How to create a moveit real life scene?

edit

Hello people,

I am currently at the beginning of programming a IRB120 arm to perform some movements onto a object using vision. The robot arm I am using has been placed in a safety box. with plastic around it etc etc.

Now I want to use MoveIt to control the robot so that I do not have to take care of collision checking myself. Only I do not know how to add the objects in a right way to the scene.

How can I start with this? Would I have to measure everything etc etc.

Thanks in advance!!