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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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docs/superpowers/plans/2026-05-11-sam21-segmentation.md
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docs/superpowers/specs/2026-05-11-sam21-segmentation-design.md
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@@ -135,7 +135,7 @@ def sam21() -> Sam21Client:
cfg = get_config() cfg = get_config()
s = cfg.get("services", {}).get("sam21", {}) s = cfg.get("services", {}).get("sam21", {})
return Sam21Client( return Sam21Client(
base_url=s.get("url", "http://localhost:8002"), base_url=s.get("base_url", "http://localhost:8002"),
timeout_s=float(s.get("timeout_s", 10.0)), timeout_s=float(s.get("timeout_s", 10.0)),
) )
``` ```
@@ -222,7 +222,7 @@ failure of the grasp request.
```yaml ```yaml
services: services:
sam21: sam21:
url: http://localhost:8002 base_url: http://localhost:8002
timeout_s: 10.0 timeout_s: 10.0
grasp: grasp: