test(icp): add comprehensive tests for full-scene ICP pipeline + update docs

py_workspace/.sisyphus/plans/full-icp-pipeline.md

@@ -464,7 +464,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 5. Integrate region selection into refine_with_icp
+- [x] 5. Integrate region selection into refine_with_icp
 
   **What to do**:
   - Modify `refine_with_icp()` to use `extract_scene_points` instead of `extract_near_floor_band`
@@ -622,7 +622,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 7. Wire CLI flags in refine_ground_plane.py
+- [x] 7. Wire CLI flags in refine_ground_plane.py
 
   **What to do**:
   - Add CLI options to `refine_ground_plane.py`:
@@ -759,7 +759,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 9. Tests + README + regression verification
+- [x] 9. Tests + README + regression verification
 
   **What to do**:
   - Add new tests to `tests/test_icp_registration.py`:
@@ -811,11 +811,11 @@ Parallel Speedup: ~40% faster than sequential
 
   **Acceptance Criteria**:
 
-  - [ ] ≥12 new test cases added
-  - [ ] `uv run pytest tests/test_icp_registration.py -v` → all pass (existing + new)
-  - [ ] `uv run pytest -x -vv` → all pass (full suite)
-  - [ ] `uv run basedpyright aruco/icp_registration.py refine_ground_plane.py` → 0 errors
-  - [ ] README.md documents all new CLI flags with examples
+  - [x] ≥12 new test cases added
+  - [x] `uv run pytest tests/test_icp_registration.py -v` → all pass (existing + new)
+  - [x] `uv run pytest -x -vv` → all pass (full suite)
+  - [x] `uv run basedpyright aruco/icp_registration.py refine_ground_plane.py` → 0 errors
+  - [x] README.md documents all new CLI flags with examples
 
   **Agent-Executed QA Scenarios:**
 
@@ -881,9 +881,9 @@ uv run basedpyright aruco/icp_registration.py refine_ground_plane.py  # Expected
 ```
 
 ### Final Checklist
-- [ ] All "Must Have" present
-- [ ] All "Must NOT Have" absent
-- [ ] All tests pass
-- [ ] `--icp-region floor` backward compatible
-- [ ] `--icp-region hybrid` default in CLI
-- [ ] README documents all new flags
+- [x] All "Must Have" present
+- [x] All "Must NOT Have" absent
+- [x] All tests pass
+- [x] `--icp-region floor` backward compatible
+- [x] `--icp-region hybrid` default in CLI
+- [x] README documents all new flags