diff --git a/tests/servoj_circle.py b/tests/servoj_circle.py
index 80d6b62..c8227ac 100644
--- a/tests/servoj_circle.py
+++ b/tests/servoj_circle.py
@@ -14,25 +14,38 @@ gain = 300
 joint_q = [-1.54, -1.83, -2.28, -0.59, 1.60, 0.023]
 
 # Move to initial joint position with a regular moveJ
-rtde_c.moveJ([2.74, -1.45, -1.63, -1.63, 1.57, 4.31],0.1,0.1)
 
-duration=10
 
-ycenter=0.2
+duration=20
+
+xcenter=-0.5
+ycenter=0.1
 zcenter=0.5
 c=0
 
-scale=0.2
+cx=0
+
+scale=0.1
+
+rtde_c.moveJ([3.091137462206234, -1.2753459082058711, -1.7658837933568385, -1.6701929639036406, 1.5738425257277626, 4.658345567448585],0.1,0.1)
+
+joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*0.2,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
+
+print("Start q")
+print(joint_q)
 
 print("Starting Servo")
 # Execute 500Hz control loop for 2 seconds, each cycle is 2ms
 for i in range(frequency*duration):
     start = time.time()
     
-    c=i/(frequency*duration) * 2 *3.1415 * 4
+    c=i/(frequency*duration) * 2 *3.1415 * 8
     c%= (2*3.1415)
+
+    cx=i/(frequency*duration) * 2 *3.1415 * 1
+    cx%= (2*3.1415)
     
-    joint_q=rtde_c.getInverseKinematics([-0.5,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
+    joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*0.2,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
     #print(joint_q)
     rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
     
@@ -45,4 +58,4 @@ for i in range(frequency*duration):
 print("Finished")
 
 rtde_c.servoStop()
-rtde_c.stopScript()
\ No newline at end of file
+rtde_c.stopScript()