Avoid costly updates of RobotInteraction on query state changes if they are not shown

[rhaschke]

This partially reverts d98a529, however, still updates the query states themselves.

[codecov]

Codecov Report

Patch coverage: 63.64% and project coverage change: -0.05% ⚠️

Comparison is base (cfcd5ec) 61.86% compared to head (2bba60a) 61.81%.
Report is 8 commits behind head on noetic-devel.

Additional details and impacted files

@@               Coverage Diff                @@
##           noetic-devel    #3478      +/-   ##
================================================
- Coverage         61.86%   61.81%   -0.05%     
================================================
  Files               385      385              
  Lines             34073    34073              
================================================
- Hits              21077    21059      -18     
- Misses            12996    13014      +18     

Files Changed	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...t_setup_assistant/src/tools/moveit_config_data.cpp	14.34% <0.00%> (ø)
moveit_core/planning_scene/src/planning_scene.cpp	66.73% <100.00%> (ø)
moveit_core/robot_state/src/robot_state.cpp	54.14% <100.00%> (ø)

... and 7 files with indirect coverage changes

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