diff --git a/hexapod_python/jtc_test.py b/hexapod_python/jtc_test.py
index de74af3..cf411e6 100644
--- a/hexapod_python/jtc_test.py
+++ b/hexapod_python/jtc_test.py
@@ -12,10 +12,16 @@ class JTCPublisher(Node):
             trajectory = JointTrajectory(
                 joint_names = [ "c1_joint", "f1_joint", "t1_joint" ],
                   points = [ 
-                        JointTrajectoryPoint (time_from_start = Duration(nanosec =  500000000), positions = [0,   -1,   0]),
-                        JointTrajectoryPoint (time_from_start = Duration(nanosec = 1000000000), positions = [-0.3, -1.3,   0]),
-                        JointTrajectoryPoint (time_from_start = Duration(nanosec = 1500000000), positions = [0,   -1, 0.5]),
-                        JointTrajectoryPoint (time_from_start = Duration(nanosec = 2000000000), positions = [-0.3, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 1), positions = [0,    -1.4,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 2), positions = [-0.3, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 3), positions = [0,    -1.4, 0.5]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 4), positions = [-0.3, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 5), positions = [-0.5, -1.3,   1]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 6), positions = [-0.3, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 7), positions = [-0.5, -1.3,   1]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 8), positions = [-0.5, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 9), positions = [-0.3, -1.3,   0]),
+                        JointTrajectoryPoint (time_from_start = Duration(sec = 10), positions =[   0, -1.4,   0]),
                   ]
             )
             self.publisher_.publish(trajectory)