Is it possible to set robots pose and position via c++ API in MoveIT Planning Scene?

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I currently have a planning scene which is filled with collision information via an octomap server. The robot (a mobile robot with an 6DOF arm) is loaded in a gazebo simulation and its joint states are transformed to tf for visualisation in rviz. Is it possible, without moving the robot "physically" (in this case meaning moving in the simulation), to virtually set the robots position and pose to different locations in the planning scene? (and furthermore perform trajectory calculations from that locations )