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From what I can tell (specifically, at this line, the planner's previous data is cleared), there is no current way to do this. I believe this is intentional, as between planning runs, the MoveIt PlanningScene can change, meaning that existing edges and states in the PRM might be invalid. This would require re-checking the entire PRM at the beginning of the second run, which would be pretty expensive.

An option to maintain the planner's information from the previous run as long as the planning scene doesn't change significantly could be added however. Feel free to open an issue if you want this to get added.