Move a collision object in Rviz

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Yes, you can publish the object to the planning scene with the operation field set to MOVE, as shown in the CollisionObject message.

You can use the PlanningSceneInterface in C++ for this, although the Python interface doesn't expose the applyCollisionObject function yet. You could add that feature and submit a pull request. :)

You may find the answer in the tutorials here.

Adding Objects to the Planning Scene

make sure to use the correct name=box_name