deprecated stuff fixe for robot-mask package

we should probably just get rid of this...
minor: the semantic map launchfile was wrong in the comment string
updates for spatial relations:

- mostly updates to get things work with the changed semantic map
- turned off priority sampling
- defined SEMANTIC-MAP-NAME in the package
Added a new predicate for collision detection for the robot.
Fixed a bug in location validators:

excluded the floor plane in bullet from collision detection for the robot.