update readme

Author: ijnek

README.md

@@ -17,27 +17,27 @@ colcon build
 
 # Instructions, all in separate terminals
 
-Start simulator:
+Start nao_lola_client on the robot:
 ```
-rcsoccersim3d
+ros2 run nao_lola_client nao_lola_client
 ```
 
-Launch NAO in simulator:
+Stiffen all joints on the robot
 ```
-ros2 run rcss3d_nao rcss3d_nao
+ros2 topic pub --once /effectors/joint_stiffnesses nao_lola_command_msgs/msg/JointStiffnesses "{indexes: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24], stiffnesses: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]}"
 ```
 
-Start inverse kinematics of robot:
+Start inverse kinematics on the robot:
 ```
 ros2 run nao_ik nao_ik
 ```
 
-Start the phase provider:
+Start the phase provider on the robot:
 ```
 ros2 run nao_phase_provider nao_phase_provider --ros-args -r fsr:=/sensors/fsr
 ```
 
-Make robot crouch with:
+Make robot crouch with (on your computer):
 ```
 ros2 topic pub --once /motion/sole_poses biped_interfaces/msg/SolePoses "
 l_sole:
@@ -51,17 +51,17 @@ r_sole:
 "
 ```
 
-Start the walk node:
+Start the walk node on the robot:
 ```
 ros2 run walk walk
 ```
 
-Start teleop to control the robot:
+Start teleop on your computer:
 ```
 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=target
 ```
 
-Start debugging with rqt using an layout for debugging the walk:
+Start debugging with rqt (on your computer) using an layout for debugging the walk:
 ```
 rqt --perspective-file $(ros2 pkg prefix --share walk)/perspective/walk/walk.perspective
 ```
@@ -72,3 +72,8 @@ To abort the walk immediately:
 ```
 ros2 service call /abort std_srvs/srv/Empty
 ```
+
+To limp the robot:
+```
+ros2 topic pub --once /effectors/joint_stiffnesses nao_lola_command_msgs/msg/JointStiffnesses "{indexes: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24], stiffnesses: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"
+```