# Running the DDP on the right elbow joint of Pyrene
In the following, we demonstrate how to run a test with sot-torque-control, <ahref="https://github.com/stack-of-tasks/ddp-actuator-solver">ddp-actuator-solver</a> and <ahref="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:
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 <ahref="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).