First, on OSX you need Java 1.6. You see which you have from the Java Preferences application in /applications/utilities. Of course it would be too easy to call it 'Java 1.6'... its Java SE 6
Drag Java Se 6 to the top of the list and then quit Java Prefs - it auto saves.
Second you need to get the Java applet from here code.google.com/p/google-docs-upload/
If you have wget you can run
$ wget http://google-docs-upload.googlecode.com/files/google-docs-upload-1.2.jar
Then from the command line you run
$java -jar google-docs-upload-1.2.jar ~/Documents/1test/ --recursive --username email@example.com
It asks for your password, and then after a few moments, its done.
I did find a couple of weird things.
It doesn't create the enclosing folder, so if upload /docs it won't create docs. You need to have it in a sub folder eg /upload/docs, and it will create the 'docs' folder in which you'll find your docs.
And for some reason it sets the folder on my Mac to be read only.