Prepare robot for cog estimation

[cangorur]

Add prepare_for_cog_estimation method

Optional, override as appropriate.

Many robots may require a different robot communication state for CoG estimation. Mirai only
needs to read the robot state during the CoG and should not send control signals (because the
robot is jogged from its teachpendant). We currently achieve this state by enabling all
communication interfaces and not letting robot control in various ways on either on the robot
side (e.g., by not pressing start button on KUKA) or on the robot's own SDK implementation.
This method now allows us to implement required routines to achieve this. We can set our
communication or the robot configuration on the robot side in a state that the robot sends
its readings to us without needing to engage in robot control and command interface.

This method is at the moment used for KUKA and the new RSI logic that requires a signal from
us to even sends robot state readings to us.