add object in real world as collision object in moveit planning scene

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Hi all,

previously I am very confused about the practical role of adding collision object in the planning scene and why there is an "object name" as an argument of the pick and place function.

When applying moveit in real world, I should add the real object as a collision object in the planning scene, right? In this way, I can call the pick function, and when the object is picked, it can be seen as part of the robot for obstacle avoiding with other environment.

But there is still one question. I get the grasp pose from GPD (pointcloud as input) and I don't know the shape and size of the object in real world, how should I specify the size and shape of collision object in planning scene. I suppose this is required for the obstacle avoiding after picking. Also, after the object is attached, will the octomap clear the part of map that belongs to this object?

Thanks for any help!