Check if place pose for the object is reachable

[ZdenekM]

UI should ask brain - brain asks art_pr2_grasping for left/right arm - brain replyes

What if robot takes object from somewhere using left arm but right arm is required to place the object?

UI should indicate invalid (unreachable) place pose.

[ZdenekM]

Check this: https://github.com/ros-planning/moveit_advanced/tree/indigo-devel/moveit_workspace_analysis