diff --git a/examples/SimpleSineMovement.cpp b/examples/SimpleSineMovement.cpp
index 3b00e4d..013eadd 100644
--- a/examples/SimpleSineMovement.cpp
+++ b/examples/SimpleSineMovement.cpp
@@ -1,80 +1,80 @@
 #include <rsc/misc/langutils.h>
 
 #include <rci/dto/JointAngles.h>
 
 #include "liboncilla/Oncilla.h"
 
 
 using namespace std;
 using namespace boost;
 
 using namespace rci;
 using namespace rci::oncilla;
 
 double hip_position(double phase, double amplitude, double offset) {
     return amplitude * std::cos(phase) + offset;
 }
 
 double knee_position(double phase, double phase_lag, double amplitude,
         double offset) {
     return amplitude * ((phase + phase_lag) > M_PI ? 1.0 : 0.0) + offset;
 }
 
 int main() {
 
     // Instantiate the actual robot object
     Oncilla oncilla;
 
 	// Get the synchronizer, so that we can control the actual simulation
 	// stepping from within our code
 	::rci::oncilla::Synchronizer::Ptr synchronizer = oncilla.getSynchronizer();
 
 	// Get all the joints we are interested in - L1 and L2
 	L1::Ptr left_fore_hip = oncilla.getL1(LEFT_FORE);
 	L2::Ptr left_fore_knee = oncilla.getL2(LEFT_FORE);
 	L1::Ptr right_fore_hip = oncilla.getL1(RIGHT_FORE);
 	L2::Ptr right_fore_knee = oncilla.getL2(RIGHT_FORE);
 	L1::Ptr left_hind_hip = oncilla.getL1(LEFT_HIND);
 	L2::Ptr left_hind_knee = oncilla.getL2(LEFT_HIND);
 	L1::Ptr right_hind_hip = oncilla.getL1(RIGHT_HIND);
 	L2::Ptr right_hind_knee = oncilla.getL2(RIGHT_HIND);
 
     //sets some parameter for the sinewave
-    double hip_amplitude(30),
+    double hip_amplitude(10),
             fore_hip_offset(0),
             hind_hip_offset(0),
-            fore_knee_amplitude(1),
-            fore_knee_offset(0),
-            hind_knee_amplitude(1),
-            hind_knee_offset(0),
-            fore_hip_knee_phase_lag(0),
+            fore_knee_amplitude(0.1),
+            fore_knee_offset(0.2),
+            hind_knee_amplitude(0.1),
+            hind_knee_offset(0.2),
+            fore_hip_knee_phase_lag(-0.2),
             hind_hip_knee_phase_lag(0),
-            frequency(1);
+            frequency(1.6);
     double time_s, phase, antiphase;
 
     time_s = 0;
     while (true) {
         // The simulated time is our phase
         time_s += synchronizer->lastProcessTimeStep();
-        phase = std::fmod(time_s * frequency * 2 * M_PI, 2 * M_PI);
 
+        phase = std::fmod(time_s * frequency * 2 * M_PI, 2 * M_PI);
         antiphase = std::fmod(phase + M_PI, 2 * M_PI);
 
         left_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(phase, hip_amplitude, fore_hip_offset)));
         left_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(phase, fore_hip_knee_phase_lag,fore_knee_amplitude, fore_knee_offset)));
 
         right_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(antiphase, hip_amplitude,fore_hip_offset)));
         right_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(antiphase, fore_hip_knee_phase_lag,fore_knee_amplitude, fore_knee_offset)));
 
         left_hind_hip->setJointPosition(JointAngles::fromDeg(hip_position(antiphase, hip_amplitude,hind_hip_offset)));
         left_hind_knee->setJointPosition(JointAngles::fromRad(knee_position(antiphase, hind_hip_knee_phase_lag,hind_knee_amplitude, hind_knee_offset)));
 
         right_hind_hip->setJointPosition(JointAngles::fromDeg(hip_position(phase, hip_amplitude, hind_hip_offset)));
         right_hind_knee->setJointPosition(JointAngles::fromRad(knee_position(phase, hind_hip_knee_phase_lag,hind_knee_amplitude, hind_knee_offset)));
 
         // Perform a (simulation) processing step
         synchronizer->process();
     }
 
     return EXIT_SUCCESS;
 }