Mix orange juice, honey, rosemary, salt, and pepper in a bowl; add chicken and toss to combine. Marinate 30 minutes, or until ready to use. Heat a gas grill to medium. (Alternatively, heat a cast-iron grill pan over medium-high heat.) Remove chicken from marinade, and transfer to grill; cook skin-side down, flipping once, and basting occasionally with remaining sauce, until charred and cooked through, 12–15 minutes. Transfer chicken to a cutting board, and let rest for 15 minutes before serving. Meanwhile, toss cilantro, pistachios, dates, and citrus pieces; serve with chicken.