Can I set collision ignore space near robot when I use nvblox?

[Sepirence]

Hi, now I am controlling my ur5e robot with curobo. I succeeded to move real robot with your generated trajectory, and now I met a big huddle. I made nvblox world with depth camera, and generated mesh file and nvblox file. However, mesh contains robot meshes too, and I met self collision problem between robot in simulation and robot in mesh. I can delete meshes on mesh file, but I cannot edit easily to nvblox file. I am looking into your library, but is there a method that I can delete blox obstacles based on xyz coordinates?
As previous your replies always be my help, I will gladly wait for your answer.

[balakumar-s]

We currently do not have a way to segment out the robot. Is it possible for you to get the segmentation mask from sim?

We are working on adding robot segmentation within cuRobo but will take a few more weeks.

[Sepirence]

Maybe your work will be faster than me. I am just a fresh developer. But, if you give some inspection about implementation and specific work range, I will try to make it.
My current approach is just add a cuboid on .yml file, and try to remove all mesh and all voxels in the cuboid, but it still has a problem that it still does not distinguish the voxels generated by real-time depth camera.

[balakumar-s]

One thing you can try is to add a box of 0's over the depth image where the robot exists, before sending to nvblox.

[balakumar-s]

Here is robot segmentation: https://curobo.org/source/advanced_examples/4_robot_segmentation.html