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MoveIt has a database interface termed "warehouse", but this is not active by default because you need to run a database somewhere. At the moment, the only working implementation I'm aware of is https://github.com/ros-planning/warehouse_ros_mongo .

So if you want to store your robot states or planning scenes, you will have to setup a MongoDB and use this plugin.

Note that if you only want to store a small number of states, you can do that in the srdf file of your moveit_config. The setup assistant also provides a panel to add these states there.