docs: implementation plan for SAM21 segmentation in grasp pipeline

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7 task TDD-first: pytest scaffold, depth_align (vectorised IR→RGB),
Sam21Client (httpx mock unit tests), _deps + config wiring, refactor
estraendo _points_via_bbox, branch SAM21 con fallback, verifica live.
Allinea config key a base_url (consistente con altri servizi).

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

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Adriano Dal PastroandClaude Opus 4.7 committed 2026-05-11 12:42:27 +02:00

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