Hello, I have a robot arm that needs to grasp an object and place it. I have completed ROS Manipulation Course in 5 Days but unfortunately, doing grasping with perception wasn’t included in the course. I have generated an octomap for collision avoidance using depth camera. However, I need to exclude the detected object from the octomap in order to make the arm grasp it. In other words, I want the robot to differentiate between the detected object and the obstacles.