Ugc config and ma2ja messages

Description

Added ability to set user grav comp config and ma2ja transform.

Corresponding firmware changes: https://git.barrett.com/burt/firmware/burt-firmware/merge_requests/144

What to focus on

• put content here.

Reviewers

• @cw
• @amyblank
• @bz
• @ps

Resources

Issues

What issues does this fix?

• Fixes #issue-number