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The colors of objects shown in the moveit visualisations are defined by the RVIZ plugin. You cannot define specific colors for individual objects.
You could use a visualisations marker topic to achieve what you want though. If you add a marker that uses the frame of the robots end effector and set it's frame_locked parameter to true then it will move as the robot moves. However this object will not be visible in the planning preview.
Hope this helps.
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