Load scene into python code

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I have a .scene file that I can import into RViz and have my robot collide with the objects of the scene when I drag it around. When I run my code to move the robot, the robot just moves through the scene objects in RViz. I'm assuming its because I don't reference the scene in my code. How would I reference the same scene in my code so the robot recognizes collisions with it?

EDIT: I got the robot to recognize objects in the scene by importing the scene file, then clicking 'Publish Current Scene'. It now avoids objects when I run a plan in my code. So, changing my question slightly, is there a way to programatically load a .scene file into RViz, then run 'Publish Current Scene'?