Addon to #3124

[rhaschke]

This adds another test case to #3124 and adds some further minor improvements to the original PR.

[codecov]

Codecov Report

Merging #3142 (4fd5ed2) into master (9202830) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #3142   +/-   ##
=======================================
  Coverage   61.63%   61.63%           
=======================================
  Files         376      376           
  Lines       33314    33314           
=======================================
  Hits        20530    20530           
  Misses      12784    12784           

Impacted Files	Coverage Δ
moveit_core/planning_scene/src/planning_scene.cpp	64.89% <ø> (ø)
...ipulation/pick_place/src/manipulation_pipeline.cpp	71.91% <0.00%> (-1.65%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	66.35% <0.00%> (-0.12%)	⬇️
...meterization/work_space/pose_model_state_space.cpp	81.77% <0.00%> (+1.77%)	⬆️

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[JafarAbdi]

Thanks so much for the update!