joint cal updates

Description

• updated joint cal positions
• multiple repetitions
• restart firmware option
• clear cable life error option
• additional debug data for enhanced debugging possibilities

Goes with burt/firmware/burt-firmware!296

What to focus on

• put content here.

Reviewers

• @alexluleme
• @amyblank
• @bz
• @cw
• @ps
• @wd

Resources

Issues

What issues does this fix?

• Fixes #139