diff --git a/.gitignore b/.gitignore
index c35bf0562..64523ced0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -69,6 +69,10 @@ wheelhouse/
 
 # Graphics files
 examples/**/*.xml
+examples/**/*.bmp
+examples/**/*.png
+examples/**/*.jpg
+examples/**/*.svg
 *.ipe
 
 # Matlab files
diff --git a/doc/manual/manual/extensions/capd/capd.rst b/doc/manual/manual/extensions/capd/capd.rst
index 40c23731e..590fe4c98 100644
--- a/doc/manual/manual/extensions/capd/capd.rst
+++ b/doc/manual/manual/extensions/capd/capd.rst
@@ -11,6 +11,7 @@ To use CAPD with Codac, you first need to install the CAPD library. You can find
 
 Note that as CAPD is a C++ only library, the content present in this page is **only available in C++**.
 
+.. _subsec-extensions-capd-capd-install:
 
 Installing the ``codac-capd`` extension
 ---------------------------------------
diff --git a/doc/manual/manual/extensions/capd/peibos_capd.rst b/doc/manual/manual/extensions/capd/peibos_capd.rst
index fb80ca017..3fae692b3 100644
--- a/doc/manual/manual/extensions/capd/peibos_capd.rst
+++ b/doc/manual/manual/extensions/capd/peibos_capd.rst
@@ -31,7 +31,7 @@ The PEIBOS function takes at least six arguments :
 - The final time for the integration of the ODE.
 - A timestep to get intermediate states.
 - The inverse chart for the gnomonic atlas (an analytic function).
-- The list of symmetries for the gnomonic atlas. Note that each symmetry is represented as a hyperoctahedral symmetry, see :ref:`sec-actions-octasym`.
+- The list of symmetries for the gnomonic atlas. Note that each symmetry is represented as a hyperoctahedral symmetry, see :ref:`sec-tools-octasym`.
 - A resolution :math:`\epsilon`. The initial box :math:`\left[-1,1\right]^m` will initiallly be splitted in boxes with a diameter smaller than :math:`\epsilon`.
 - Eventually an offset vector can be specified if the initial set is not centered around the origin.
 - Eventually a flag can be set to True to get the verbose.
diff --git a/doc/manual/manual/functions/peibos/peibos.rst b/doc/manual/manual/functions/peibos/peibos.rst
index f2afcf83f..aaa1bcdd0 100644
--- a/doc/manual/manual/functions/peibos/peibos.rst
+++ b/doc/manual/manual/functions/peibos/peibos.rst
@@ -13,6 +13,7 @@ Let us consider an initial set :math:`\mathbb{X}_0 \subset \mathbb{R}^n` with it
 Considering a function :math:`\mathbf{f}:\mathbb{R}^n \to \mathbb{R}^p`, :math:`n \leq p`, the PEIBOS tool allows to compute the set :math:`\mathbf{Y}=\left\{ \mathbf{f}(\mathbf{x}) \mid \mathbf{x} \in \partial \mathbb{X}_0 \right\}`.
 
 .. _subsec-functions-peibos-gnomonic-atals:
+
 Gnomonic atlas
 --------------
 
@@ -60,7 +61,7 @@ The PEIBOS function takes at least four arguments :
 
 - The studied analytic function.
 - The inverse chart for the gnomonic atlas (an analytic function).
-- The list of symmetries for the gnomonic atlas. Note that each symmetry is represented as a hyperoctahedral symmetry, see :ref:`sec-actions-octasym`.
+- The list of symmetries for the gnomonic atlas. Note that each symmetry is represented as a hyperoctahedral symmetry, see :ref:`sec-tools-octasym`.
 - A resolution :math:`\epsilon`. The initial box :math:`\left[-1,1\right]^m` will initiallly be splitted in boxes with a diameter smaller than :math:`\epsilon`.
 - Eventually an offset vector can be specified if the initial set is not centered around the origin.
 - Eventually a flag can be set to True to get the verbose.
diff --git a/doc/manual/manual/visualization/2d_example.rst b/doc/manual/manual/visualization/2d_example.rst
new file mode 100644
index 000000000..2b4b003e1
--- /dev/null
+++ b/doc/manual/manual/visualization/2d_example.rst
@@ -0,0 +1,26 @@
+.. _sec-graphics-2d-example:
+
+2D graphical example
+====================
+
+Below is an example covering a wide variety of drawing functions, colors, styles etc.
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: 2d_example_src/src.py
+      :language: py
+      :dedent: 0
+
+  .. group-tab:: C++
+
+    .. literalinclude:: 2d_example_src/src.cpp
+      :language: c++
+      :dedent: 0
+
+  .. group-tab:: Matlab
+
+    .. literalinclude:: 2d_example_src/src.m
+      :language: matlab
+      :dedent: 0
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/2d_example_src/src.cpp b/doc/manual/manual/visualization/2d_example_src/src.cpp
new file mode 100644
index 000000000..f10e08181
--- /dev/null
+++ b/doc/manual/manual/visualization/2d_example_src/src.cpp
@@ -0,0 +1,124 @@
+#include <codac>
+#include <filesystem>
+#include <iostream>
+
+using namespace std;
+using namespace codac2;
+
+int main(){
+
+  // Graphics can be directly called without a Figure2D instanciation, using "DefaultFigure"
+
+  DefaultFigure::set_window_properties({600,600},{300,300});
+  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::yellow(0.5)});
+  DefaultFigure::draw_AUV({1,1,3.14/2},1.,{{Color::black(),Color::yellow()}, "-.."});
+  DefaultFigure::draw_motor_boat({0,0,0}, 1., {Color::black(),Color::yellow()});
+  DefaultFigure::draw_tank({2,1,3.14/2},1.,{{Color::black(),Color::yellow()},"vehicles","-."});
+  DefaultFigure::draw_pie({2,2},{1.5,2.5},{(3*3.14/4)-0.5,(3*3.14/4)+0.5},{Color::blue(),Color::cyan()});
+  DefaultFigure::draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, Color::red());
+  DefaultFigure::draw_polygon({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
+  DefaultFigure::draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});
+
+  // Last argument corresponds to "StyleProperties" with one or two colors: edge color + (optional) fill color
+  // Predefined Color objects can be configured with a float parameter for opacity (1=opaque, 0=transparent)
+
+  // Custom figures can also be created:
+  std::shared_ptr<codac2::Figure2D> fig1 = std::make_shared<Figure2D>("My Figure 1",GraphicOutput::VIBES|GraphicOutput::IPE);
+
+  // Here, graphics will be rendered by two tools: both VIBES and IPE
+  // For VIBES, it requires the VIBes viewer to be launched prior to the execution
+  // For IPE, it generates a file named "My figure 1.xml" that can be edited with IPE, and converted to PDF
+
+  fig1->set_window_properties({50,50},{500,500}); // position, window size
+  fig1->set_axes(IntervalVector::constant(2,{-10,10})); // bounding box
+  fig1->draw_box({{-1,1},{-1,1}},{Color::green(),Color::red(0.2)}); // drawing a green box with red opacity values inside
+  fig1->draw_circle({1,1},0.5,Color({255,155,5})); // drawing a circle at (1,1) of radius 0.5 with a custom RGB color
+  fig1->draw_ring({1,1},{4,6},Color::red()); // drawing a ring at (1,1) of radius {4,6} with a predefined red color
+
+  std::shared_ptr<codac2::Figure2D> fig2 = std::make_shared<Figure2D>("My Figure 2",GraphicOutput::VIBES|GraphicOutput::IPE);  
+  fig2->set_axes(axis(0,{-1,5}), axis(1,{-1,5})); // (axis_id,{range_of_values_on_this_axis})
+  fig2->set_window_properties({250,250},{500,500});
+
+  // The previously declared figure "fig2" can now be used as a DefaultFigure
+  DefaultFigure::set(fig2);
+  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::green(0.8)});
+
+  DefaultFigure::set(fig1);
+  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::blue(),Color::cyan(0.8)});
+
+  fig2->draw_circle({2.,2.},0.5,{{Color::red(),Color::red(0.2)}, "z:1."}); // will alway be on top despite being "drawn" first
+
+  fig2->draw_AUV({1,1,3.14/2},2.,{{Color::black(),Color::yellow()}, "w:0.1", "vehicles"});
+  fig2->draw_tank({2,1,3.14/2},1.5,{{Color::black(),Color::yellow()},"vehicles","w:0.1"});
+  fig2->draw_motor_boat({0,0,0}, 1., {{Color::black(),Color::yellow()},"vehicles"});
+  fig2->draw_pie({2,2},{1.5,2.5},{(3*3.14/4)-0.5,(3*3.14/4)+0.5},{Color::blue(),Color::cyan()});
+  fig2->draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, {Color::red(),".."});
+  fig2->draw_polygon({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
+  fig2->draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});
+  fig2->draw_ellipse({1,1},{0.5,2}, 0.2, {Color::blue(),Color::blue(0.3)});
+  fig2->draw_line({1,1},{3,3}, Color::blue());
+  fig2->draw_arrow({3,1},{2.2,2}, 0.2, {Color::red(),Color::black(0.3)});
+  fig2->draw_parallelepiped({{1.5,2.8},Matrix({{0.5,0.4},{0,0.2}})}, {{Color::red(),Color::green(0.5)}, "parallelepiped", "w:0.1"});
+
+  fig2->draw_zonotope({{4,1.5},
+		{{-0.2,-0.06,0.2,0.06,0.01,0.08,0},
+     {0.1,0.04,0.04,-0.04,-0.03,0.18,0}}},
+	{{Color::red(),Color::yellow(0.4)},"zonotope", "w:0.05"});
+
+  Parallelepiped p_3d ({1.2,3.5,2.2},Matrix({{0.5,0.4,0},{0,0.2,0.1},{0,0,0.3}}));
+  fig2->draw_zonotope(p_3d.proj({0,1}), {{Color::green(),Color::yellow(0.4)}, "zonotope"});
+
+  fig2->draw_text("Hello, World!",{-0.5,4.5},0.2, Color::blue());
+
+  std::filesystem::path p = __FILE__;
+  fig2->draw_raster(p.parent_path().string()+"/logo_codac.png", IntervalVector({{2.5,5},{-1,-0.4}}), StyleProperties("raster"));
+
+  fig2->draw_circle({0.5,0.5},0.5,{{Color::orange(),Color::orange(0.2)}, "z:-1."}); // will alway be in the bottom despite being "drawn" last
+
+  // Colors
+  // predefined colors without and with opacity
+  fig2->draw_point({2,2}, {Color::red(),Color::yellow(0.5)});
+  // HTML color without and with opacity
+  fig2->draw_box({{2.4,2.9},{2.4,2.9}},{Color("#da3907"),Color("#da390755")});
+  // HSV color without and with opacity
+  fig2->draw_box({{2.6,3.1},{2.6,3.1}},{Color({108,90,78},Model::HSV),Color({108,90,78,20},Model::HSV)});
+
+  Figure2D fig3 ("ColorMap figure",GraphicOutput::VIBES|GraphicOutput::IPE);
+  fig3.set_window_properties({800,250},{500,500});
+
+  ColorMap cmap_haxby = ColorMap::haxby();
+  ColorMap cmap_default = ColorMap::basic();
+  ColorMap cmap_blue_tube = ColorMap::blue_tube();
+  ColorMap cmap_red_tube = ColorMap::red_tube();
+  ColorMap cmap_rainbow = ColorMap::rainbow();
+
+  ColorMap custom_map;
+  custom_map[0] = Color({255,0,0});
+  custom_map[0.5] = Color({0,255,0});
+  custom_map[1] = Color({0,0,255});
+
+  double subdivisions = 40.;
+  fig3.set_axes(axis(0,{-1,subdivisions+1}), axis(1,{-1.25,0.05}));
+  for (double i=0.; i<=subdivisions; i+=1.0)
+  {
+    double ratio = i/subdivisions;
+    fig3.draw_box({{i,i+1},{-1./5.,0}},{Color::black(),cmap_default.color(ratio)});
+    fig3.draw_box({{i,i+1},{-2./5.,-1./5.}},{Color::black(),cmap_haxby.color(ratio)});
+    fig3.draw_box({{i,i+1},{-3./5.,-2./5.}},{Color::black(),cmap_rainbow.color(ratio)});
+    fig3.draw_box({{i,i+1},{-4./5.,-3./5.}},{Color::black(),cmap_blue_tube.color(ratio)});
+    fig3.draw_box({{i,i+1},{-5/5.,-4./5.}},{Color::black(),cmap_red_tube.color(ratio)});
+    fig3.draw_box({{i,i+1},{-6./5.,-5./5.}},{Color::black(),custom_map.color(ratio)});
+  }
+
+  Figure2D fig4 ("My Figure 4",GraphicOutput::VIBES);
+
+  fig4.set_window_properties({500,50},{500,500});
+  fig4.set_axes(axis(0,{-10,10}), axis(1,{-10,10}));
+
+  double a=0.8;
+  ScalarVar t;
+  // Fermat's spiral
+  AnalyticFunction f1 ({t},{a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)});
+  AnalyticTraj traj4 ({0,100},f1);
+  fig4.draw_trajectory(traj4,{ColorMap::rainbow(), ".."});
+}
diff --git a/doc/manual/manual/visualization/2d_example_src/src.m b/doc/manual/manual/visualization/2d_example_src/src.m
new file mode 100644
index 000000000..1420da740
--- /dev/null
+++ b/doc/manual/manual/visualization/2d_example_src/src.m
@@ -0,0 +1,112 @@
+import py.codac4matlab.*
+
+% Graphics can be directly called without a Figure2D instanciation, using "DefaultFigure":
+
+DefaultFigure().set_window_properties(Vector({600,600}),Vector({300,300}));
+DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().black(),Color().yellow(0.5)}));
+DefaultFigure().draw_AUV(Vector({1,1,3.14/2}),1.,StyleProperties({Color().black(),Color().yellow()},"-.."));
+DefaultFigure().draw_motor_boat(Vector({0,0,0}),1.,StyleProperties({Color().black(),Color().yellow()}));
+DefaultFigure().draw_tank(Vector({2,1,3.14/2}),1.,StyleProperties({Color().black(),Color().yellow()},"vehicles","-."));
+DefaultFigure().draw_pie(Vector({2,2}),Interval(1.5,2.5),Interval((3*3.14/4)-0.5,(3*3.14/4)+0.5),StyleProperties({Color().blue(),Color().cyan()}));
+DefaultFigure().draw_polyline({Vector({2,-0.5}),Vector({4,0.5}),Vector({3,1.5}),Vector({4,2.5}),Vector({3,3})},Color().red());
+DefaultFigure().draw_polygon(Polygon({Vector({2,4.5}),Vector({4,4.5}),Vector({4.2,3.5}),Vector({3.5,3})}),StyleProperties({Color().none(),Color().green(0.5)}));
+DefaultFigure().draw_polyline({Vector({-0.8,0}),Vector({0,1.5})},0.2,StyleProperties({Color().red(),Color().black(0.3)}));
+
+% Last argument corresponds to "StyleProperties" with one or two colors: edge color + (optional) fill color
+% Predefined Color objects can be configured with a float parameter for opacity (1=opaque, 0=transparent)
+
+% Custom figures can also be created:
+
+fig1 = Figure2D("My figure 1", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+% Here, graphics will be rendered by two tools: both VIBES and IPE
+% For VIBES, it requires the VIBes viewer to be launched prior to the execution
+% For IPE, it generates a file named "My figure 1.xml" that can be edited with IPE, and converted to PDF
+
+fig1.set_window_properties(Vector({50,50}),Vector({500,500})); % position, window size
+fig1.set_axes(IntervalVector().constant(2,Interval(-10,10))); % bounding box
+fig1.draw_box(IntervalVector({{-1,1},{-1,1}}),StyleProperties({Color().green(),Color().red(0.2)})); % drawing a green box with red opacity values inside
+fig1.draw_circle(Vector({1,1}),0.5,Color({255,155,5})); % drawing a circle at (1,1) of radius 0.5 with a custom RGB color
+fig1.draw_ring(Vector({1,1}),Interval(4,6),Color().red()); % drawing a ring at (1,1) of radius [4,6] with a predefined red color
+
+fig2 = Figure2D("My figure 2", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+fig2.set_axes(axis(1,Interval(-1,5)), axis(2,Interval(-1,5))); % (axis_id,[range_of_values_on_this_axis])
+fig2.set_window_properties(Vector({250,250}),Vector({500,500}));
+
+% The previously declared figure "fig2" can now be used as a DefaultFigure
+DefaultFigure().set(fig2);
+DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().black(),Color().green(0.8)}));
+
+DefaultFigure().set(fig1);
+DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().blue(),Color().cyan(0.8)}));
+
+fig2.draw_circle(Vector({2,2}),0.5,StyleProperties({Color().red(),Color().red(0.2)},"z:1.")); % will alway be on top despite being "drawn" first
+
+fig2.draw_AUV(Vector({1,1,3.14/2}),2.,StyleProperties({Color().black(),Color().yellow()},"w:0.1","vehicles"));
+fig2.draw_tank(Vector({2,1,3.14/2}),1.5,StyleProperties({Color().black(),Color().yellow()},"vehicles","w:0.1"));
+fig2.draw_motor_boat(Vector({0,0,0}),1.,StyleProperties({Color().black(),Color().yellow()},"vehicles"));
+fig2.draw_pie(Vector({2,2}),Interval(1.5,2.5),Interval((3*3.14/4)-0.5,(3*3.14/4)+0.5),StyleProperties({Color().blue(),Color().cyan()}));
+fig2.draw_polyline({Vector({2,-0.5}),Vector({4,0.5}),Vector({3,1.5}),Vector({4,2.5}),Vector({3,3})},StyleProperties(Color().red(),".."));
+fig2.draw_polygon(Polygon({Vector({2,4.5}),Vector({4,4.5}),Vector({4.2,3.5}),Vector({3.5,3})}),StyleProperties({Color().none(),Color().green(0.5)}));
+fig2.draw_polyline({Vector({-0.8,0}),Vector({0,1.5})},0.2,StyleProperties({Color().red(),Color().black(0.3)}));
+fig2.draw_ellipse(Vector({1,1}),Vector({0.5,2.}),0.2,StyleProperties({Color().blue(),Color().blue(0.3)}));
+fig2.draw_line(Vector({1,1}),Vector({3,3}),Color().blue());
+fig2.draw_arrow(Vector({3,1}),Vector({2.2,2}),0.2,StyleProperties({Color().red(),Color().black(0.3)}));
+fig2.draw_parallelepiped(Parallelepiped(Vector({1.5,2.8}),Matrix({{0.5,0.4},{0,0.2}})),StyleProperties({Color().red(),Color().green(0.5)},"parallelepiped","w:0.1"));
+
+fig2.draw_zonotope(Zonotope(Vector({4,1.5}),Matrix({{-0.2,-0.06,0.2,0.06,0.01,0.08,0}, ...
+                                                    {0.1,0.04,0.04,-0.04,-0.03,0.18,0}})),StyleProperties({Color().red(),Color().yellow(0.4)},"zonotope","w:0.05"));
+
+p_3d = Parallelepiped(Vector({1.2,3.5,2.2}),Matrix({{0.5,0.4,0},{0,0.2,0.1},{0,0,0.3}}));
+fig2.draw_zonotope(p_3d.proj({1,2}),StyleProperties({Color().green(),Color().yellow(0.4)},"zonotope"));
+
+fig2.draw_text("Hello, World!",Vector({-0.5,4.5}),0.2, Color().blue());
+
+fig2.draw_raster("logo_codac.png", IntervalVector({{2.5,5},{-1,-0.4}}),StyleProperties("raster"));
+
+fig2.draw_circle(Vector({0.5,0.5}),0.5,StyleProperties({Color().orange(),Color().orange(0.2)},"z:-1.")); % will alway be in the bottom despite being "drawn" last
+
+% Colors
+% predefined colors without and with opacity
+fig2.draw_point(Vector({2,2}), StyleProperties({Color().red(),Color().yellow(0.5)}));
+% HTML color without and with opacity
+fig2.draw_box(IntervalVector({{2.4,2.9},{2.4,2.9}}),StyleProperties({Color("#da3907"),Color("#da390755")}));
+% HSV color without and with opacity
+fig2.draw_box(IntervalVector({{2.6,3.1},{2.6,3.1}}),StyleProperties({Color({108,90,78},Model().HSV),Color({108,90,78,20},Model().HSV)}));
+
+fig3 = Figure2D("ColorMap figure", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+fig3.set_window_properties(Vector({800,250}),Vector({500,500}));
+
+cmap_haxby = ColorMap().haxby();
+cmap_default = ColorMap().basic();
+cmap_blue_tube = ColorMap().blue_tube();
+cmap_red_tube = ColorMap().red_tube();
+cmap_rainbow = ColorMap().rainbow();
+
+custom_map = ColorMap(Model().RGB);
+custom_map.set_item(0,Color({255,0,0}));
+custom_map.set_item(0.5,Color({0,255,0}));
+custom_map.set_item(1,Color({0,0,255}));
+
+subdivisions = 40;
+fig3.set_axes(axis(1,Interval(-1,subdivisions+1)), axis(2,Interval(-1.25,0.05)));
+
+for i = 0:(subdivisions)
+    ratio = i / subdivisions;
+    fig3.draw_box(IntervalVector({{i,i+1},{-1./5.,0}}),StyleProperties({Color().black(),cmap_default.color(ratio)}));
+    fig3.draw_box(IntervalVector({{i,i+1},{-2./5.,-1./5.}}),StyleProperties({Color().black(),cmap_haxby.color(ratio)}));
+    fig3.draw_box(IntervalVector({{i,i+1},{-3./5.,-2./5.}}),StyleProperties({Color().black(),cmap_rainbow.color(ratio)}));
+    fig3.draw_box(IntervalVector({{i,i+1},{-4./5.,-3./5.}}),StyleProperties({Color().black(),cmap_blue_tube.color(ratio)}));
+    fig3.draw_box(IntervalVector({{i,i+1},{-5./5.,-4./5.}}),StyleProperties({Color().black(),cmap_red_tube.color(ratio)}));
+    fig3.draw_box(IntervalVector({{i,i+1},{-6./5.,-5./5.}}),StyleProperties({Color().black(),custom_map.color(ratio)}));
+end
+
+fig4 = Figure2D("My Figure 4", GraphicOutput().VIBES);
+fig4.set_window_properties(Vector({500,50}),Vector({500,500}));
+fig4.set_axes(axis(1,Interval(-10,10)), axis(2,Interval(-10,10)));
+
+a= 0.8;
+t = ScalarVar();
+% Fermat's spiral
+f1 = AnalyticFunction({t},vec(a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)));
+traj4 = AnalyticTraj(Interval(0,100),f1);
+fig4.draw_trajectory(traj4, StyleGradientProperties(ColorMap().rainbow(), ".."));
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/2d_example_src/src.py b/doc/manual/manual/visualization/2d_example_src/src.py
new file mode 100644
index 000000000..a7477e114
--- /dev/null
+++ b/doc/manual/manual/visualization/2d_example_src/src.py
@@ -0,0 +1,115 @@
+from codac import *
+import os
+
+# Graphics can be directly called without a Figure2D instanciation, using "DefaultFigure":
+
+DefaultFigure.set_window_properties([600,600],[300,300])
+DefaultFigure.draw_box([[2.2,2.5],[2.2,2.5]],[Color.black(),Color.yellow(0.5)])
+DefaultFigure.draw_AUV([1,1,3.14/2],1.,StyleProperties([Color.black(),Color.yellow()],"-.."))
+DefaultFigure.draw_motor_boat([0,0,0], 1., [Color.black(),Color.yellow()])
+DefaultFigure.draw_tank([2,1,3.14/2],1.,StyleProperties([Color.black(),Color.yellow()],"vehicles","-."))
+DefaultFigure.draw_pie([2,2],[1.5,2.5],[(3*3.14/4)-0.5,(3*3.14/4)+0.5],[Color.blue(),Color.cyan()])
+DefaultFigure.draw_polyline([[2,-0.5],[4,0.5],[3,1.5],[4,2.5],[3,3]], Color.red())
+DefaultFigure.draw_polygon([[2,4.5],[4,4.5],[4.2,3.5],[3.5,3]], [Color.none(),Color.green(0.5)])
+DefaultFigure.draw_polyline([[-0.8,0],[0,1.5]], 0.2, [Color.red(),Color.black(0.3)])
+
+# Last argument corresponds to "StyleProperties" with one or two colors: edge color + (optional) fill color
+# Predefined Color objects can be configured with a float parameter for opacity (1=opaque, 0=transparent)
+
+# Custom figures can also be created:
+fig1 = Figure2D("My figure 1", GraphicOutput.VIBES | GraphicOutput.IPE)
+# Here, graphics will be rendered by two tools: both VIBES and IPE
+# For VIBES, it requires the VIBes viewer to be launched prior to the execution
+# For IPE, it generates a file named "My figure 1.xml" that can be edited with IPE, and converted to PDF
+
+fig1.set_window_properties([50,50],[500,500]) # position, window size
+fig1.set_axes(IntervalVector.constant(2,[-10,10])) # bounding box
+fig1.draw_box([[-1,1],[-1,1]],[Color.green(),Color.red(0.2)]) # drawing a green box with red opacity values inside
+fig1.draw_circle([1,1],0.5,Color([255,155,5])) # drawing a circle at (1,1) of radius 0.5 with a custom RGB color
+fig1.draw_ring([1,1],[4,6],Color.red()) # drawing a ring at (1,1) of radius [4,6] with a predefined red color
+
+fig2 = Figure2D("My figure 2", GraphicOutput.VIBES | GraphicOutput.IPE)
+fig2.set_axes(axis(0,[-1,5]), axis(1,[-1,5])) # (axis_id,[range_of_values_on_this_axis])
+fig2.set_window_properties([250,250],[500,500])
+
+# The previously declared figure "fig2" can now be used as a DefaultFigure
+DefaultFigure.set(fig2)
+DefaultFigure.draw_box([[2.2,2.5],[2.2,2.5]],[Color.black(),Color.green(0.8)])
+
+DefaultFigure.set(fig1)
+DefaultFigure.draw_box([[2.2,2.5],[2.2,2.5]],[Color.blue(),Color.cyan(0.8)])
+
+fig2.draw_circle([2,2],0.5,StyleProperties([Color.red(),Color.red(0.2)], "z:1.")) # will alway be on top despite being "drawn" first
+
+fig2.draw_AUV([1,1,3.14/2],2.,StyleProperties([Color.black(),Color.yellow()], "w:0.1", "vehicles"))
+fig2.draw_tank([2,1,3.14/2],1.5,StyleProperties([Color.black(),Color.yellow()],"vehicles","w:0.1"))
+fig2.draw_motor_boat([0,0,0], 1.,StyleProperties([Color.black(),Color.yellow()],"vehicles"))
+fig2.draw_pie([2,2],[1.5,2.5],[(3*3.14/4)-0.5,(3*3.14/4)+0.5],[Color.blue(),Color.cyan()])
+fig2.draw_polyline([[2,-0.5],[4,0.5],[3,1.5],[4,2.5],[3,3]], StyleProperties(Color.red(),".."))
+fig2.draw_polygon([[2,4.5],[4,4.5],[4.2,3.5],[3.5,3]], [Color.none(),Color.green(0.5)])
+fig2.draw_polyline([[-0.8,0],[0,1.5]], 0.2, [Color.red(),Color.black(0.3)])
+fig2.draw_ellipse([1,1],[0.5,2], 0.2, [Color.blue(),Color.blue(0.3)])
+fig2.draw_line([1,1],[3,3], Color.blue())
+fig2.draw_arrow([3,1],[2.2,2], 0.2, [Color.red(),Color.black(0.3)])
+fig2.draw_parallelepiped(Parallelepiped([1.5,2.8],Matrix([[0.5,0.4],[0,0.2]])), StyleProperties([Color.red(),Color.green(0.5)],"parallelepiped","w:0.1"))
+
+fig2.draw_zonotope(Zonotope([4,1.5],Matrix([[-0.2,-0.06,0.2,0.06,0.01,0.08,0],
+                                            [0.1,0.04,0.04,-0.04,-0.03,0.18,0]])),StyleProperties([Color.red(),Color.yellow(0.4)],"zonotope","w:0.05"))
+
+p_3d = Parallelepiped([1.2,3.5,2.2],Matrix([[0.5,0.4,0],[0,0.2,0.1],[0,0,0.3]]))
+fig2.draw_zonotope(p_3d.proj([0,1]), StyleProperties([Color.green(),Color.yellow(0.4)],"zonotope"))
+
+fig2.draw_text("Hello, World!",[-0.5,4.5],0.2, Color.blue())
+
+current_folder = os.path.dirname(os.path.abspath(__file__))
+fig2.draw_raster(current_folder+"/logo_codac.png", IntervalVector([[2.5,5],[-1,-0.4]]),StyleProperties("raster"))
+
+fig2.draw_circle([0.5,0.5],0.5,StyleProperties([Color.orange(),Color.orange(0.2)], "z:-1.")) # will alway be in the bottom despite being "drawn" last
+
+# Colors
+# predefined colors without and with opacity
+fig2.draw_point([2,2], [Color.red(),Color.yellow(0.5)])
+# HTML color without and with opacity
+fig2.draw_box([[2.4,2.9],[2.4,2.9]],[Color("#da3907"),Color("#da390755")])
+# HSV color without and with opacity
+fig2.draw_box([[2.6,3.1],[2.6,3.1]],[Color([108,90,78],Model.HSV),Color([108,90,78,20],Model.HSV)])
+# RGB color auto cast from list without and with opacity
+fig2.draw_box([[2.,2.3],[2.6,2.9]],[[255,0,255],[255,0,255,100]])
+
+fig3 = Figure2D("ColorMap figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+fig3.set_window_properties([800,250],[500,500])
+
+cmap_haxby=ColorMap.haxby()
+cmap_default=ColorMap.basic()
+cmap_blue_tube=ColorMap.blue_tube()
+cmap_red_tube=ColorMap.red_tube()
+cmap_rainbow=ColorMap.rainbow()
+
+custom_map = ColorMap(Model.RGB)
+custom_map[0] = Color([255,0,0])
+custom_map[0.5] = Color([0,255,0])
+custom_map[1] = Color([0,0,255])
+
+subdivisions=40
+fig3.set_axes(axis(0,[-1,subdivisions+1]), axis(1,[-1.25,0.05]))
+
+for i in range (subdivisions+1):
+    ratio=i/subdivisions
+    fig3.draw_box([[i,i+1],[-1/5,0]],[Color.black(),cmap_default.color(ratio)])
+    fig3.draw_box([[i,i+1],[-2/5,-1/5]],[Color.black(),cmap_haxby.color(ratio)])
+    fig3.draw_box([[i,i+1],[-3/5,-2/5]],[Color.black(),cmap_rainbow.color(ratio)])
+    fig3.draw_box([[i,i+1],[-4/5,-3/5]],[Color.black(),cmap_blue_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-5/5,-4/5]],[Color.black(),cmap_red_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-6/5,-5/5]],[Color.black(),custom_map.color(ratio)])
+
+fig4 = Figure2D("My figure 4", GraphicOutput.VIBES)
+
+fig4.set_window_properties([500,50],[500,500]) 
+fig4.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) 
+
+a = 0.8
+t=ScalarVar()
+# Fermat's spiral
+f1=AnalyticFunction([t], [a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)])
+traj4=AnalyticTraj([0,100],f1)
+fig4.draw_trajectory(traj4, StyleGradientProperties(ColorMap.rainbow(),".."))
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/3d_example.rst b/doc/manual/manual/visualization/3d_example.rst
new file mode 100644
index 000000000..4ef81d4ff
--- /dev/null
+++ b/doc/manual/manual/visualization/3d_example.rst
@@ -0,0 +1,26 @@
+.. _sec-graphics-3d-example:
+
+3D graphical example
+====================
+
+Below is an example covering a wide variety of drawing functions, colors, styles etc.
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: 3d_example_src/src.py
+      :language: py
+      :dedent: 0
+
+  .. group-tab:: C++
+
+    .. literalinclude:: 3d_example_src/src.cpp
+      :language: c++
+      :dedent: 0
+      
+  .. group-tab:: Matlab
+
+    .. literalinclude:: 3d_example_src/src.m
+      :language: matlab
+      :dedent: 0
diff --git a/doc/manual/manual/visualization/3d_example_src/src.cpp b/doc/manual/manual/visualization/3d_example_src/src.cpp
new file mode 100644
index 000000000..a77f85495
--- /dev/null
+++ b/doc/manual/manual/visualization/3d_example_src/src.cpp
@@ -0,0 +1,80 @@
+// The generated .obj files can be visualized on https://3dviewer.net
+
+#include <codac>
+
+using namespace std;
+using namespace codac2;
+
+int main()
+{
+  VectorVar x(3);
+
+  AnalyticFunction f { {x},
+    {
+      -sqr(x[2])+2*x[2]*sin(x[2]*x[0])+cos(x[2]*x[1]),
+      2*x[2]*cos(x[2]*x[0])-sin(x[2]*x[1])
+    }
+  };
+  
+
+  CtcInverse ctc(f, IntervalVector::zero(2));
+  auto p_ctc = pave({{0,2},{2,4},{0,10}}, ctc, 0.02);
+  Figure3D fig_ctc("Paving contractor");
+  fig_ctc.draw_paving(p_ctc);
+
+
+  SepInverse sep_ellipsoid1(
+      AnalyticFunction({x},  0.5*sqr(x[0])+x[0]*x[1]+x[0]*x[2]+2*sqr(x[1])+2*sqr(x[2])),
+      Interval(0.4,1));
+  SepInverse sep_ellipsoid2(
+      AnalyticFunction({x}, 3*sqr(x[0])+x[0]*x[1]+x[0]*x[2]+sqr(x[1])+sqr(x[2])),
+      Interval(0,1));
+
+  auto p_sep = pave({{-1.1,1.1},{-1.1,1.1},{-1.1,1.1}}, sep_ellipsoid1&sep_ellipsoid2, 0.1);
+
+  Figure3D fig_sep("Paving separator");
+  fig_sep.draw_axes(0.4);
+  fig_sep.draw_paving(p_sep);
+
+
+  Figure3D fig_examples("3D examples");
+  fig_examples.draw_axes();
+  fig_examples.draw_axes(0.5);
+  fig_examples.draw_axes(2.0,{0.5,0.5,0.5});
+  fig_examples.draw_triangle({1,0,0},{0,1,0},{0,0,1},{ Color::dark_green(0.5), "triangle1" });
+  fig_examples.draw_triangle({2,0,0},{{-1,0,0},{0,1,1},{0,0,-1}},
+		{1,0,0},{0,1,0},{0,0,1},Color::purple(0.5));
+  fig_examples.draw_sphere({0,0,2},{{-1,0,0},{0,1,1},{0,0,-1}},
+		{ Color::yellow(0.6), "sphere" });
+  fig_examples.draw_arrow({0,2,0},{{-1,0,0},{0,1,1},{0,0,-1}},
+		Color::red(1.0));
+  fig_examples.draw_car({-1,0,0},0.3*Matrix::Identity(3,3),
+		{ Color::green(0.8), "car" });
+  fig_examples.draw_plane({3,0,0},0.5*Matrix::Identity(3,3),true,
+		{ Color::dark_gray(0.8), "plane" });
+
+
+  fig_examples.draw_zonotope({{1.5,1.5,1.5},
+	{{0.3,-0.2,-0.2,0.3,-0.1,0.0},
+    {0.2,0.1,-0.1,0.0,0.05,0.2},
+    {0.4,0.3,0.0,-0.1,0.2,0.1}}},
+  { Color::dark_green(1.0), "zonotope" });
+  fig_examples.draw_zonotope({{-1.5,-1.5,-1.5},
+	{{0.3,-0.2,-0.2,0.3,-0.2,-0.1,0.0,0.0},
+    {0.2,0.1,-0.1,0.0,0.0,0.05,0.2,0.0},
+    {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.1}}},
+  { Color::dark_green(1.0), "zonotope2" });
+
+  fig_examples.draw_parallelepiped({{1,-1.5,1.5},
+    {{1,0,0},{0,0.5,0},{0,0.2,0.1}}},
+    { Color::blue(0.5), "parallelepiped" });
+
+  fig_examples.draw_surface({0,-2,0}, 0.5*Matrix::Identity(3,3), Interval(0,2*PI),
+		0.05*PI, Interval(0,2*PI), 0.05*PI,
+		[](double phi,double psi) -> Vector
+		{ return {(1-cos(phi))*sin(phi),
+			(1-cos(2*phi))*cos(phi)*cos(psi),
+			 (1-cos(phi))*cos(phi)*sin(psi) }; },
+		{ Color::red(0.6), "example_surface" });
+  
+}
diff --git a/doc/manual/manual/visualization/3d_example_src/src.m b/doc/manual/manual/visualization/3d_example_src/src.m
new file mode 100644
index 000000000..e0cccc1d0
--- /dev/null
+++ b/doc/manual/manual/visualization/3d_example_src/src.m
@@ -0,0 +1,59 @@
+% The generated .obj files can be visualized on https://3dviewer.net
+
+import py.codac4matlab.*
+
+x = VectorVar(3);
+f = AnalyticFunction({x},vec(-sqr(x(3))+2*x(3)*sin(x(3)*x(1))+cos(x(3)*x(2)),2*x(3)*cos(x(3)*x(1))-sin(x(3)*x(2))));
+
+ctc = CtcInverse(f,IntervalVector().zero(2));
+p_ctc = pave(IntervalVector({{0,2},{2,4},{0,10}}), ctc, 0.02);
+fig_ctc = Figure3D("Paving contractor");
+fig_ctc.draw_paving(p_ctc);
+
+sep_ellipsoid1 = SepInverse (AnalyticFunction({x},0.5*sqr(x(1))+x(1)*x(2)+x(1)*x(3)+2*sqr(x(2))+2*sqr(x(3))),Interval(0.4,1));
+sep_ellipsoid2 = SepInverse (AnalyticFunction({x},3*sqr(x(1))+x(1)*x(2)+x(1)*x(3)+sqr(x(2))+sqr(x(3))),Interval(0.,1));
+p_sep = pave(IntervalVector({{-1.5,1.5},{-1.5,1.5},{-1.5,1.5}}), sep_ellipsoid1.inter(sep_ellipsoid2), 0.1);
+fig_sep = Figure3D("Paving separator");
+fig_sep.draw_axes(0.4);
+fig_sep.draw_paving(p_sep);
+
+eye_3d = Matrix({{1,0,0},{0,1,0},{0,0,1}});
+
+fig_examples = Figure3D("3D examples");
+fig_examples.draw_axes();
+fig_examples.draw_axes(0.5);
+fig_examples.draw_axes(2.0,Vector([0.5,0.5,0.5]));
+fig_examples.draw_triangle(Vector([1,0,0]),Vector([0,1,0]),Vector([0,0,1]),StyleProperties(Color().dark_green(0.5),"triangle"))
+fig_examples.draw_triangle(Vector([2,0,0]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}), Vector([1.,0.,0.]),Vector([0.,1.,0.]),Vector([0.,0.,1.]),StyleProperties(Color().purple(0.5)));
+fig_examples.draw_sphere(Vector([0,0,2]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}), StyleProperties(Color().yellow(0.6),"sphere"));
+fig_examples.draw_arrow(Vector([0,2,0]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}),StyleProperties(Color().red(1.0)));
+fig_examples.draw_car(Vector([-1,0,0]),0.3*eye_3d, StyleProperties(Color().green(0.8),"car"));
+fig_examples.draw_plane(Vector([3,0,0]),0.5*eye_3d,true,StyleProperties(Color().dark_gray(0.8),"plane"));
+
+fig_examples.draw_zonotope(Zonotope(Vector([1.5,1.5,1.5]), ...
+    Matrix({{0.3,-0.2,-0.2,0.3,-0.1,0.0},{0.2,0.1,-0.1,0.0,0.05,0.2},{0.4,0.3,0.0,-0.1,0.2,0.1}})),StyleProperties(Color().dark_green(1.0),"zonotope"));
+fig_examples.draw_zonotope(Zonotope(Vector([-1.5,-1.5,-1.5]), ...
+    Matrix({{0.3,-0.2,-0.2,0.3,-0.2,-0.1,0.0,0.0}, ...
+                {0.2,0.1,-0.1,0.0,0.0,0.05,0.2,0.0}, ...
+                {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.1}})), ...
+                StyleProperties(Color().dark_green(1.0),"zonotope2"));
+
+code = sprintf([ ...
+    'import math\n' ...
+    'from codac4matlab import Vector\n' ...
+    'f = lambda phi, psi: Vector([\n' ...
+    '    (1-math.cos(phi))*math.sin(phi),\n' ...
+    '    (1-math.cos(2*phi))*math.cos(phi)*math.cos(psi),\n' ...
+    '    (1-math.cos(phi))*math.cos(phi)*math.sin(psi)\n' ...
+    '])']);
+
+f = pyrun(code, "f");
+
+fig_examples.draw_surface( ...
+    Vector([0, -2, 0]), ...
+    0.5 * eye_3d, ...
+    Interval(0, 2*pi), 0.05*pi, ...
+    Interval(0, 2*pi), 0.05*pi, ...
+    f, ...
+    StyleProperties(Color().red(0.6), "example_surface") ...
+);
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/3d_example_src/src.py b/doc/manual/manual/visualization/3d_example_src/src.py
new file mode 100644
index 000000000..4ebf27354
--- /dev/null
+++ b/doc/manual/manual/visualization/3d_example_src/src.py
@@ -0,0 +1,63 @@
+# The generated .obj files can be visualized on https://3dviewer.net
+
+from codac import *
+import math
+
+x = VectorVar(3)
+f = AnalyticFunction([x], [
+  -sqr(x[2])+2*x[2]*sin(x[2]*x[0])+cos(x[2]*x[1]),
+  2*x[2]*cos(x[2]*x[0])-sin(x[2]*x[1])
+])
+
+ctc = CtcInverse(f, [0,0])
+p_ctc = pave([[0,2],[2,4],[0,10]], ctc, 0.02)
+fig_ctc=Figure3D("Paving contractor")
+fig_ctc.draw_paving(p_ctc)
+
+sep_ellipsoid1=SepInverse (AnalyticFunction([x], 0.5*sqr(x[0])+x[0]*x[1]+x[0]*x[2]+2*sqr(x[1])+2*sqr(x[2])),Interval(0.4,1))
+sep_ellipsoid2=SepInverse (AnalyticFunction([x], 3*sqr(x[0])+x[0]*x[1]+x[0]*x[2]+sqr(x[1])+sqr(x[2])),Interval(0.,1))
+p_sep = pave([[-1.5,1.5],[-1.5,1.5],[-1.5,1.5]], sep_ellipsoid1&sep_ellipsoid2, 0.1)
+fig_sep = Figure3D("Paving separator")
+fig_sep.draw_axes(0.4)
+fig_sep.draw_paving(p_sep)
+
+fig_examples = Figure3D("3D examples")
+fig_examples.draw_axes()
+fig_examples.draw_axes(0.5)
+fig_examples.draw_axes(2.0,[0.5,0.5,0.5])
+fig_examples.draw_triangle([1,0,0],[0,1,0],[0,0,1],StyleProperties(Color.dark_green(0.5),"triangle"))
+fig_examples.draw_triangle([2,0,0],
+                        Matrix([[2,0,0],[-1,0,0],[0,1,1]]),
+                            [1,0,0],[0,1,0],[0,0,1],Color.purple(0.5))
+fig_examples.draw_sphere([0,0,2],Matrix([[-1,0,0],[0,1,1],[0,0,-1]]),
+                            StyleProperties(Color.yellow(0.6),"sphere"))
+fig_examples.draw_arrow([0,2,0],Matrix([[-1,0,0],[0,1,1],[0,0,-1]]),Color.red(1.0))
+fig_examples.draw_car([-1,0,0],0.3*Matrix.eye(3,3),
+                        StyleProperties(Color.green(0.8),"car"))
+fig_examples.draw_plane([3,0,0],0.5*Matrix.eye(3,3),True,
+                        StyleProperties(Color.dark_gray(0.8),"plane"))
+
+fig_examples.draw_zonotope(Zonotope([1.5,1.5,1.5],
+            Matrix([[0.3,-0.2,-0.2,0.3,-0.1,0.0],[0.2,0.1,-0.1,0.0,0.05,0.2],[0.4,0.3,0.0,-0.1,0.2,0.1]])),StyleProperties(Color.dark_green(1.0),"zonotope"))
+fig_examples.draw_zonotope(Zonotope([-1.5,-1.5,-1.5],
+        Matrix([[0.3,-0.2,-0.2,0.3,-0.2,-0.1,0.0,0.0],
+                [0.2,0.1,-0.1,0.0,0.0,0.05,0.2,0.0],
+                [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.1]])),
+                StyleProperties(Color.dark_green(1.0),"zonotope2"))
+
+fig_examples.draw_parallelepiped(Parallelepiped([1,-1.5,1.5],
+            Matrix([[1,0,0],[0,0.5,0],[0,0.2,0.1]])),StyleProperties(Color.blue(0.5),"parallelepiped"))
+
+def f(phi,psi):
+    return Vector([(1-math.cos(phi))*math.sin(phi),
+                   (1-math.cos(2*phi))*math.cos(phi)*math.cos(psi),
+                   (1-math.cos(phi))*math.cos(phi)*math.sin(psi)])
+
+fig_examples.draw_surface([0,-2,0], 0.5*Matrix.eye(3,3),
+                    [0,2*PI],0.05*PI,[0,2*PI],0.05*PI,
+                    f,StyleProperties(Color.red(0.6),"example_surface"))
+
+# to flush the files
+del fig_ctc
+del fig_sep
+del fig_examples
diff --git a/doc/manual/manual/visualization/3d_visualization.rst b/doc/manual/manual/visualization/3d_visualization.rst
index bfe22788b..8c2ee2766 100644
--- a/doc/manual/manual/visualization/3d_visualization.rst
+++ b/doc/manual/manual/visualization/3d_visualization.rst
@@ -36,86 +36,139 @@ Drawing functions
 Below are the detailled available drawing functions. The shapes that can be drawn are:
 
 Geometric shapes
-  - Triangle
-  - Parallelogram
-  - Star-shaped polygon
   - Box
-  - Parallelepiped
-  - Zonotope
+  - Sphere
   - Arrow
+  - Zonotope
+  - Parallelepiped
+  - Parallelogram
+  - Triangle
+  - Star-shaped polygon
   - Parametric surface
-  - Sphere
+
+Vehicles
+  - Car
+  - Plane
 
 Paving
   - PavingOut (Paving with contractors)
   - PavingInOut (Paving with separators)
   - Subpaving
 
-Vehicles
-  - Car
-  - Plane
-
-In addition, a function ``draw_axes`` is available to draw the three axes of the 3D space.
 
-.. doxygenfunction:: codac2::Figure3D::draw_axes(double)
-  :project: codac
 
 Note that only the stroke color is used in all of the supported drawing functions.
 
+In addition, a function ``draw_axes`` is available to draw the three axes of the 3D space. It can take two arguments :
+
+- float : the size of the axes
+- Vector : the origin of the axes
+
+
 Geometric shapes
 ----------------
 
-.. doxygenfunction:: codac2::Figure3D::draw_triangle(const Vector&, const Matrix&, const Vector&, const Vector&, const Vector&, const StyleProperties&)
-  :project: codac
+All the drawable geometric objects can take a last optionnal argument to set up their stroke color. 
+For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
-.. doxygenfunction:: codac2::Figure3D::draw_triangle(const Vector&, const Vector&, const Vector&, const StyleProperties&)
-  :project: codac
+The geometric shapes that can be drawn and their arguments are listed below :
+
+- draw_box
+
+  - IntervalVector : the box to draw
+
+- draw_sphere
+  
+  - Vector : the center of the sphere
+  - Matrix : the scaling matrix
+
+- draw_arrow
+
+  - Vector : start of the arrow
+  - Matrix : orientation of the arrow (first column)
+
+- draw_zonotope
+
+  - Zonotope: the zonotope to draw
+
+- draw_parallelepiped
+
+  - Parallelepiped : the parallelepiped to draw
+
+- draw_parallelogram (defined by :math:`c + A (p + [-1,1]*v1 + [-1,1]*v2)`)
+
+  - Vector : c, the translation
+  - Matrix : A, the scaling
+  - Vector : p, base point
+  - Vector : v1, first generator
+  - Vector : v2, second generator
+
+- draw_triangle
+
+  - Vector : first point
+  - Vector : second point
+  - Vector : third point
+
+- draw_triangle
+
+  - Vector : translation applied to the triangle
+  - Matrix : scaling matrix applied to the triangle
+  - Vector : first point
+  - Vector : second point
+  - Vector : third point
 
 The ``draw_polygon`` can be used to draw a `star-shaped polygon <https://en.wikipedia.org/wiki/Star-shaped_polygon>`_ when the vectors are coplanar, and more
 generally a sequence of adjacent triangles sharing a same vertex.
 
-.. doxygenfunction:: codac2::Figure3D::draw_polygon(const Vector&, const Matrix&, const std::vector<Vector>&, const StyleProperties&)
-  :project: codac
+- draw_polygon
 
-.. doxygenfunction:: codac2::Figure3D::draw_box(const IntervalVector&, const StyleProperties&)
-  :project: codac
+  - Vector : translation applied to the polygon
+  - Matrix : scaling matrix applied to the polygon
+  - vector<Vector> : vector where each element is a point of the polygon to draw
 
-.. doxygenfunction:: codac2::Figure3D::draw_parallelogram(const Vector&, const Matrix&, const Vector&, const Vector&, const Vector&, const StyleProperties&)
-  :project: codac
+- draw_surface
 
-.. doxygenfunction:: codac2::Figure3D::draw_parallelepiped(const Parallelepiped&, const StyleProperties&)
-  :project: codac
+  - Vector : the translation applied to the surface
+  - Matrix : scaling applied to the surface
+  - Interval : bounds of p1
+  - double : incrementation for p1
+  - Interval : bounds of p2
+  - double : incrementation for p2
+  - function<double, double> -\> Vector : the function of the surface, linking each (p1,p2) to a 3D point
 
-.. doxygenfunction:: codac2::Figure3D::draw_zonotope(const Zonotope&, const StyleProperties&)
-  :project: codac
+Vehicles
+--------
 
-.. doxygenfunction:: codac2::Figure3D::draw_arrow(const Vector&, const Matrix& A, const StyleProperties&)
-  :project: codac
+All the drawable vehicles can take a last optionnal argument to set up their stroke color. 
+For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
-.. doxygenfunction:: codac2::Figure3D::draw_surface(const Vector&, const Matrix&, const Interval&, double, const Interval&, double, std::function<Vector(double,double)>, const StyleProperties&)
-  :project: codac
+The vehicles that can be drawn and their arguments are listed below :
 
-.. doxygenfunction:: codac2::Figure3D::draw_sphere(const Vector&, const Matrix&, const StyleProperties&)
-  :project: codac
+- draw_car
+
+  - Vector : center of the car
+  - Matrix : orientation of the car
+
+- draw_plane
+
+  - Vector : center of the plane
+  - Matrix : orientation of the plane
+  - bool : (optionnal) defines if the yaw axis is up, default to true
 
 Paving
 ------
 
-.. doxygenfunction:: codac2::Figure3D::draw_paving(const PavingOut& p, const StyleProperties&)
-  :project: codac
+When a paving is drawn, only the inside and boundary boxes are drawn. This is done to avoid outside boxes masking them.
 
-.. doxygenfunction:: codac2::Figure3D::draw_paving(const PavingInOut& p, const StyleProperties&, const StyleProperties&)
-  :project: codac
+If only one type of paving is drawn (for example a paving with contractors), only one :ref:`subsec-graphics-colors-style-properties` can be defined to choose its edge color.
+If two types are drawn (boundary and inside), two :ref:`subsec-graphics-colors-style-properties` can be passed to select both colors.
 
-.. doxygenfunction:: codac2::Figure3D::draw_subpaving(const Subpaving<P>&, const StyleProperties&)
-  :project: codac
+The paving that can be drawn and their arguments are listed below :
 
-Vehicles
---------
+- draw_paving
 
-.. doxygenfunction:: codac2::Figure3D::draw_car(const Vector&, const Matrix&, const StyleProperties&)
-  :project: codac
+  - PavingOut | PavingInOut : the paving to draw
 
-.. doxygenfunction:: codac2::Figure3D::draw_plane(const Vector&, const Matrix&, bool, const StyleProperties&)
-  :project: codac
+- draw_subpaving
 
+  - Subpaving : the subpaving to draw
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/colors.rst b/doc/manual/manual/visualization/colors.rst
index 4a44c86c7..aaba29598 100644
--- a/doc/manual/manual/visualization/colors.rst
+++ b/doc/manual/manual/visualization/colors.rst
@@ -128,7 +128,7 @@ Additionnal methods are available for any useful purpose:
     fig.draw_box(IntervalVector({{2.6,3.1},{2.6,3.1}}),StyleProperties({Color({108,90,78},Model().HSV),Color({108,90,78,20},Model().HSV)}));
 
 
-
+.. _subsec-graphics-colors-style-properties:
 StyleProperties
 ---------------
 
@@ -208,6 +208,48 @@ For more information, see :ref:`subsec-graphics-colors-optional-arguments`.
     fig.draw_box(IntervalVector({{2,5},{2,5}}), StyleProperties(Color().red(), "..", "layer1", "w:0.1", "z:1.5"));
     % Red edge, dotted line, line width of 0.1, z-value of 1.5 and on layer1
 
+.. _subsec-graphics-colors-paving-style:
+Paving style
+------------
+
+To change the color used to draw a paving, the ``draw_paving`` functions can take an optional argument which is the ``PavingStyle``.
+Predefined styles are
+
+- blue_green (default_style)
+- blue_white
+- blue_pink
+- black_white
+
+A custom ``PavingStyle`` can also be created from three ``StyleProperties`` : the boundary, the outside and the inside. 
+Below is an example of the different possibilities.
+
+.. tabs::
+
+  .. code-tab:: py
+    
+    DefaultFigure.draw_paving(p)  # default style, blue_green
+    DefaultFigure.draw_paving(p,PavingStyle.blue_pink())  #blue_pink style
+    # orange boundary, purple outside and blue inside
+    paving_style = PavingStyle([Color.dark_orange(),Color.orange()],[Color.dark_purple(),Color.purple()],[Color.dark_blue(),Color.blue()])
+    DefaultFigure.draw_paving(p,paving_style)
+
+
+
+  .. code-tab:: c++
+
+    DefaultFigure::draw_paving(p);
+    DefaultFigure::draw_paving(p,PavingStyle::blue_pink());
+    // orange boundary, purple outside and blue inside
+    PavingStyle paving_style ({Color::dark_orange(),Color::orange()},{Color::dark_purple(),Color::purple()},{Color::dark_blue(),Color::blue()});
+    DefaultFigure::draw_paving(p,paving_style);
+
+  .. code-tab:: matlab
+
+    DefaultFigure().draw_paving(p);
+    DefaultFigure().draw_paving(p,PavingStyle().blue_pink());
+    % orange boundary, purple outside and blue inside
+    paving_style = PavingStyle(StyleProperties({Color().dark_orange(),Color().orange()}),StyleProperties({Color().dark_purple(),Color().purple()}),StyleProperties({Color().dark_blue(),Color().blue()}));
+    DefaultFigure().draw_paving(p,paving_style);
 
 Color maps
 ----------
@@ -299,6 +341,7 @@ You can also create your own color map :
 
 Note that you can add RGB and HSV colors to the same color map. The model of the color map will define the interpolation space.
 
+.. _subsec-graphics-colors-style-gradient-properties:
 StyleGradientProperties
 -----------------------
 
diff --git a/doc/manual/manual/visualization/figures.rst b/doc/manual/manual/visualization/figures.rst
index f146017eb..95a525a95 100644
--- a/doc/manual/manual/visualization/figures.rst
+++ b/doc/manual/manual/visualization/figures.rst
@@ -156,4 +156,5 @@ VIBes only
 Some methods are exclusive to the real-time display with VIBes :
 
 - center_viewbox : takes two Vector as arguments, the center and radius of each axis
-- auto_scale : takes no argument, the figure will be automatically scaled to fit the window
\ No newline at end of file
+- auto_scale : takes no argument, the figure will be automatically scaled to fit the window
+- save : takes the name of the file as argument and saves the current state of the VIBes window to the file. Allowed formats are png, jpg, bmp and svg.
\ No newline at end of file
diff --git a/doc/manual/manual/visualization/functions.rst b/doc/manual/manual/visualization/functions.rst
index b3efcc917..93ff22e54 100644
--- a/doc/manual/manual/visualization/functions.rst
+++ b/doc/manual/manual/visualization/functions.rst
@@ -101,115 +101,175 @@ Paving
 Geometric shapes
 ----------------
 
-.. doxygenfunction:: codac2::Figure2D::draw_point(const Vector&, const StyleProperties&)
-  :project: codac
+All the drawable geometric objects can take a last optionnal argument to set up their stroke color, fill color, line style etc.
+For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
-.. doxygenfunction:: codac2::Figure2D::draw_box(const IntervalVector&, const StyleProperties&)
-  :project: codac
+The geometric shapes that can be drawn and their arguments are listed below :
 
-.. doxygenfunction:: codac2::Figure2D::draw_circle(const Vector&, double, const StyleProperties&)
-  :project: codac
+- draw_point
 
-.. doxygenfunction:: codac2::Figure2D::draw_ring(const Vector&, const Interval&, const StyleProperties&)
-  :project: codac
+  - Vector : 2D coordinate of the point to draw
 
-.. doxygenfunction:: codac2::Figure2D::draw_line(const Vector&, const Vector&, const StyleProperties&)
-  :project: codac
+- draw_box
 
-.. doxygenfunction:: codac2::Figure2D::draw_line(const Segment&, const StyleProperties&)
-  :project: codac
+  - IntervalVector : the 2D box to draw
 
-.. doxygenfunction:: codac2::Figure2D::draw_arrow(const Vector&, const Vector&, float, const StyleProperties&)
-  :project: codac
+- draw_circle
 
-.. doxygenfunction:: codac2::Figure2D::draw_polyline(const std::vector<Vector>&, const StyleProperties&)
-  :project: codac
+  - Vector : the center of the circle
+  - double : the radius of the circle
+  
+- draw_ring
 
-.. doxygenfunction:: codac2::Figure2D::draw_polyline(const std::vector<Vector>&, float, const StyleProperties&)
-  :project: codac
+  - Vector : the center of the ring
+  - Interval : the ring range : inner and outer radius
 
-.. doxygenfunction:: codac2::Figure2D::draw_polygon(const Polygon&, const StyleProperties&)
-  :project: codac
+- draw_pie
 
-.. doxygenfunction:: codac2::Figure2D::draw_parallelepiped(const Parallelepiped&, const StyleProperties&)
-  :project: codac
+  - Vector : the center of the pie
+  - Interval : the pie range : inner and outer radius
+  - Interval : the pie angle : begin and end angle (in radian)
 
-.. doxygenfunction:: codac2::Figure2D::draw_zonotope(const Zonotope&, const StyleProperties&)
-  :project: codac
+- draw_line
 
-.. doxygenfunction:: codac2::Figure2D::draw_pie(const Vector&, const Interval&, const Interval&, const StyleProperties&)
-  :project: codac
+  - Vector : the first point of the line
+  - vector : the second point of the line
 
-.. doxygenfunction:: codac2::Figure2D::draw_ellipse(const Vector&, const Vector&, double, const StyleProperties&)
-  :project: codac
+- draw_line
 
-.. doxygenfunction:: codac2::Figure2D::draw_ellipsoid(const Ellipsoid&, const StyleProperties&)
-  :project: codac
+  - Segment : the segment to draw
+
+- draw_arrow
+
+  - Vector : the first point of the line
+  - vector : the second point of the line
+  - float : the length of the tip of the arrow
+
+- draw_polyline
+
+  - vector<Vector> : vector where each element is a point of the polyline to draw
+
+- draw_polyline
+
+  - vector<Vector> : vector where each element is a point of the polyline to draw
+  - float : the length of the tip of the arrow
+
+- draw_polygone
+
+  - Polygon : the polygon to draw
+
+- draw_parallelepiped
+
+  - Parallelepiped : the parallelepiped to draw
+
+- draw_zonotope
+
+  - Zonotope : the zonotope to draw
+
+- draw_ellipse
+
+  - Vector : center of the ellipse
+  - Vector : Half-lengths of the ellipse
+  - double : rotation angle of the ellipse (in radian)
+
+- draw_ellipsoid
+
+  - Ellipsoid : the ellipsoid to draw
 
 Trajectories and tubes
 ----------------------
 
-.. doxygenfunction:: codac2::Figure2D::draw_trajectory(const SampledTraj<Vector>&, const StyleProperties&)
-  :project: codac
 
-.. doxygenfunction:: codac2::Figure2D::draw_trajectory(const AnalyticTraj<VectorType>&, const StyleProperties&)
-  :project: codac
+All the drawable trajectories and tubes can take a last optionnal argument to set up their stroke color, fill color, line style etc.
+For further details, refer to :ref:`subsec-graphics-colors-style-properties` for constant fill and edge color, 
+and :ref:`subsec-graphics-colors-style-gradient-properties` for the use of a colormap.
+
+The trajectories and tubes that can be drawn are listed below:
+
+- plot_trajectory
+
+  - SampledTraj | AnalyticTraj : the 1D trajectory to draw (x-axis is the time)
 
-Trajectories can be drawn with a ColorMap instead of the classic StyleProperties. This can be done by passing a ColorMap object as the second argument.
+- plot_trajectories
 
-.. doxygenfunction:: codac2::Figure2D::draw_trajectory(const SampledTraj<Vector>&, const StyleGradientProperties&)
-  :project: codac
+  - SampledTraj | AnalyticTraj : the nD trajectory to draw component by component (x-axis is the time)
 
-.. doxygenfunction:: codac2::Figure2D::draw_trajectory(const AnalyticTraj<VectorType>&, const StyleGradientProperties&)
-  :project: codac
+- plot_tube
 
-.. doxygenfunction:: codac2::Figure2D::draw_tube(const SlicedTube<IntervalVector>&, const StyleProperties&, int)
-  :project: codac
+  - SlicedTube : the 1D tube to draw (x-axis is the time)
 
-.. doxygenfunction:: codac2::Figure2D::draw_tube(const SlicedTube<IntervalVector>&, const StyleGradientProperties&, int)
-  :project: codac
+- plot_tube
 
-.. doxygenfunction:: codac2::Figure2D::plot_tube(const SlicedTube<Interval>&, const StyleProperties&)
-  :project: codac
+  - SlicedTube : the 1D tube to draw (x-axis is the time)
+  - SlicedTube : the derivative of the tube to draw
 
-.. doxygenfunction:: codac2::Figure2D::plot_tube(const SlicedTube<Interval>&, const SlicedTube<Interval>&, const StyleProperties&)
-  :project: codac
+- draw_trajectory
+
+  - SampledTraj | AnalyticTraj : the 2D trajectory to draw
+
+- draw_tube
+
+  - SlicedTube : the 2D tube to draw
 
 Vehicles
 --------
 
-.. doxygenfunction:: codac2::Figure2D::draw_tank(const Vector&, float, const StyleProperties&)
-  :project: codac
+All the drawable vehicles can take a last optionnal argument to set up their stroke color, fill color, line style etc.
+For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
-.. doxygenfunction:: codac2::Figure2D::draw_AUV(const Vector&, float, const StyleProperties&)
-  :project: codac
+The vehicles that can be drawn and their arguments are listed below :
 
-.. doxygenfunction:: codac2::Figure2D::draw_motor_boat(const Vector&, float, const StyleProperties&)
-  :project: codac
+- draw_tank
 
-Miscellaneous
--------------
+  - Vector : the 3D state of the tank to draw (x,y,theta in radian)
+  - float : the size of the tank
 
-.. doxygenfunction:: codac2::Figure2D::draw_text(const std::string&, const Vector&, double, const StyleProperties&)
-  :project: codac
+- draw_AUV
 
-.. doxygenfunction:: codac2::Figure2D::draw_raster(const std::string&, const IntervalVector&, const StyleProperties&)
-  :project: codac
+  - Vector : the 3D state of the AUV to draw (x,y,theta in radian)
+  - float : the size of the AUV
+
+- draw_motor_boat
+
+  - Vector : the 3D state of the motor boat to draw (x,y,theta in radian)
+  - float : the size of the motor boat
 
 Paving
 ------
 
-.. doxygenfunction:: codac2::Figure2D::draw_paving(const PavingOut&, const PavingStyle&)
-  :project: codac
+All the drawable pavings can take a last optionnal argument to set up their style for the inside, boundary and outside boxes.
+For further details, refer to :ref:`subsec-graphics-colors-paving-style`. 
+
+The paving that can be drawn and their arguments are listed below :
+
+- draw_paving
+
+  - PavingOut | PavingInOut : the paving to draw
+
+- draw_paving
+
+  - PavingOut | PavingInOut : the paving to draw
+  - function(Figure2D,IntervalVector,StyleProperties) : Custom drawing function (for instance, if one wants to draw in polar coordinates)
+
+- draw_subpaving
+
+  - Subpaving : the subpaving to draw
+
+Miscellaneous
+-------------
+
+Other objects can be drawn and can take a last optionnal argument to set up their stroke color, fill color, line style etc.
+For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
+
+These objects are :
 
-.. doxygenfunction:: codac2::Figure2D::draw_paving(const PavingOut&, const std::function<void(Figure2D&,const IntervalVector&,const StyleProperties&)>&, const PavingStyle&)
-  :project: codac
+- draw_text
 
-.. doxygenfunction:: codac2::Figure2D::draw_paving(const PavingInOut&, const PavingStyle&)
-  :project: codac
+  - string : the text to draw
+  - Vector : the 2D Vector for the position of the top-left corner of the text
+  - float : the scale of the text (VIBes only)
 
-.. doxygenfunction:: codac2::Figure2D::draw_paving(const PavingInOut&, const std::function<void(Figure2D&,const IntervalVector&,const StyleProperties&)>&, const PavingStyle&)
-  :project: codac
+- draw_raster
 
-.. doxygenfunction:: codac2::Figure2D::draw_subpaving(const Subpaving<P>&, const StyleProperties&)
-  :project: codac
+  - string : The name of the file (the path is relative to the VIBes' server folder)
+  - IntervalVector : The bounding box of the raster
diff --git a/doc/manual/manual/visualization/index.rst b/doc/manual/manual/visualization/index.rst
index b129f8f69..042b77f2c 100644
--- a/doc/manual/manual/visualization/index.rst
+++ b/doc/manual/manual/visualization/index.rst
@@ -11,4 +11,6 @@ Visualization
   colors.rst
   vibes.rst
   ipe.rst
-  3d_visualization.rst
\ No newline at end of file
+  2d_example.rst
+  3d_visualization.rst
+  3d_example.rst
\ No newline at end of file
diff --git a/examples/00_graphics/graphic_animation.cpp b/examples/00_graphics/graphic_animation.cpp
index 1b567d086..6f357e68c 100644
--- a/examples/00_graphics/graphic_animation.cpp
+++ b/examples/00_graphics/graphic_animation.cpp
@@ -21,4 +21,25 @@ int main()
     theta += 2.0 * M_PI / (double) steps;
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
+
+  Figure2D fig_save ("Animation with exports",GraphicOutput::VIBES|GraphicOutput::IPE);
+  fig_save.set_window_properties({600,50},{500,500}); // position, window size
+  fig_save.set_axes(axis(0,{-0.5,4}), axis(1,{-0.5,1.5}));
+
+  Vector X({0,0,0});
+
+  ColorMap cmap = ColorMap::rainbow();
+  for (double t = 0; t < 2.*PI; t+=PI/20.)
+  {
+    fig_save.draw_tank(X, 0.05, cmap.color(t/(2.*PI)));
+    X+=Vector({0.1*cos(X[2]),0.1*sin(X[2]),0.1*cos(t)});
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    if (Interval(PI).inflate(0.1).contains(t))
+    {
+      fig_save.save("animation_tank.png");
+      fig_save.save("animation_tank.jpg");
+      fig_save.save("animation_tank.bmp");
+      fig_save.save("animation_tank.svg");
+    }
+  }
 }
\ No newline at end of file
diff --git a/examples/00_graphics/graphic_animation.py b/examples/00_graphics/graphic_animation.py
index 69955e528..24dfff9e7 100644
--- a/examples/00_graphics/graphic_animation.py
+++ b/examples/00_graphics/graphic_animation.py
@@ -1,4 +1,5 @@
 from codac import *
+import math
 import time
 
 fig = Figure2D("Animation", GraphicOutput.VIBES | GraphicOutput.IPE)
@@ -11,4 +12,23 @@
   fig.clear()
   fig.draw_point([5*cos(theta).mid(), 5*sin(theta).mid()], Color.red())
   theta += 2*PI / steps
-  time.sleep(0.1)
\ No newline at end of file
+  time.sleep(0.1)
+
+fig_save = Figure2D("Animation with exports", GraphicOutput.VIBES | GraphicOutput.IPE)
+fig_save.set_window_properties([600,50],[500,500]) # position, window size
+fig_save.set_axes(axis(0,[-0.5,4]), axis(1,[-0.5,1.5]))
+
+X = Vector([0,0,0])
+t = 0
+cmap = ColorMap.rainbow()
+
+while t <2*PI:
+  fig_save.draw_tank(X, 0.05, cmap.color(t/(2*PI)))
+  X+=Vector([0.1*math.cos(X[2]),0.1*math.sin(X[2]),0.1*math.cos(t)])
+  time.sleep(0.1)
+  if (Interval(PI).inflate(0.1).contains(t)):
+    fig_save.save("animation_tank.png")
+    fig_save.save("animation_tank.jpg")
+    fig_save.save("animation_tank.bmp")
+    fig_save.save("animation_tank.svg")
+  t += PI/20
\ No newline at end of file
diff --git a/examples/06_graphics_3D/main.cpp b/examples/06_graphics_3D/main.cpp
index a77f85495..d0fcf103f 100644
--- a/examples/06_graphics_3D/main.cpp
+++ b/examples/06_graphics_3D/main.cpp
@@ -48,9 +48,9 @@ int main()
 		{ Color::yellow(0.6), "sphere" });
   fig_examples.draw_arrow({0,2,0},{{-1,0,0},{0,1,1},{0,0,-1}},
 		Color::red(1.0));
-  fig_examples.draw_car({-1,0,0},0.3*Matrix::Identity(3,3),
+  fig_examples.draw_car({-1,0,0},0.3*Matrix::eye(3,3),
 		{ Color::green(0.8), "car" });
-  fig_examples.draw_plane({3,0,0},0.5*Matrix::Identity(3,3),true,
+  fig_examples.draw_plane({3,0,0},0.5*Matrix::eye(3,3),true,
 		{ Color::dark_gray(0.8), "plane" });
 
 
@@ -69,7 +69,7 @@ int main()
     {{1,0,0},{0,0.5,0},{0,0.2,0.1}}},
     { Color::blue(0.5), "parallelepiped" });
 
-  fig_examples.draw_surface({0,-2,0}, 0.5*Matrix::Identity(3,3), Interval(0,2*PI),
+  fig_examples.draw_surface({0,-2,0}, 0.5*Matrix::eye(3,3), Interval(0,2*PI),
 		0.05*PI, Interval(0,2*PI), 0.05*PI,
 		[](double phi,double psi) -> Vector
 		{ return {(1-cos(phi))*sin(phi),
diff --git a/examples/06_graphics_3D/main.m b/examples/06_graphics_3D/main.m
new file mode 100644
index 000000000..e0429cff8
--- /dev/null
+++ b/examples/06_graphics_3D/main.m
@@ -0,0 +1,57 @@
+import py.codac4matlab.*
+
+x = VectorVar(3);
+f = AnalyticFunction({x},vec(-sqr(x(3))+2*x(3)*sin(x(3)*x(1))+cos(x(3)*x(2)),2*x(3)*cos(x(3)*x(1))-sin(x(3)*x(2))));
+
+ctc = CtcInverse(f,IntervalVector().zero(2));
+p_ctc = pave(IntervalVector({{0,2},{2,4},{0,10}}), ctc, 0.02);
+fig_ctc = Figure3D("Paving contractor");
+fig_ctc.draw_paving(p_ctc);
+
+sep_ellipsoid1 = SepInverse (AnalyticFunction({x},0.5*sqr(x(1))+x(1)*x(2)+x(1)*x(3)+2*sqr(x(2))+2*sqr(x(3))),Interval(0.4,1));
+sep_ellipsoid2 = SepInverse (AnalyticFunction({x},3*sqr(x(1))+x(1)*x(2)+x(1)*x(3)+sqr(x(2))+sqr(x(3))),Interval(0.,1));
+p_sep = pave(IntervalVector({{-1.5,1.5},{-1.5,1.5},{-1.5,1.5}}), sep_ellipsoid1.inter(sep_ellipsoid2), 0.1);
+fig_sep = Figure3D("Paving separator");
+fig_sep.draw_axes(0.4);
+fig_sep.draw_paving(p_sep);
+
+eye_3d = Matrix({{1,0,0},{0,1,0},{0,0,1}});
+
+fig_examples = Figure3D("3D examples");
+fig_examples.draw_axes();
+fig_examples.draw_axes(0.5);
+fig_examples.draw_axes(2.0,Vector([0.5,0.5,0.5]));
+fig_examples.draw_triangle(Vector([1,0,0]),Vector([0,1,0]),Vector([0,0,1]),StyleProperties(Color().dark_green(0.5),"triangle"))
+fig_examples.draw_triangle(Vector([2,0,0]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}), Vector([1.,0.,0.]),Vector([0.,1.,0.]),Vector([0.,0.,1.]),StyleProperties(Color().purple(0.5)));
+fig_examples.draw_sphere(Vector([0,0,2]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}), StyleProperties(Color().yellow(0.6),"sphere"));
+fig_examples.draw_arrow(Vector([0,2,0]),Matrix({{-1,0,0},{0,1,1},{0,0,-1}}),StyleProperties(Color().red(1.0)));
+fig_examples.draw_car(Vector([-1,0,0]),0.3*eye_3d, StyleProperties(Color().green(0.8),"car"));
+fig_examples.draw_plane(Vector([3,0,0]),0.5*eye_3d,true,StyleProperties(Color().dark_gray(0.8),"plane"));
+
+fig_examples.draw_zonotope(Zonotope(Vector([1.5,1.5,1.5]), ...
+    Matrix({{0.3,-0.2,-0.2,0.3,-0.1,0.0},{0.2,0.1,-0.1,0.0,0.05,0.2},{0.4,0.3,0.0,-0.1,0.2,0.1}})),StyleProperties(Color().dark_green(1.0),"zonotope"));
+fig_examples.draw_zonotope(Zonotope(Vector([-1.5,-1.5,-1.5]), ...
+    Matrix({{0.3,-0.2,-0.2,0.3,-0.2,-0.1,0.0,0.0}, ...
+                {0.2,0.1,-0.1,0.0,0.0,0.05,0.2,0.0}, ...
+                {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.1}})), ...
+                StyleProperties(Color().dark_green(1.0),"zonotope2"));
+
+code = sprintf([ ...
+    'import math\n' ...
+    'from codac4matlab import Vector\n' ...
+    'f = lambda phi, psi: Vector([\n' ...
+    '    (1-math.cos(phi))*math.sin(phi),\n' ...
+    '    (1-math.cos(2*phi))*math.cos(phi)*math.cos(psi),\n' ...
+    '    (1-math.cos(phi))*math.cos(phi)*math.sin(psi)\n' ...
+    '])']);
+
+f = pyrun(code, "f");
+
+fig_examples.draw_surface( ...
+    Vector([0, -2, 0]), ...
+    0.5 * eye_3d, ...
+    Interval(0, 2*pi), 0.05*pi, ...
+    Interval(0, 2*pi), 0.05*pi, ...
+    f, ...
+    StyleProperties(Color().red(0.6), "example_surface") ...
+);
\ No newline at end of file
diff --git a/examples/06_graphics_3D/main.py b/examples/06_graphics_3D/main.py
index 4ebf27354..a92d701bd 100644
--- a/examples/06_graphics_3D/main.py
+++ b/examples/06_graphics_3D/main.py
@@ -27,7 +27,7 @@
 fig_examples.draw_axes(2.0,[0.5,0.5,0.5])
 fig_examples.draw_triangle([1,0,0],[0,1,0],[0,0,1],StyleProperties(Color.dark_green(0.5),"triangle"))
 fig_examples.draw_triangle([2,0,0],
-                        Matrix([[2,0,0],[-1,0,0],[0,1,1]]),
+                        Matrix([[-1,0,0],[0,1,1],[0,0,-1]]),
                             [1,0,0],[0,1,0],[0,0,1],Color.purple(0.5))
 fig_examples.draw_sphere([0,0,2],Matrix([[-1,0,0],[0,1,1],[0,0,-1]]),
                             StyleProperties(Color.yellow(0.6),"sphere"))
diff --git a/examples/custom_sep/custom_sep.py b/examples/custom_sep/custom_sep.py
index 850c4969d..4bb71a10c 100644
--- a/examples/custom_sep/custom_sep.py
+++ b/examples/custom_sep/custom_sep.py
@@ -10,7 +10,7 @@ def __init__(self, S_):
 
   def separate(self, x):
     inner,outer = self.S.separate(x) # separates x into two boxes
-    return [outer,inner] # inner/outer boxes are permuted
+    return BoxPair(inner,outer) # inner/outer boxes are permuted
 
 # Trying this custom separator
 
diff --git a/python/src/core/separators/codac2_py_Sep.cpp b/python/src/core/separators/codac2_py_Sep.cpp
index b3dcde5ee..ca3ca25be 100644
--- a/python/src/core/separators/codac2_py_Sep.cpp
+++ b/python/src/core/separators/codac2_py_Sep.cpp
@@ -82,21 +82,49 @@ py::class_<SepBase,pySep> export_Sep(py::module& m)
       py::return_value_policy::reference_internal,
       py::keep_alive<1,0>())
 
+    ;
+
     // Intersection of separators
+    if constexpr(!FOR_MATLAB)
+    {
+      py_sep
+        .def("__and__", [](const SepBase& s1, const SepBase& s2)
+            {
+              return SepInter(s1.copy(),s2.copy());
+            },
+          SEPINTER_OPERATORINTER_CONST_S1_REF_CONST_S2_REF)
+
+        .def("__and__", [](const SepBase& s1, const IntervalVector& x2)
+            {
+              auto s2 = SepWrapper(x2);
+              return SepInter(s1.copy(),s2.copy());
+            },
+          SEPINTER_OPERATORINTER_CONST_INTERVALVECTOR_REF_CONST_S2_REF)
+
+        ;
+    }
+
+    if constexpr(FOR_MATLAB)
+    {
+      py_sep
+        .def("inter", [](const SepBase& s1, const SepBase& s2)
+            {
+              return SepInter(s1.copy(),s2.copy());
+            },
+          SEPINTER_OPERATORINTER_CONST_S1_REF_CONST_S2_REF)
+
+        .def("inter", [](const SepBase& s1, const IntervalVector& x2)
+            {
+              auto s2 = SepWrapper(x2);
+              return SepInter(s1.copy(),s2.copy());
+            },
+          SEPINTER_OPERATORINTER_CONST_INTERVALVECTOR_REF_CONST_S2_REF)
+
+        ;
+    }
 
-    .def("__and__", [](const SepBase& s1, const SepBase& s2)
-        {
-          return SepInter(s1.copy(),s2.copy());
-        },
-      SEPINTER_OPERATORINTER_CONST_S1_REF_CONST_S2_REF)
-
-    .def("__and__", [](const SepBase& s1, const IntervalVector& x2)
-        {
-          auto s2 = SepWrapper(x2);
-          return SepInter(s1.copy(),s2.copy());
-        },
-      SEPINTER_OPERATORINTER_CONST_INTERVALVECTOR_REF_CONST_S2_REF)
 
+  py_sep
     .def("__rand__", [](const SepBase& s1, const IntervalVector& x2)
         {
           auto s2 = SepWrapper(x2);
diff --git a/python/src/core/separators/codac2_py_SepInter.cpp b/python/src/core/separators/codac2_py_SepInter.cpp
index d650f67c1..25792ac95 100644
--- a/python/src/core/separators/codac2_py_SepInter.cpp
+++ b/python/src/core/separators/codac2_py_SepInter.cpp
@@ -47,11 +47,30 @@ void export_SepInter(py::module& m, py::class_<SepBase,pySep>& pysep)
       BOXPAIR_SEPINTER_SEPARATE_CONST_INTERVALVECTOR_REF_CONST,
       "x"_a)
 
-    .def("__iand__", [](SepInter& s1, const SepBase& s2)
-        {
-          s1 &= s2.copy();
-          return s1;
-        },
-      SEPINTER_REF_SEPINTER_OPERATORINTEREQ_CONST_S_REF)
-  ;
+    ;
+
+    if constexpr(!FOR_MATLAB)
+    {
+      exported
+
+      .def("__iand__", [](SepInter& s1, const SepBase& s2)
+          {
+            s1 &= s2.copy();
+            return s1;
+          },
+        SEPINTER_REF_SEPINTER_OPERATORINTEREQ_CONST_S_REF)
+      ;
+    }
+
+    if constexpr(FOR_MATLAB)
+    {
+      exported
+      .def("self_inter", [](SepInter& s1, const SepBase& s2)
+          {
+            s1 &= s2.copy();
+            return s1;
+          },
+        SEPINTER_REF_SEPINTER_OPERATORINTEREQ_CONST_S_REF)    
+      ;
+    }
 }
\ No newline at end of file
diff --git a/python/src/graphics/figures/codac2_py_Figure2D.cpp b/python/src/graphics/figures/codac2_py_Figure2D.cpp
index 41b26324c..e78d90819 100644
--- a/python/src/graphics/figures/codac2_py_Figure2D.cpp
+++ b/python/src/graphics/figures/codac2_py_Figure2D.cpp
@@ -109,6 +109,10 @@ void export_Figure2D(py::module& m)
 
     .def("clear", &Figure2D::clear,
       VOID_FIGURE2D_CLEAR)
+
+    .def("save", &Figure2D::save,
+      VOID_FIGURE2D_SAVE_CONST_STRING_REF,
+      "filename"_a)
   
     .def("scaled_unit", &Figure2D::scaled_unit,
       DOUBLE_FIGURE2D_SCALED_UNIT_CONST)
diff --git a/src/graphics/3rd/ipe/codac2_Figure2D_IPE.cpp b/src/graphics/3rd/ipe/codac2_Figure2D_IPE.cpp
index 38c465bbf..3b5da24b3 100644
--- a/src/graphics/3rd/ipe/codac2_Figure2D_IPE.cpp
+++ b/src/graphics/3rd/ipe/codac2_Figure2D_IPE.cpp
@@ -16,7 +16,7 @@ using namespace std;
 using namespace codac2;
 
 Figure2D_IPE::Figure2D_IPE(const Figure2D& fig)
-  : OutputFigure2D(fig), _f(fig.name() + ".xml"),
+  : OutputFigure2D(fig),
     _x_offset(0.03*_fig.axes()[0].limits.diam()),
     _y_offset(0.03*_fig.axes()[1].limits.diam())
 {
@@ -25,23 +25,7 @@ Figure2D_IPE::Figure2D_IPE(const Figure2D& fig)
 
 Figure2D_IPE::~Figure2D_IPE()
 { 
-  draw_axes();
-  print_header_page();
-  _f.close();
-
-  _f = std::ofstream(_fig.name() + ".xml", std::ofstream::binary | std::ofstream::app);
-  std::ifstream f_temp_content(_fig.name() + "_tmp.xml", std::ofstream::binary);
-
-  for (const auto& item : _items)
-    _f << item.second;
-    
-  f_temp_content.close();
-  std::remove((_fig.name() + "_tmp.xml").c_str());
-  _f.close();
-
-  _f = std::ofstream(_fig.name() + ".xml", std::ofstream::app);
-  _f << "\n</page>\n</ipe>";
-  _f.close();
+  save(_fig.name()+".");
 }
 
 void Figure2D_IPE::init_figure()
@@ -172,6 +156,8 @@ void Figure2D_IPE::update_axes()
     _ipe_grid_size/(_fig.axes()[0].limits.diam()+_x_offset),
     _ipe_grid_size/(_fig.axes()[1].limits.diam()+_y_offset)
   };
+  
+  draw_axes();
 }
 
 void Figure2D_IPE::update_window_properties()
@@ -190,10 +176,26 @@ void Figure2D_IPE::clear()
   // clear _color map and layers
   _colors.clear();
   _layers.clear();
+  _items.clear();
 
   init_figure();
 }
 
+void Figure2D_IPE::save(const std::string& filename)
+{
+  std::size_t dot_position = filename.find_last_of('.');
+  std::string file_name = filename.substr(0, dot_position);
+  _f = std::ofstream(file_name + ".xml", std::ofstream::binary | std::ofstream::app);
+
+  print_header_page();
+
+  for (const auto& item : _items)
+    _f << item.second;
+    
+  _f << "\n</page>\n</ipe>";
+  _f.close();
+}
+
 std::string ipe_str(const Color& c)
 {
   return c.hex_str().substr(1);
diff --git a/src/graphics/3rd/ipe/codac2_Figure2D_IPE.h b/src/graphics/3rd/ipe/codac2_Figure2D_IPE.h
index 23d0e15f6..ddfeba394 100644
--- a/src/graphics/3rd/ipe/codac2_Figure2D_IPE.h
+++ b/src/graphics/3rd/ipe/codac2_Figure2D_IPE.h
@@ -72,6 +72,13 @@ namespace codac2
        */
       void clear();
 
+      /**
+       * \brief Saves the figure to a file
+       * 
+       * \param filename Name of the file to save the figure to
+       */
+      void save(const std::string& filename);
+
       /**
        * \brief Begins a new path in the IPE file
        * 
diff --git a/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.cpp b/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.cpp
index eb3e40059..aeb59a32b 100644
--- a/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.cpp
+++ b/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.cpp
@@ -93,6 +93,11 @@ void Figure2D_VIBes::clear()
   _layers.clear();
 }
 
+void Figure2D_VIBes::save(const std::string& filename)
+{
+  vibes::saveImage(filename, _fig.name());
+}
+
 void Figure2D_VIBes::draw_point(const Vector& c, const StyleProperties& style)
 {
   assert(_fig.size() <= c.size());
diff --git a/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.h b/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.h
index 04572df9c..f780f544a 100644
--- a/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.h
+++ b/src/graphics/3rd/vibes/codac2_Figure2D_VIBes.h
@@ -65,6 +65,13 @@ namespace codac2
        * \brief Clears the figure
        */
       void clear();
+
+      /**
+       * \brief Saves the figure to a file
+       * 
+       * \param filename Name of the file to save the figure to
+       */
+      void save(const std::string& filename);
       
       // Geometric shapes
 
diff --git a/src/graphics/figures/codac2_Figure2D.cpp b/src/graphics/figures/codac2_Figure2D.cpp
index 15c9503c8..2658e715b 100644
--- a/src/graphics/figures/codac2_Figure2D.cpp
+++ b/src/graphics/figures/codac2_Figure2D.cpp
@@ -111,6 +111,12 @@ void Figure2D::clear()
     output_fig->clear();
 }
 
+void Figure2D::save(const std::string& filename)
+{
+  for(const auto& output_fig : _output_figures)
+    output_fig->save(filename);
+}
+
 double Figure2D::scaled_unit() const
 {
   return std::max(_axes[0].limits.diam(),_axes[1].limits.diam()) / _window_size.max_coeff();
diff --git a/src/graphics/figures/codac2_Figure2D.h b/src/graphics/figures/codac2_Figure2D.h
index 3b920c734..ec637baa8 100644
--- a/src/graphics/figures/codac2_Figure2D.h
+++ b/src/graphics/figures/codac2_Figure2D.h
@@ -182,6 +182,13 @@ namespace codac2
        */
       void clear();
 
+      /**
+       * \brief Saves the figure to a file
+       * 
+       * \param filename Name of the file to save the figure to
+       */
+      void save(const std::string& filename);
+
       /**
        * \brief Getter for the scaling factor of the figure
        * 
@@ -715,6 +722,17 @@ namespace codac2
         selected_fig()->clear();
       }
 
+      /**
+       * \brief Saves the figure to a file
+       * 
+       * \param filename Name of the file to save the figure to
+       */
+      static void save(const std::string& filename)
+      {
+        auto_init();
+        selected_fig()->save(filename);
+      }
+
       // Geometric shapes
 
       /**
diff --git a/src/graphics/figures/codac2_OutputFigure2D.h b/src/graphics/figures/codac2_OutputFigure2D.h
index a83ba57e4..a4157949c 100644
--- a/src/graphics/figures/codac2_OutputFigure2D.h
+++ b/src/graphics/figures/codac2_OutputFigure2D.h
@@ -73,6 +73,13 @@ namespace codac2
        * \brief Clears the figure
        */
       virtual void clear() = 0;
+      
+      /**
+       * \brief Saves the figure to a file
+       * 
+       * \param filename Name of the file to save the figure to
+       */
+      virtual void save(const std::string& filename) = 0;
 
     protected: