remove dead pick and place code

[mikeferguson]

Description

most of the other stuff was removed as part of #1177 - we can also now get rid of the support surface stuff which is unused. This code was noted in #3013

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[sjahr]

Thanks!