revert: remove commits for robot model collision features from develop

[domire8]

Description

Not sure if this will turn out well, but I reverted all commits except the ones that existed before IO states and IO states from develop. I didn't have any conflicts apart from versions and changelog during the reverts.

Review guidelines

Estimated Time of Review: 5 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[domire8]

This diff seems to indicate that this is what we want though

[eeberhard]

The selection of commits seems good to me. I guess the specific patch version tag 7.3.6 doesn't matter so much since we will move away from these incremental version.

Now whether to FF or squash this reversal 🤔 after release 7.4 we will immediately undo them, and the individual commit contributions are still preserved in the history. So it might be safer and simpler to squash this PR

Edit: then again, it's maybe worth the slightly extra work to keep all commits separate, more fine-grained history in case we do need to patch one or the other commit.