clean up torque adjustment

config/atlas/state_estimation.cfg

@@ -362,36 +362,19 @@ state_estimator {
     # joints with no torque deflection. These settings are used both for
     # control and state estimation:
     torque_adjustment = true;
-    adjustment_gain = [inf, # back_bkz
-                       8000, # back_bky
-                       8000, # back_bkx
-                       inf, # neck_ay
-                       7000, # l_leg_hpz
-                       8000, # l_leg_hpx
-                       10000, # l_leg_hpy
-                       10000, # l_leg_kny
-                       10000, # l_leg_aky
-                       10000, # l_leg_akx
-                       7000, # r_leg_hpz
-                       8000, # r_leg_hpx
-                       10000, # r_leg_hpy
-                       10000, # r_leg_kny
-                       10000, # r_leg_aky
-                       10000, # r_leg_akx
-                       inf, # l_arm_shz
-                       inf, # l_arm_shx
-                       inf, # l_arm_ely
-                       inf, # l_arm_elx
-                       inf, # l_arm_uwy
-                       inf, # l_arm_mwx
-                       inf, # l_arm_lwy
-                       inf, # r_arm_shz
-                       inf, # r_arm_shx
-                       inf, # r_arm_ely
-                       inf, # r_arm_elx
-                       inf, # r_arm_uwy
-                       inf, # r_arm_mwx
-                       inf]; # r_arm_lwy
+
+    adjustment_gain = [8000,   8000, 
+                       7000,   8000, 10000, 
+                       10000, 10000, 10000,
+                       7000,   8000, 10000, 
+                       10000, 10000, 10000];
+
+    adjustment_joints = [back_bky, back_bkx,
+                         l_leg_hpz, l_leg_hpx, l_leg_hpy,
+                         l_leg_kny, l_leg_aky, l_leg_akx,
+                         r_leg_hpz, r_leg_hpx, r_leg_hpy,
+                         r_leg_kny, r_leg_aky, r_leg_akx];
+
     use_controller_input = true;
   }
 

config/val/state_estimation.cfg

@@ -360,37 +360,17 @@ state_estimator {
     # joints with no torque deflection. These settings are used both for
     # control and state estimation:
     torque_adjustment = true;
-    adjustment_gain = [inf, # back_bkz
-                       8000, # back_bky
-                       8000, # back_bkx
-                       inf, # neck_ay
-                       7000, # l_leg_hpz
-                       8000, # l_leg_hpx
-                       10000, # l_leg_hpy
-                       10000, # l_leg_kny
-                       10000, # l_leg_aky
-                       10000, # l_leg_akx
-                       7000, # r_leg_hpz
-                       8000, # r_leg_hpx
-                       10000, # r_leg_hpy
-                       10000, # r_leg_kny
-                       10000, # r_leg_aky
-                       10000, # r_leg_akx
-                       inf, # l_arm_shz
-                       inf, # l_arm_shx
-                       inf, # l_arm_ely
-                       inf, # l_arm_elx
-                       inf, # l_arm_uwy
-                       inf, # l_arm_mwx
-                       inf, # l_arm_lwy
-                       inf, # r_arm_shz
-                       inf, # r_arm_shx
-                       inf, # r_arm_ely
-                       inf, # r_arm_elx
-                       inf, # r_arm_uwy
-                       inf, # r_arm_mwx
-                       inf]; # r_arm_lwy
-    use_controller_input = false;
+
+    adjustment_joints = ["leftHipYaw", "leftHipRoll", "leftHipPitch", 
+                         "leftKneePitch", "leftAnklePitch", "leftAnkleRoll", 
+                         "rightHipYaw", "rightHipRoll", "rightHipPitch", 
+                         "rightKneePitch", "rightAnklePitch", "rightAnkleRoll"];
+    adjustment_gain  =  [10000, 8000, 10000,
+                         10000, 10000, 10000,
+                         10000, 8000, 10000,
+                         10000, 10000, 10000];
+
+    use_controller_input = true;
   }
 
   legodo_external {