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The SRDF cannot be changed at runtime by the move_group to my knowledge (only the setup assistant changes it), but there is the rememberJointValues method in the MoveGroupInterface. Those saved values are not persistent, but you could save/load them to/from a YAML file yourself.

I believe you can also store poses in a database and save/load those ("warehouse"). I am not familiar with the functionality, I just know it exists.

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