Migrate to sensorSelectionInfos

[cielavenir]

Today I happened to know that https://github.com/mujin/mujinplanningclientpy/blob/master/python/mujinplanningclient/binpickingplanningclient.py#L354 IsRobotOccludingBody signature is different from current planningcommon realtimerobottask3.py's signature, where sensorSelectionInfos needs to be used, not cameraname.

There should be some others, so please check robottask and fix the planningclient signature accordingly.

/cc @ntohge

[andriymujin]

I wander - how comes we only noticed it now? Was IsRobotOccludingBody never used before?

[cielavenir]

@andriymujin maybe mujinsimulator is the only user

[cielavenir]

sent mujinsimulator side MR, can use that for total testing