diff --git a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp b/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
index 834cec402239ba3743b902246c6c5108759c9afd..db6263acd9606a9789b0f45f501f0da8c96a30a0 100644
--- a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
+++ b/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
@@ -32,19 +32,21 @@ using namespace armarx;
 BOOST_AUTO_TEST_CASE(TrajectoryBasicUsage)
 {
     //! [TrajectoryDocumentation BasicUsage]
-    Ice::DoubleSeq myPositionValues {0, 5, 1}; // fill with your values;
-    Ice::DoubleSeq timestamps = Trajectory::GenerateTimestamps(0, 1, 1.0 / (myPositionValues.size() - 1)); // if you dont have timestamps
-    TrajectoryPtr trajectory(new Trajectory);
-    trajectory->addDimension(myPositionValues, timestamps, "Shoulder 1 L");
+    Ice::DoubleSeq joint1Values {0, 5, 1}; // fill with your values;
+    Ice::DoubleSeq joint2Values {1, 3, 1}; // fill with your values;
+    Ice::DoubleSeq joint3Values {0, 2, 5}; // fill with your values;
+    Ice::DoubleSeq timestamps = Trajectory::GenerateTimestamps(0, 1, 1.0 / (joint1Values.size() - 1)); // if you dont have timestamps
+    TrajectoryPtr trajectory(new Trajectory(DoubleSeqSeq {joint1Values, joint2Values}, timestamps, {"Shoulder 0 R", "Shoulder 1 R"}));
+    trajectory->addDimension(joint3Values, timestamps, "Shoulder 2 R");
 
     double timestamp = 0.1;
     double dimension = 0;
     double derivation = 0;
-    double pos = trajectory->getState(timestamp, dimension, derivation);
+    double j1posAtT = trajectory->getState(timestamp, dimension, derivation);
     // or
-    Ice::DoubleSeq positions = trajectory->getDimensionData(dimension, derivation);
+    Ice::DoubleSeq j1positions = trajectory->getDimensionData(dimension, derivation);
     //! [TrajectoryDocumentation BasicUsage]
-    ARMARX_INFO_S << VAROUT(pos) << VAROUT(positions);
+    ARMARX_INFO_S << VAROUT(j1posAtT) << VAROUT(j1positions);
 }
 
 BOOST_AUTO_TEST_CASE(TrajectoryIteratorUsage)