diff --git a/config.yaml b/config.yaml
index 8b21fd7..3e97770 100644
--- a/config.yaml
+++ b/config.yaml
@@ -17,6 +17,9 @@ services:
     base_url: http://localhost:8767
     timeout_s: 5.0
     write_timeout_s: 30.0
+  sam21:
+    base_url: http://localhost:8002
+    timeout_s: 10.0
 aruco:
   dictionary: DICT_4X4_50
   wrist_marker:
@@ -31,6 +34,7 @@ grasp:
   max_object_width_m: 0.08
   pointcloud_step: 1
   pointcloud_max_depth_mm: 2000
+  use_sam21: true
   visual_servo:
     min_distance_m: 0.1
     step_fraction: 0.5
diff --git a/src/presa_mano/api/_deps.py b/src/presa_mano/api/_deps.py
index ee0d28b..a894593 100644
--- a/src/presa_mano/api/_deps.py
+++ b/src/presa_mano/api/_deps.py
@@ -6,7 +6,7 @@ from __future__ import annotations
 from pathlib import Path
 from typing import Any
 
-from ..clients import G1Client, MarkerClient, NuwaClient, YoloClient
+from ..clients import G1Client, MarkerClient, NuwaClient, Sam21Client, YoloClient
 from ..config import data_dir, get_config
 
 
@@ -29,6 +29,14 @@ def yolo() -> YoloClient:
     return YoloClient(c["base_url"], timeout_s=c.get("timeout_s", 10.0))
 
 
+def sam21() -> Sam21Client:
+    c = _svc(get_config(), "sam21")
+    return Sam21Client(
+        base_url=c.get("base_url", "http://localhost:8002"),
+        timeout_s=float(c.get("timeout_s", 10.0)),
+    )
+
+
 def active_robot_key() -> str:
     """Which robot the orchestrator is currently bound to ('g1' or 'h1').
     Read from `robot.active` in config; defaults to 'g1' for backward compat."""
diff --git a/src/presa_mano/clients/__init__.py b/src/presa_mano/clients/__init__.py
index f686fef..4c4dd3a 100644
--- a/src/presa_mano/clients/__init__.py
+++ b/src/presa_mano/clients/__init__.py
@@ -3,9 +3,12 @@
 from .g1 import G1Client, G1StatusError, G1Unavailable
 from .marker import MarkerClient
 from .nuwa import NuwaClient, NuwaError
+from .sam21 import Sam21Client, Sam21Error, Sam21Unavailable
 from .yolo import YoloClient
 
 __all__ = [
     "G1Client", "G1StatusError", "G1Unavailable",
-    "MarkerClient", "NuwaClient", "NuwaError", "YoloClient",
+    "MarkerClient", "NuwaClient", "NuwaError",
+    "Sam21Client", "Sam21Error", "Sam21Unavailable",
+    "YoloClient",
 ]