.excluded_points_px, '#e74c3c', 1);
+  if ($('findShowAccepted').checked) dot(findResult.accepted_points_px, '#3ecf8e', 1);
+  if ($('findShowModel').checked)    dot(findResult.model_points_px,    '#4da3ff', 1);
+}
+
+function loadRecipesIfNeeded() {
+  if ($('tab-grasp').classList.contains('active') && !$('findModelPick').dataset.loaded) {
+    loadRecipes();
+    $('findModelPick').dataset.loaded = '1';
+  }
+}
+document.querySelectorAll('.tab').forEach(t =>
+  t.addEventListener('click', () => setTimeout(loadRecipesIfNeeded, 50)));
+loadRecipesIfNeeded();
+
 // ==================== EE ====================
 async function refreshWrist() {
   try {