diff --git a/examples/matrices.py b/examples/matrices.py
new file mode 100644
index 0000000..c47d5e9
--- /dev/null
+++ b/examples/matrices.py
@@ -0,0 +1,33 @@
+from math import pi
+
+import urx
+import logging
+
+if __name__ == "__main__":
+    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    rob.set_tcp((0,0,0,0,0,0))
+    rob.set_payload(0.5, (0,0,0))
+    try:
+        l = 0.05
+        v = 0.05
+        a = 0.3
+        rob.translate((l, 0, 0))
+        pose = rob.getl()
+        print("robot tcp is at: ", pose)
+        pose[2] += l
+        rob.movel(pose, acc=a, vel=v)
+
+
+        t = rob.get_transform()
+        print("Transformation from base to tcp is: ", t)
+        t.orient.rotate_zb(pi/4)
+        t.pos[0] -= l
+        rob.apply_transform(t, vel=v, acc=a)
+        t.pos[2] -= l
+        new_t = rob.apply_transform(t, vel=v, acc=a)
+        print("Transformation from base to tcp is: ", new_t)
+
+
+    finally:
+        rob.cleanup()
+
diff --git a/examples/simple.py b/examples/simple.py
index c47d5e9..8776e57 100644
--- a/examples/simple.py
+++ b/examples/simple.py
@@ -11,23 +11,15 @@ if __name__ == "__main__":
         l = 0.05
         v = 0.05
         a = 0.3
-        rob.translate((l, 0, 0))
         pose = rob.getl()
         print("robot tcp is at: ", pose)
         pose[2] += l
         rob.movel(pose, acc=a, vel=v)
-
-
-        t = rob.get_transform()
-        print("Transformation from base to tcp is: ", t)
-        t.orient.rotate_zb(pi/4)
-        t.pos[0] -= l
-        rob.apply_transform(t, vel=v, acc=a)
-        t.pos[2] -= l
-        new_t = rob.apply_transform(t, vel=v, acc=a)
-        print("Transformation from base to tcp is: ", new_t)
-
-
+        print("relative move in base coordinate ")
+        rob.translate((0, 0, -z), acc=a, vel=v)
+        print("relative move in tool coordinate")
+        rob.translate_tool((0, 0, -z), acc=a, vel=v)
+        rob.translate_tool((0, 0, z), acc=a, vel=v)
     finally:
         rob.cleanup()