diff --git a/doc/manual/manual/visualization/3d_visualization.rst b/doc/manual/manual/visualization/3d_visualization.rst
index d9d632159..bfe22788b 100644
--- a/doc/manual/manual/visualization/3d_visualization.rst
+++ b/doc/manual/manual/visualization/3d_visualization.rst
@@ -26,6 +26,10 @@ The constructor takes one arguments: the name of the object file.
 
     Figure3D fig ("my_object"); // for the object file my_object.obj
 
+  .. code-tab:: matlab
+
+    fig = Figure3D("my_object") % for the object file my_object.obj
+
 Drawing functions
 -----------------
 
diff --git a/doc/manual/manual/visualization/colors.rst b/doc/manual/manual/visualization/colors.rst
index 9cb20760f..c26802cc3 100644
--- a/doc/manual/manual/visualization/colors.rst
+++ b/doc/manual/manual/visualization/colors.rst
@@ -40,6 +40,20 @@ Predefined colors are available in the ``Color`` class. Each of the static metho
     Color::light_purple(), Color::purple(), Color::dark_purple()
     Color::light_pink(), Color::pink(), Color::dark_pink()
 
+  .. code-tab:: matlab
+
+    Color().none(), Color().white(), Color().black()
+    Color().light_gray(), Color().gray(), Color().dark_gray()
+    Color().light_green(), Color().green(), Color().dark_green()
+    Color().light_blue(), Color().blue(), Color().dark_blue()
+    Color().light_cyan(), Color().cyan(), Color().dark_cyan()
+    Color().light_yellow(), Color().yellow(), Color().dark_yellow()
+    Color().light_orange(), Color().orange(), Color().dark_orange()
+    Color().light_red(), Color().red(), Color().dark_red()
+    Color().light_brown(), Color().brown(), Color().dark_brown()
+    Color().light_purple(), Color().purple(), Color().dark_purple()
+    Color().light_pink(), Color().pink(), Color().dark_pink()
+
 Each basic color is available in three shades: ``light_``, normal and ``dark_``:
 
 .. figure:: img/codac_colors.png
@@ -59,6 +73,11 @@ Custom colors can be defined in the RGB or HSV color spaces. An enumeration ``Mo
     Model::RGB; // RGB color space
     Model::HSV; // HSV color space
 
+  .. code-tab:: matlab
+      
+    Model().RGB % RGB color space
+    Model().HSV % HSV color space
+
 A getter ``model()`` is available, and the methods ``rgb()`` and ``hsv()`` are used to do the conversion between the two color spaces.
 
 If the color is in RGB then the red, green, blue and alpha values are between 0 and 255.
@@ -99,6 +118,16 @@ Additionnal methods are available for any useful purpose:
     // 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)});
 
+  .. code-tab:: matlab
+
+    % predefined colors without and with opacity
+    fig.draw_point(Vector({2,2}), StyleProperties({Color().red(),Color().yellow(0.5)}));
+    % HTML color without and with opacity
+    fig.draw_box(IntervalVector({{2.4,2.9},{2.4,2.9}}),StyleProperties({Color("#da3907"),Color("#da390755")}));
+    % HSV color without and with opacity
+    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)}));
+
+
 
 StyleProperties
 ---------------
@@ -127,6 +156,12 @@ A ``StyleProperties`` object is composed of two ``Color`` objects, one for the e
     StyleProperties edge_style(Color::red()); // edge only
     StyleProperties edge_fill_style({Color::blue(),Color::green()}); // edge and fill
 
+  .. code-tab:: matlab
+
+    default_style = StyleProperties() % default
+    edge_style = StyleProperties(Color().red()) % edge only
+    edge_fill_style = StyleProperties({Color().blue(),Color().green()}) % edge and fill
+
 
 It can also be deduced from one or two ``Color`` objects.
 
@@ -146,6 +181,13 @@ It can also be deduced from one or two ``Color`` objects.
     fig.draw_box({{2,5},{2,5}}, Color::red()); // red edge, no fill
     fig.draw_box({{2,5},{2,5}}, {Color::blue(),Color::green()}); // blue edge, green fill
 
+  .. code-tab:: matlab
+
+    fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}));
+    fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties().inside());
+    fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),Color().red());
+    fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().blue(),Color().green()}));
+
 In addition, optional arguments can be passed to the ``StyleProperties`` object to define line style, line width, layer and Z-value.
 For more information, see :ref:`subsec-graphics-colors-optional-arguments`.
 
@@ -161,6 +203,11 @@ For more information, see :ref:`subsec-graphics-colors-optional-arguments`.
     fig.draw_box({{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
 
+  .. code-tab:: matlab
+
+    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
+
 
 Color maps
 ----------
@@ -185,10 +232,19 @@ Color maps are used to convert a scalar value (between 0 and 1) to a color. The
     ColorMap::blue_tube(); // blue color map, used mainly for tubes
     ColorMap::red_tube(); // red color map, used mainly for tubes
 
+  .. code-tab:: matlab
+
+    ColorMap().basic(); % default color map
+    ColorMap().haxby(); % Haxby color map
+    ColorMap().rainbow(); % rainbow color map
+    ColorMap().blue_tube(); % blue color map, used mainly for tubes
+    ColorMap().red_tube(); % red color map, used mainly for tubes
+
+
 These five color maps are displayed below:
 
 .. figure:: img/colormaps.png
-  :width: 400px
+  :width: 600px
 
 A paramater ``alpha`` can be passed to the predefined color maps to set the opacity of the colors (between 0 and 1). The default value is 1 (full opacity).
 
@@ -204,6 +260,11 @@ A paramater ``alpha`` can be passed to the predefined color maps to set the opac
     // Create a haxby color map with 50% opacity
     ColorMap cmap = ColorMap::haxby(0.5);
 
+  .. code-tab:: matlab
+
+    % Create a haxby color map with 50% opacity
+    cmap = ColorMap.haxby(0.5)
+
 The method ``color()`` is used to get the color corresponding to a scalar value. The argument is a float between 0 and 1.
 
 As for the ``Color`` class, the ``ColorMap`` also has a ``Model`` (RGB or HSV) and an associated getter ``model()``. The default ``Model`` is RGB.
@@ -228,6 +289,14 @@ You can also create your own color map :
     custom_map[0.5] = Color({0,255,0});
     custom_map[1] = Color({0,0,255});
 
+  .. code-tab:: matlab
+
+    % Create a custom color map
+    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}));
+
 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.
 
 StyleGradientProperties
@@ -250,6 +319,10 @@ A ``StyleGradientProperties`` object involves a ``ColorMap``. Two constructors a
     StyleGradientProperties default_style; // default
     StyleGradientProperties custom_style(ColorMap::haxby()); // haxby color map
 
+  .. code-tab:: matlab
+
+    default_style = StyleGradientProperties() % default
+    custom_style = StyleGradientProperties(ColorMap().haxby()) % haxby color map
 
 It can also be deduced from a ``ColorMap`` object.
 
@@ -265,6 +338,11 @@ It can also be deduced from a ``ColorMap`` object.
     fig.draw_trajectory(traj); // Default style
     fig.draw_trajectory(traj,ColorMap::haxby()); // haxby color map
 
+  .. code-tab:: matlab
+
+    fig.draw_trajectory(traj) % Default style
+    fig.draw_trajectory(traj,ColorMap().haxby()) % haxby color map
+
 In addition, optional arguments can be passed to the ``StyleGradientProperties`` object to define line style, line width, layer and Z-value.
 For more information, see :ref:`subsec-graphics-colors-optional-arguments`.
 
@@ -280,6 +358,11 @@ For more information, see :ref:`subsec-graphics-colors-optional-arguments`.
     fig.draw_trajectory(traj, StyleGradientProperties(ColorMap::haxby(), "..", "layer1", "w:0.1", "z:1.5"));
     // haxby color map, dotted line, line width of 0.1, z-value of 1.5 and on layer1
 
+  .. code-tab:: matlab
+    
+    fig.draw_trajectory(traj, StyleGradientProperties(ColorMap().haxby(), "..", "layer1", "w:0.1", "z:1.5"))
+    % haxby color map, dotted line, line width of 0.1, z-value of 1.5 and on layer1
+
 .. _subsec-graphics-colors-optional-arguments:
 
 Optional arguments
diff --git a/doc/manual/manual/visualization/figures.rst b/doc/manual/manual/visualization/figures.rst
index d34442ca3..7142e7703 100644
--- a/doc/manual/manual/visualization/figures.rst
+++ b/doc/manual/manual/visualization/figures.rst
@@ -29,6 +29,12 @@ visualization while IPE creates a file that can be edited by the IPE editor. The
     GraphicOutput::IPE  // for IPE
     GraphicOutput::VIBES | GraphicOutput::IPE // for both
 
+  .. code-tab:: matlab
+
+    GraphicOutput().VIBES  % for VIBes
+    GraphicOutput().IPE  % for IPE
+    GraphicOutput().VIBES.union(GraphicOutput().IPE) % for both
+
 Note that for the VIBes output to work, the VIBes viewer must be launched before the program is run.
 
 .. _subsec-graphics-2d-figures-figure2d:
@@ -50,6 +56,10 @@ DefaultFigure (see :ref:`subsec-graphics-2d-figures-defaultfigure`).
 
     Figure2D fig ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
 
+  .. code-tab:: matlab
+
+    fig = Figure2D("My figure 1", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+
 .. _subsec-graphics-2d-figures-defaultfigure:
 
 DefaultFigure
@@ -74,9 +84,16 @@ Any Figure2D object can be used as DefaultFigure with the set method:
     DefaultFigure::set(fig);
     fig->is_default(); // is true
 
-Note that in C++ the figure must be a shared pointer in order to be passed to the `set` method.
+  .. code-tab:: matlab
+
+    fig = Figure2D("My figure", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+    fig.is_default() % is False
+    DefaultFigure().set(fig);
+    fig.is_default() % is True
 
 
+Note that in C++ the figure must be a shared pointer in order to be passed to the `set` method.
+
 .. _subsec-graphics-2d-figures-figure-properties:
 
 Figure properties
@@ -96,6 +113,11 @@ Once created, the properties of a Figure2D object can be modified using the foll
     fig.set_window_properties({50,50},{500,500}); // set the window position and size
     fig.set_axes(axis(0,{-10,10}), axis(1,{-10,10})); // set the x-axis index to 0 and its range to [-10,10], same for y with index 1 
 
+  .. code-tab:: matlab
+
+    fig.set_window_properties(Vector({50,50}),Vector({500,500})); % position, window size
+    fig.set_axes(axis(1,Interval(-10,10)), axis(2,Interval(-10,10))); % (axis_id,[range_of_values_on_this_axis])
+
 The same methods can be applied on the DefaultFigure object.
 
 .. tabs::
@@ -110,6 +132,12 @@ The same methods can be applied on the DefaultFigure object.
     DefaultFigure::set_window_properties({50,50},{500,500}); // set the window position and size
     DefaultFigure::set_axes(axis(0,{-10,10}), axis(1,{-10,10})); // set the x-axis index to 0 and its range to [-10,10], same for y with index 1 
 
+  .. code-tab:: matlab
+
+    DefaultFigure().set_window_properties(Vector({50,50}),Vector({500,500})); %  set the window position and size
+    DefaultFigure().set_axes(axis(1,Interval(-10,10)), axis(2,Interval(-10,10))); % set the x-axis index to 0 and its range to [-10,10], same for y with index 1 
+
+
 Many properties have an associated getter :
 
 - size() for the figure size (type is Index)
diff --git a/doc/manual/manual/visualization/functions.rst b/doc/manual/manual/visualization/functions.rst
index 90216a8b3..afa66ccc2 100644
--- a/doc/manual/manual/visualization/functions.rst
+++ b/doc/manual/manual/visualization/functions.rst
@@ -28,6 +28,14 @@ For example :
     // On the DefaultFigure
     DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}});
 
+  .. code-tab:: matlab
+    
+    % On a figure
+    fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}));
+
+    % On the DefaultFigure
+    DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}));
+
 In addition to the arguments described here for every function, an optionnal argument of type StyleProperties can be added to choose the edge
 and fill color (by default black edge no fill). This object can be deduced from one or two Color objects, see :ref:`this page <sec-graphics-colors>` 
 for more information.
@@ -46,6 +54,13 @@ for more information.
     fig.draw_box({{2.2,2.5},{2.2,2.5}},{Color.red()}); // Red edge
     fig.draw_box({{2.2,2.5},{2.2,2.5}},{Color.red(),Color.blue()}); // Red edge and blue fill
 
+  .. code-tab:: matlab
+
+    DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),Color().red()); % Red edge
+    DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().red()})); % Red edge
+    DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().red(),Color().blue()})); % Red edge and blue fill
+
+
 A line style and a layer can be added to the StyleProperties object, see :ref:`the dedicated page <sec-graphics-colors>` for more information.
 
 
diff --git a/doc/manual/manual/visualization/img/colormaps.png b/doc/manual/manual/visualization/img/colormaps.png
index 90efcd242..bc687b2d9 100644
Binary files a/doc/manual/manual/visualization/img/colormaps.png and b/doc/manual/manual/visualization/img/colormaps.png differ
diff --git a/doc/manual/tuto/cp_robotics/src/lesson_C.m b/doc/manual/tuto/cp_robotics/src/lesson_C.m
index 70a847d5b..21fd07526 100644
--- a/doc/manual/tuto/cp_robotics/src/lesson_C.m
+++ b/doc/manual/tuto/cp_robotics/src/lesson_C.m
@@ -76,7 +76,7 @@
             obs{end+1} = yi;
         end
     end
-    t = t + 0.01;
+    t = t + 0.01; % for performance, it is advised to increment by steps of 0.1 instead
 end
 % [C-q5-end]
 
diff --git a/examples/00_graphics/graphic_examples.cpp b/examples/00_graphics/graphic_examples.cpp
index a64f7acf4..7c4fe8b07 100644
--- a/examples/00_graphics/graphic_examples.cpp
+++ b/examples/00_graphics/graphic_examples.cpp
@@ -1,5 +1,6 @@
 #include <codac>
 #include <filesystem>
+#include <iostream>
 
 using namespace std;
 using namespace codac2;
@@ -98,7 +99,7 @@ int main(){
 
   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)
+  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)});
@@ -114,7 +115,7 @@ int main(){
   fig4.set_window_properties({500,50},{500,500});
   fig4.set_axes(axis(0,{-10,10}), axis(1,{-10,10}));
 
-  double a=0.5;
+  double a=0.8;
   ScalarVar t;
   // Fermat's spiral
   AnalyticFunction f1 ({t},{a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)});
diff --git a/examples/00_graphics/graphic_examples.m b/examples/00_graphics/graphic_examples.m
new file mode 100644
index 000000000..2190ec6fe
--- /dev/null
+++ b/examples/00_graphics/graphic_examples.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(axis(1,Interval(-10,10)), axis(2,Interval(-10,10))); % (axis_id,[range_of_values_on_this_axis])
+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)));
+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(f1,Interval(0,100));
+fig4.draw_trajectory(traj4, StyleGradientProperties(ColorMap().rainbow(), ".."));
\ No newline at end of file
diff --git a/examples/00_graphics/graphic_examples.py b/examples/00_graphics/graphic_examples.py
index 8392ba06d..54a790913 100644
--- a/examples/00_graphics/graphic_examples.py
+++ b/examples/00_graphics/graphic_examples.py
@@ -93,7 +93,7 @@
 subdivisions=40
 fig3.set_axes(axis(0,[-1,subdivisions+1]), axis(1,[-1.25,0.05]))
 
-for i in range (subdivisions):
+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)])
diff --git a/python/src/graphics/figures/codac2_py_Figure2D.cpp b/python/src/graphics/figures/codac2_py_Figure2D.cpp
index a29dbc58d..91b8c63b0 100644
--- a/python/src/graphics/figures/codac2_py_Figure2D.cpp
+++ b/python/src/graphics/figures/codac2_py_Figure2D.cpp
@@ -31,7 +31,9 @@ void export_Figure2D(py::module& m)
       .def(py::init<>())
       .def_static("VIBES", [](){ return GraphicOutput::VIBES; })
       .def_static("IPE", [](){ return GraphicOutput::IPE; })
-      .def(py::self | py::self, GRAPHICOUTPUT_OPERATORUNION_GRAPHICOUTPUT_GRAPHICOUTPUT)
+      .def("union", [](GraphicOutput a, GraphicOutput b){ return a | b; },
+        GRAPHICOUTPUT_OPERATORUNION_GRAPHICOUTPUT_GRAPHICOUTPUT,
+        "x"_a)
     ;
   }
 
diff --git a/python/src/graphics/styles/codac2_py_Color.cpp b/python/src/graphics/styles/codac2_py_Color.cpp
index 8bbfa409f..b177fc3c8 100644
--- a/python/src/graphics/styles/codac2_py_Color.cpp
+++ b/python/src/graphics/styles/codac2_py_Color.cpp
@@ -13,6 +13,7 @@
 #include <codac2_Color.h>
 #include <codac2_StyleProperties.h>
 #include "codac2_py_Color_docs.h" // Generated file from Doxygen XML (doxygen2docstring.py):
+#include "codac2_py_matlab.h"
 
 using namespace std;
 using namespace codac2;
@@ -23,10 +24,23 @@ using namespace pybind11::literals;
 void export_Color(py::module& m)
 {
 
-  py::enum_<Model>(m, "Model")
-    .value("RGB", Model::RGB)
-    .value("HSV", Model::HSV)
-  ;
+  if constexpr(FOR_MATLAB)
+  {
+    py::class_<Model>(m, "Model")
+      .def(py::init<>())
+      .def_static("RGB", [](){ return Model::RGB; })
+      .def_static("HSV", [](){ return Model::HSV; })
+    ;
+  }
+
+  else
+  {
+    py::enum_<Model>(m, "Model")
+      .value("RGB", Model::RGB)
+      .value("HSV", Model::HSV)
+    ;
+  }
+  
 
   py::class_<Color> exported_color(m, "Color", COLOR_MAIN);
   exported_color
diff --git a/python/src/graphics/styles/codac2_py_ColorMap.cpp b/python/src/graphics/styles/codac2_py_ColorMap.cpp
index 3dac81b40..cd5bc6c81 100644
--- a/python/src/graphics/styles/codac2_py_ColorMap.cpp
+++ b/python/src/graphics/styles/codac2_py_ColorMap.cpp
@@ -12,6 +12,7 @@
 #include <pybind11/stl.h>
 #include <codac2_ColorMap.h>
 #include "codac2_py_ColorMap_docs.h" // Generated file from Doxygen XML (doxygen2docstring.py):
+#include "codac2_py_matlab.h"
 
 using namespace std;
 using namespace codac2;