Four parts to this request ...

(1) Updates moveit_planning_scene_from_ork.py to use a service request for triggering a single call to object recognition
(2) Updates default shadow thresholds in the octomap updater
(3) Updates workspace analysis to find and store unreachable points
(4) Updates to pick_place_demo for the PR2 - this set of files will be substantially changed in the future (and may even go away) - so, please do not review this part of the pull request.