Clarify and Streamline Config Files

[John-Bonnin]

There are several layers of config files:

• peg_in_hole_params for the example ROS nodes
• conntact_params for the conntact instance on this hardware
• connfig for the current task instance

There's a lot of junk DNA in each of these files, and they don't include inline comment instructions about how to complete them.

We need to

• Delete unused items, or comment why they might be enabled for an application
• Add guidance comments so these files work as templates for new users