We can export and import Moveit scene objects to/from a text file (*.scene) using the RViz GUI (picture below). I would like to do the same automatically, so that the scene will be loaded on start. I am aware of the option of [creating collision objects by code](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html), however I want to have a more maintainable approach (data over code).
Is there a way to save/load Moveit planning scene objects to/from text, using C++ API or using an existing ros node/service?
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