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Personally I'd only use CollisionObjects for objects that you need to be able to add to and remove from a scene. For (semi) static objects I'd use one of the object representation formats that ROS supports.

1. Create a sufficiently detailed 'work cell' and add it to your URDF: you mention a 'flat surface' (table?) on which your robot is mounted. Model your environment, including the table and any other objects / obstacles that are in your cell. Besides restricting the planning space, this also helps visualisation. You will have to (re)generate a MoveIt configuration package for the combination of work cell & manipulator URDF.
2. Use the MoveIt .scene format to describe your work cell and load that using the appropriate APIs (or button in RViz).

See the MoveIt Environment Representation tutorial for some pointers on this.

You can find an example of a URDF of a modelled work cell in Exercise 2.8b - Workcell XACRO of the ROS-Industrial Training Exercises.

Personally I'd only use CollisionObjects for objects that you need to be able to add to and remove from a scene. For (semi) static objects I'd use one of the object representation formats that ROS supports.

1. Create a sufficiently detailed 'work cell' and add it to your URDF: you mention a 'flat surface' (table?) on which your robot is mounted. Model your environment, including the table and any other objects / obstacles that are in your cell. Besides restricting the planning space, this also helps visualisation. You will have to (re)generate a MoveIt configuration package for the combination of work cell & manipulator URDF.
2. Use the MoveIt .scene format to describe your work cell and load that using the appropriate APIs (or button in RViz).

See the MoveIt Environment Representation tutorial for some pointers on this.

You can find an example of a URDF of a modelled work cell in Exercise 2.8b 3.1 - Workcell XACRO of the ROS-Industrial Training Exercises.