Add pyrene actuator and cost function to use DDP on it.
Created by: NoelieRamuzat
Using the entity ddp-pyrene-actuator in sot-torque control and the test script of talos-torque-control. This will launch the test making the robot executing a sinusoid with its right arm (on the elbow joint) using the DDP solver. This one computes a trajectory avoiding the limits in position, velocity and torque of the robot.