build: add numpy-stl + Open3DModel config block for find_model

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

config.yaml

@@ -20,6 +20,11 @@ services:
   sam21:
     base_url: http://localhost:8002
     timeout_s: 10.0
+  open3dmodel:
+    base_url: http://localhost:8878
+    timeout_s: 30.0
+    api_key_env: OPEN3D_API_KEY
+    max_stl_bytes: 20000000
 aruco:
   dictionary: DICT_4X4_50
   wrist_marker:
@@ -42,6 +47,10 @@ grasp:
     - 0
     - 0
     - 0
+  find_model:
+    sample_points: 2000
+    min_fitness: 0.5
+    max_rmse_mm: 5.0
 calibration:
   min_samples: 5
   method: DANIILIDIS  # sweep su 49 sample H1 sx: TSAI=62.5mm, DANIILIDIS=14.2mm trans residual