diff --git a/examples/matrices.py b/examples/matrices.py
index c47d5e9..d162a9d 100644
--- a/examples/matrices.py
+++ b/examples/matrices.py
@@ -4,28 +4,32 @@ import urx
 import logging
 
 if __name__ == "__main__":
-    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    rob = urx.Robot("192.168.1.6", logLevel=logging.WARNING)
     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))
+        j = rob.getj()
+        print("Initial joint configuration is ", j)
+        t = rob.get_transform()
+        print("Transformation from base to tcp is: ", t)
+        print("Translating in x")
+        rob.translate((l, 0, 0), acc=a, vel=v)
         pose = rob.getl()
         print("robot tcp is at: ", pose)
+        print("moving in z")
         pose[2] += l
         rob.movel(pose, acc=a, vel=v)
 
 
-        t = rob.get_transform()
-        print("Transformation from base to tcp is: ", t)
+        print("Translate in -x and rotate")
         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("Sending robot back to original position")
+        rob.movej(j, acc=0.8, vel=0.2) 
 
 
     finally:
diff --git a/examples/simple.py b/examples/simple.py
index 8776e57..94129bc 100644
--- a/examples/simple.py
+++ b/examples/simple.py
@@ -1,10 +1,9 @@
-from math import pi
 
 import urx
 import logging
 
 if __name__ == "__main__":
-    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    rob = urx.Robot("192.168.1.6", logLevel=logging.INFO)
     rob.set_tcp((0,0,0,0,0,0))
     rob.set_payload(0.5, (0,0,0))
     try:
@@ -13,13 +12,14 @@ if __name__ == "__main__":
         a = 0.3
         pose = rob.getl()
         print("robot tcp is at: ", pose)
+        print("absolute move in base coordinate ")
         pose[2] += l
         rob.movel(pose, acc=a, vel=v)
         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)
+        rob.translate((0, 0, -l), acc=a, vel=v)
+        print("relative move back and forth in tool coordinate")
+        rob.translate_tool((0, 0, -l), acc=a, vel=v)
+        rob.translate_tool((0, 0, l), acc=a, vel=v)
     finally:
         rob.cleanup()
 
diff --git a/examples/test_movep.py b/examples/test_movep.py
index 1f88937..d0aee51 100644
--- a/examples/test_movep.py
+++ b/examples/test_movep.py
@@ -4,7 +4,7 @@ import logging
 
 
 if __name__ == "__main__":
-    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    rob = urx.Robot("192.168.1.6", logLevel=logging.INFO)
     try:
         l = 0.1
         v = 0.07