[DDP] Add documentation

doc/Overview.md

@@ -53,3 +53,4 @@ You can find the full installation procedure in the <a href="md_doc_installation
 
 Quick instructions on how to run a test can be found <a href="md_doc_running.html">here</a>.
 
+Instructions for running a simulation or an experiment using the DDP on the right elbow of Pyrene can be found <a href="md_doc_ddpRun.html">here</a>.

doc/ddpRun.md

+# Running the DDP on the right elbow joint of Pyrene
+
+In the following, we demonstrate how to run a test with  sot-torque-control, <a href="https://github.com/stack-of-tasks/ddp-actuator-solver">ddp-actuator-solver</a> and <a href="https://gepgitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
+
+## Start the simulation
+
+Start the simulation with the robot in the half-sitting position:
+```
+roslaunch talos_data talos_gazebo.launch start_half_sitting:=true
+```
+If you are on the real robot just ignore this step.
+
+## Start the SoT in torque mode
+
+To start the SoT in simulation in torque mode: 
+```
+roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
+```
+
+To start the SoT on the real robot in torque mode: 
+```
+roslaunch roscontrol_sot_talos sot_talos_controller_effort.launch
+```
+
+## Run the test
+
+First of all, you need to go to the folder where your script is.
+For running the ddp test of talos-torque-control, assuming you are in the root directory:
+
+```
+cd script
+```
+
+Then, you can just run the test, specifying that you are in simulation mode:
+
+```
+python test_ddp_sinu_effort.py simu
+```
+
+Or on the real robot:
+
+```
+python test_ddp_sinu_effort.py robot
+```
+
+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. 
+
+The script also saves the dynamic graph in /tmp/sot_ddp_talos_effort.pdf.
+
+You can add loads on the arm of the robot and see how it will react: by degrading the sinusoid movement of its elbow to respect its limits.
+
+To make the loads taken into account by the DDP formulation you should use the following commands:
+
+```
+rosrun dynamic_graph_bridge run_command
+robot.ddp_ctrl.setLoadParam(30.0,-0.021481595, 0.10)
+```
+
+It will add a load of 30kg at the coordinates (-0.021481595, 0.10) with respect to the elbow joint (10cm ahead on the arm from the joint, almost centered).
+
+To remove the load just run:
+
+```
+robot.ddp_ctrl.removeLoad()
+```
+
+## Other
+
+More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).