Use gazebo world file objects for planning with Moveit

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Hello,

I was wondering if there is a way to use the gazebo world objects in the .world file for planning with Moveit in code? When I write them as collision objects within C++ code, they appear in rviz but not in gazebo, so I want to use the world file instead, so I can use those objects to do pick and place operations with them. Or is there a way to make the collision objects in code appear in gazebo as well?

Any suggestions?

Thanks!