ARM_NAVIGATION_MSGS -> SHAPE_MSGS in CRAM_MANIPULATION_KNOWLEDGE
fixed the deprecated warning in LOCATION-COSTMAP

i guess some functionality from CRAM_ROSLISP_COMMON is in ROSLISP_UTILITIES now.
finishing up the port from ARM_NAV_MSGS to MOVEIT_MSGS and SHAPE_MSGS in SEMANTIC_MAP_COLL_ENV.
got rid of deprecated functions warning from CRAM_ROSLISP_COMMON in SEM_MAP_COLL_ENV
moved one function in SEM_MAP_COLL_ENV because of circular dependencies.

The function COLLISION-ENVIRONMENT-NAMES was using a variable defined after its own definition.
empty cram package for plan transformations.

turned cram_highlevel into even a bigger monster but so long this is where the package fits in the best.
rough problem statement
finished up Jan's porting away from ARM_NAV in LOCATION_COSTMAP