diff --git a/doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite b/doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite
deleted file mode 100644
index a91988f854..0000000000
Binary files a/doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite and /dev/null differ
diff --git a/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py b/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py
index 07a4671caf..651ad5fafc 100644
--- a/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py
+++ b/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py
@@ -15,8 +15,8 @@ def generate_launch_description():
     )
 
     sqlite_database = (
-        get_package_share_directory("moveit2_tutorials")
-        + "/data/kitchen_panda_db.sqlite"
+        get_package_share_directory("moveit_benchmark_resources")
+        + "/config/panda_test_db.sqlite"
     )
 
     print(sqlite_database)
diff --git a/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst b/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst
index 648ed18d5a..a47753ad10 100644
--- a/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst
+++ b/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst
@@ -32,6 +32,8 @@ If the database file does not exist yet, an empty database will be created.
 Connecting to the storage backend
 ---------------------------------
 
+To run the demo you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/ros-planning/moveit_benchmark_resources.git) into your workspace.
+
 After choosing the storage plugin and configuring the launch.py file,
 run RViz using ::
 
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
index 9a552cf423..ff6ccaeced 100644
--- a/moveit2_tutorials.repos
+++ b/moveit2_tutorials.repos
@@ -24,6 +24,10 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources
     version: ros2
+  moveit_benchmark_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_benchmark_resources.git
+    version: main
   moveit_msgs:
     type: git
     url: https://github.com/ros-planning/moveit_msgs