Is there a way to invalidate a Pose in rviz?

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I often publish a Pose message to quickly and easily view things in rviz. And I would like a way to programatically (through a message) tell rviz to delete the pose from view.

The scenario is that I have a robot which grabs objects on a table. And I want to display the pose of the object in rviz. I do several runs with different objects and positions. So between runs I would like to clear the previous runs from view. This is easy to do with rviz markers, but not with regular Pose messages.

I have tried publishing with a 0 time stamp and empty frame_id with no luck in deleting the frame. I have observed tf frames becoming gray and disappearing, how is that done?

Can a new marker type be added to display axes?