diff --git a/launch/tutorials/tuto_ontologenius.launch b/launch/tutorials/tuto_ontologenius.launch
new file mode 100644
index 00000000..413b753c
--- /dev/null
+++ b/launch/tutorials/tuto_ontologenius.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="language" default="en"/>
+  <arg name="intern_file" default="none"/>
+  <arg name="config" default=" $(find overworld)/config/ontologenius.yaml"/>
+  <arg name="files" default="
+    $(find overworld)/ontologies/adream_building.owl
+    $(find overworld)/ontologies/Tutorials/eve.owl
+    $(find overworld)/ontologies/Tutorials/steve.owl
+    $(find common_ground_ontology)/CG_root.owl
+  "/>
+  <node name="ontologenius_core" pkg="ontologenius" type="ontologenius_multi" output="screen" args="-l $(arg language) -i $(arg intern_file) -c $(arg config) -d false $(arg files)"> </node>
+  <node name="ontologenius_gui" pkg="ontologenius" type="ontoloGUI" output="screen"> </node>
+</launch>
diff --git a/models/tutorials/Steve/steve.png b/models/tutorials/Steve/steve.png
new file mode 100644
index 00000000..94af205d
Binary files /dev/null and b/models/tutorials/Steve/steve.png differ
diff --git a/models/tutorials/Steve/steve_body.mtl b/models/tutorials/Steve/steve_body.mtl
new file mode 100644
index 00000000..6894b8d4
--- /dev/null
+++ b/models/tutorials/Steve/steve_body.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl piinson_skin.003
+Ns 14.839670
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.110909 0.110909 0.110909
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd piinson.png
diff --git a/models/tutorials/Steve/steve_body.obj b/models/tutorials/Steve/steve_body.obj
new file mode 100644
index 00000000..04e4c814
--- /dev/null
+++ b/models/tutorials/Steve/steve_body.obj
@@ -0,0 +1,245 @@
+# Blender v3.2.1 OBJ File: ''
+# www.blender.org
+mtllib steve_body.mtl
+o body_Cube.001
+v 0.125000 -0.250000 1.130842
+v 0.125000 -0.500000 1.130842
+v 0.094123 -0.500000 0.610969
+v 0.094123 -0.250000 0.610969
+v -0.125000 0.000000 1.130842
+v -0.125000 0.000000 1.380436
+v -0.125000 0.250000 1.380436
+v -0.125000 0.250000 1.130842
+v -0.125000 0.500000 1.380436
+v -0.125000 0.500000 1.130842
+v 0.125000 0.000000 1.130842
+v 0.125000 0.000000 1.380436
+v 0.125000 -0.250000 1.380436
+v -0.125000 0.250000 0.755436
+v 0.125000 0.250000 0.755436
+v 0.131494 0.252598 0.000436
+v -0.118506 0.252598 0.000436
+v -0.125000 -0.250000 1.380436
+v -0.125000 0.000000 0.755436
+v 0.125000 0.000000 0.755436
+v 0.122402 -0.001299 0.000436
+v -0.127598 -0.001299 0.000436
+v 0.131494 0.002598 0.000436
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+v 0.125000 -0.250000 0.755436
+v -0.125000 -0.250000 0.755436
+v 0.125000 0.250000 1.380436
+v 0.125000 0.250000 1.130842
+v -0.125000 -0.250000 1.130842
+v 0.125000 0.500000 1.380436
+v 0.125000 0.500000 1.130842
+v 0.190610 0.500000 0.649086
+v -0.056713 0.500000 0.612598
+v 0.125000 -0.500000 1.380436
+v -0.125000 -0.500000 1.380436
+v -0.125000 -0.500000 1.130842
+v -0.152697 -0.250000 0.650714
+v -0.152697 -0.500000 0.650714
+v 0.190610 0.250000 0.649086
+v -0.056713 0.250000 0.612598
+vt 0.749206 0.624760
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+vt 0.686821 0.499990
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+vt 0.624722 0.000058
+vt 0.812789 0.500134
+vt 0.875174 0.500134
+vt 0.625098 0.500032
+vt 0.687483 0.500032
+vt 0.749897 0.000058
+vn 0.9982 0.0000 -0.0593
+vn -1.0000 0.0000 0.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 1.0000 0.0017
+vn 0.0000 1.0000 0.0034
+vn 0.0000 0.0000 1.0000
+vn 0.0000 1.0000 -0.0017
+vn 1.0000 0.0000 0.0043
+vn 1.0000 0.0000 0.0013
+vn 1.0000 0.0000 0.0086
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 -1.0000 0.0009
+vn 0.0000 -1.0000 0.0017
+vn 0.0000 -1.0000 -0.0034
+vn -1.0000 0.0000 0.0017
+vn -1.0000 0.0000 -0.0013
+vn -1.0000 0.0000 0.0034
+vn -1.0000 0.0000 -0.0043
+vn -1.0000 0.0000 -0.0086
+vn 1.0000 0.0000 -0.0017
+vn 1.0000 0.0000 -0.0034
+vn 0.0000 1.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn -0.1590 0.0000 -0.9873
+vn 0.1460 0.0000 -0.9893
+vn 0.9909 0.0000 0.1349
+vn -0.9983 0.0000 0.0576
+vn -0.9914 0.0000 -0.1306
+usemtl piinson_skin.003
+s 1
+f 1/1/1 2/2/1 3/3/1 4/4/1
+f 5/5/2 6/6/2 7/7/2 8/8/2
+f 8/9/2 7/10/2 9/11/2 10/12/2
+f 11/13/3 12/14/3 13/15/3 1/16/3
+f 14/17/4 15/18/4 16/19/5 17/20/5
+f 6/21/6 18/22/6 13/23/6 12/24/6
+f 19/25/7 20/26/7 21/27/7 22/28/7
+f 15/29/8 20/30/9 23/31/10 16/32/10
+f 16/33/11 23/34/11 24/35/11 17/36/11
+f 21/37/11 25/38/11 26/39/11 22/40/11
+f 27/41/12 28/42/12 26/43/13 25/44/13
+f 20/45/14 19/46/14 24/47/14 23/31/14
+f 7/48/6 6/21/6 12/24/6 29/49/6
+f 28/50/15 19/51/16 22/52/17 26/53/17
+f 30/54/3 29/55/3 12/14/3 11/13/3
+f 31/56/2 18/57/2 6/6/2 5/5/2
+f 19/58/16 14/59/18 17/60/19 24/61/19
+f 20/62/9 27/63/20 25/64/21 21/65/21
+f 28/66/15 31/56/2 5/5/2 19/67/16
+f 15/68/8 30/54/3 11/13/3 20/69/9
+f 20/69/9 11/13/3 1/16/3 27/70/20
+f 14/71/4 8/72/22 30/73/22 15/74/4
+f 19/67/16 5/5/2 8/8/2 14/75/18
+f 27/76/12 1/77/23 31/78/23 28/79/12
+f 10/12/22 9/80/22 32/81/22 33/82/22
+f 10/12/22 33/82/22 34/83/22 35/84/22
+f 7/85/6 29/86/6 32/87/6 9/88/6
+f 29/89/3 30/90/3 33/91/3 32/92/3
+f 2/93/23 36/94/23 37/95/23 38/96/23
+f 1/1/3 13/97/3 36/98/3 2/2/3
+f 18/99/2 31/100/2 38/101/2 37/102/2
+f 13/103/6 18/104/6 37/105/6 36/106/6
+f 39/107/24 4/108/24 3/109/24 40/110/24
+f 41/111/25 42/112/25 35/113/25 34/114/25
+f 31/115/22 1/116/22 4/117/22 39/118/22
+f 30/119/23 8/120/23 42/121/23 41/122/23
+f 33/91/26 30/90/26 41/123/26 34/124/26
+f 38/101/27 31/100/27 39/125/27 40/126/27
+f 2/93/23 38/96/23 40/127/23 3/128/23
+f 8/9/28 10/12/28 35/84/28 42/129/28
diff --git a/models/tutorials/Steve/steve_head.mtl b/models/tutorials/Steve/steve_head.mtl
new file mode 100644
index 00000000..f4a352b0
--- /dev/null
+++ b/models/tutorials/Steve/steve_head.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl piinson_skin.002
+Ns 14.839670
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.110909 0.110909 0.110909
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd piinson.png
diff --git a/models/tutorials/Steve/steve_head.obj b/models/tutorials/Steve/steve_head.obj
new file mode 100644
index 00000000..6478bfde
--- /dev/null
+++ b/models/tutorials/Steve/steve_head.obj
@@ -0,0 +1,46 @@
+# Blender v3.2.1 OBJ File: ''
+# www.blender.org
+mtllib steve_head.mtl
+o head_Cube.001
+v -0.250000 -0.250000 0.500389
+v -0.250000 0.250000 0.500389
+v -0.250000 0.250000 0.000389
+v -0.250000 -0.250000 0.000389
+v 0.250000 0.250000 0.000389
+v 0.250000 -0.250000 0.000389
+v 0.250000 0.250000 0.500389
+v 0.250000 -0.250000 0.500389
+vt 0.374594 0.749530
+vt 0.499906 0.749530
+vt 0.499906 0.874842
+vt 0.374594 0.874842
+vt 0.249874 0.874377
+vt 0.375187 0.874377
+vt 0.375187 0.999689
+vt 0.249874 0.999689
+vt 0.125440 0.749770
+vt 0.250752 0.749770
+vt 0.250752 0.875082
+vt 0.125440 0.875082
+vt 0.124824 0.875082
+vt 0.250137 0.875082
+vt 0.250137 1.000394
+vt 0.124824 1.000394
+vt 0.000127 0.749770
+vt 0.000127 0.875082
+vt 0.376064 0.749770
+vt 0.376064 0.875082
+vn -1.0000 -0.0000 -0.0000
+vn 0.0000 -0.0000 -1.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 0.0000 1.0000
+vn 0.0000 -1.0000 0.0000
+vn -0.0000 1.0000 -0.0000
+usemtl piinson_skin.002
+s 1
+f 1/1/1 2/2/1 3/3/1 4/4/1
+f 4/5/2 3/6/2 5/7/2 6/8/2
+f 6/9/3 5/10/3 7/11/3 8/12/3
+f 8/13/4 7/14/4 2/15/4 1/16/4
+f 4/17/5 6/9/5 8/12/5 1/18/5
+f 5/10/6 3/19/6 2/20/6 7/11/6
diff --git a/ontologies/Tutorials/agents.owl b/ontologies/Tutorials/eve.owl
similarity index 71%
rename from ontologies/Tutorials/agents.owl
rename to ontologies/Tutorials/eve.owl
index 42fddeea..42c505e0 100644
--- a/ontologies/Tutorials/agents.owl
+++ b/ontologies/Tutorials/eve.owl
@@ -17,18 +17,18 @@
 
 
     <!-- 
-    ///////////////////////////////////////////////////////////////////////////////////////
-    //
-    // Individuals
-    //
-    ///////////////////////////////////////////////////////////////////////////////////////
+    /////////////////////////////////////////////////////////////////////////////////////// 
+    // 
+    // Individuals 
+    // 
+    /////////////////////////////////////////////////////////////////////////////////////// 
      -->
-    
 
 
-    <!-- agents#eve_eye_fov -->
 
-    <owl:NamedIndividual rdf:about="agents#eve_eye_fov">
+    <!-- agents#eve_fov -->
+
+    <owl:NamedIndividual rdf:about="agents#eve_fov">
         <rdf:type rdf:resource="cg_sensors#FieldOfView"/>
         <cg_sensors:fovHasClipNear rdf:datatype="http://www.w3.org/2002/07/owl#real">0.1</cg_sensors:fovHasClipNear>
         <cg_sensors:fovHasClipFar rdf:datatype="http://www.w3.org/2002/07/owl#real">12</cg_sensors:fovHasClipFar>
@@ -36,58 +36,37 @@
         <cg_sensors:fovHasWidth rdf:datatype="http://www.w3.org/2002/07/owl#real">102.4</cg_sensors:fovHasWidth>
     </owl:NamedIndividual>
 
-    <!-- agents#left_eye_camera_frame -->
 
-    <owl:NamedIndividual rdf:about="agents#left_eye_camera_frame">
-        <rdf:type rdf:resource="cg_sensors#FrameId"/>
-    </owl:NamedIndividual>
-    
-    <!-- agents#right_eye_camera_frame -->
 
-    <owl:NamedIndividual rdf:about="agents#right_eye_camera_frame">
+    <!-- agents#head_camera_frame -->
+
+    <owl:NamedIndividual rdf:about="agents#head_camera_frame">
         <rdf:type rdf:resource="cg_sensors#FrameId"/>
     </owl:NamedIndividual>
 
 
-    <!-- agents#eve_left_eye -->
 
-    <owl:NamedIndividual rdf:about="agents#eve_left_eye">
+    <!-- agents#eve_eye -->
+    
+    <owl:NamedIndividual rdf:about="agents#eve_eye">
         <rdf:type rdf:resource="cg_sensors#Sensor"/>
-        <cg_sensors:hasFieldOfView rdf:resource="agents#eve_eye_fov"/>
-        <cg_sensors:hasFrameId rdf:resource="agents#left_eye_camera_frame"/>
+        <cg_sensors:hasFieldOfView rdf:resource="agents#eve_fov"/>
+        <cg_sensors:hasFrameId rdf:resource="agents#head_camera_frame"/>
         <cg_sensors:isStatic rdf:datatype="http://www.w3.org/2002/07/owl#bool">false</cg_sensors:isStatic>
     </owl:NamedIndividual>
 
-    <!-- agents#eve_right_eye -->
-
-    <owl:NamedIndividual rdf:about="agents#eve_right_eye">
-        <rdf:type rdf:resource="cg_sensors#Sensor"/>
-        <cg_sensors:hasFieldOfView rdf:resource="agents#eve_eye_fov"/>
-        <cg_sensors:hasFrameId rdf:resource="agents#right_eye_camera_frame"/>
-        <cg_sensors:isStatic rdf:datatype="http://www.w3.org/2002/07/owl#bool">false</cg_sensors:isStatic>
-    </owl:NamedIndividual>
 
 
     <!-- agents#base_link -->
-
+    
     <owl:NamedIndividual rdf:about="agents#base_link">
         <rdf:type rdf:resource="cg_agents#Base"/>
     </owl:NamedIndividual>
     
 
 
-    <!-- agents#eve_head -->
-
-    <owl:NamedIndividual rdf:about="agents#eve_head">
-        <rdf:type rdf:resource="cg_agents#Head"/>
-        <cg_sensors:hasSensor rdf:resource="agents#eve_left_eye"/>
-        <cg_sensors:hasSensor rdf:resource="agents#eve_right_eye"/>
-    </owl:NamedIndividual>
-    
-
-
     <!-- agents#left_gripper_frame -->
-
+    
     <owl:NamedIndividual rdf:about="agents#left_gripper_frame">
         <rdf:type rdf:resource="cg_agents#Hand"/>
     </owl:NamedIndividual>
@@ -95,13 +74,22 @@
 
 
     <!-- agents#right_gripper_frame -->
-
+    
     <owl:NamedIndividual rdf:about="agents#right_gripper_frame">
         <rdf:type rdf:resource="cg_agents#Hand"/>
     </owl:NamedIndividual>
     
 
 
+    <!-- agents#eve_head -->
+    
+    <owl:NamedIndividual rdf:about="agents#eve_head">
+        <rdf:type rdf:resource="cg_agents#Head"/>
+        <cg_sensors:hasSensor rdf:resource="agents#eve_eye"/>
+    </owl:NamedIndividual>
+    
+
+
     <!-- agents#eve -->
     
     <owl:NamedIndividual rdf:about="agents#eve">
diff --git a/ontologies/Tutorials/steve.owl b/ontologies/Tutorials/steve.owl
new file mode 100644
index 00000000..c8d99b00
--- /dev/null
+++ b/ontologies/Tutorials/steve.owl
@@ -0,0 +1,89 @@
+<?xml version="1.0"?>
+<rdf:RDF xmlns="https://gitlab.laas.fr/discuter/overworld_tutorials/-/blob/master/ontologies/agents#"
+     xmlns:agents="https://gitlab.laas.fr/discuter/overworld_tutorials/-/blob/master/ontologies/agents#"
+     xmlns:cg_agents="https://github.com/RIS-WITH/common_ground_ontology/blob/master/CG_agents#"
+     xmlns:cg_entities="https://github.com/RIS-WITH/common_ground_ontology/blob/master/CG_entities#"
+     xmlns:cg_sensors="https://github.com/RIS-WITH/common_ground_ontology/blob/master/CG_sensors#"
+     xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+     xmlns:owl="http://www.w3.org/2002/07/owl#"
+     xmlns:xml="http://www.w3.org/XML/1998/namespace"
+     xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+     xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#">
+    <owl:Ontology rdf:about="https://gitlab.laas.fr/discuter/overworld_tutorials/-/blob/master/ontologies/agents">
+      <owl:imports rdf:resource="https://github.com/RIS-WITH/common_ground_ontology/blob/master/CG_agents"/>
+      <owl:imports rdf:resource="https://github.com/RIS-WITH/common_ground_ontology/blob/master/CG_sensors"/>
+    </owl:Ontology>
+    
+
+
+    <!-- 
+    /////////////////////////////////////////////////////////////////////////////////////// 
+    // 
+    // Individuals 
+    // 
+    /////////////////////////////////////////////////////////////////////////////////////// 
+     -->
+
+
+
+    <!-- agents#steve_fov -->
+
+    <owl:NamedIndividual rdf:about="agents#steve_fov">
+        <rdf:type rdf:resource="cg_sensors#FieldOfView"/>
+        <cg_sensors:fovHasClipNear rdf:datatype="http://www.w3.org/2002/07/owl#real">0.1</cg_sensors:fovHasClipNear>
+        <cg_sensors:fovHasClipFar rdf:datatype="http://www.w3.org/2002/07/owl#real">12</cg_sensors:fovHasClipFar>
+        <cg_sensors:fovHasHeight rdf:datatype="http://www.w3.org/2002/07/owl#real">70</cg_sensors:fovHasHeight>
+        <cg_sensors:fovHasWidth rdf:datatype="http://www.w3.org/2002/07/owl#real">102.4</cg_sensors:fovHasWidth>
+    </owl:NamedIndividual>
+
+
+
+    <!-- agents#steve_eye_frame -->
+
+    <owl:NamedIndividual rdf:about="agents#steve_eye_frame">
+        <rdf:type rdf:resource="cg_sensors#FrameId"/>
+    </owl:NamedIndividual>
+
+
+
+    <!-- agents#steve_eye -->
+    
+    <owl:NamedIndividual rdf:about="agents#steve_eye">
+        <rdf:type rdf:resource="cg_sensors#Sensor"/>
+        <cg_sensors:hasFieldOfView rdf:resource="agents#steve_fov"/>
+        <cg_sensors:hasFrameId rdf:resource="agents#steve_eye_frame"/>
+        <cg_sensors:isStatic rdf:datatype="http://www.w3.org/2002/07/owl#bool">false</cg_sensors:isStatic>
+    </owl:NamedIndividual>
+
+
+
+    <!-- agents#steve_base -->
+    
+    <owl:NamedIndividual rdf:about="agents#steve_base">
+        <rdf:type rdf:resource="cg_agents#Base"/>
+        <cg_entities:hasMesh rdf:datatype="http://www.w3.org/2001/XMLSchema#string">package://overworld/models/tutorials/Steve/steve_body.obj</cg_entities:hasMesh>
+        <cg_entities:hasTexture rdf:datatype="http://www.w3.org/2001/XMLSchema#string">package://overworld/models/tutorials/Steve/steve.png</cg_entities:hasTexture>
+    </owl:NamedIndividual>
+    
+
+
+    <!-- agents#steve_head -->
+    
+    <owl:NamedIndividual rdf:about="agents#steve_head">
+        <rdf:type rdf:resource="cg_agents#Head"/>
+        <cg_sensors:hasSensor rdf:resource="agents#steve_eye"/>
+        <cg_entities:hasMesh rdf:datatype="http://www.w3.org/2001/XMLSchema#string">package://overworld/models/tutorials/Steve/steve_head.obj</cg_entities:hasMesh>
+        <cg_entities:hasTexture rdf:datatype="http://www.w3.org/2001/XMLSchema#string">package://overworld/models/tutorials/Steve/steve.png</cg_entities:hasTexture>
+    </owl:NamedIndividual>
+    
+
+
+    <!-- agents#steve -->
+    
+    <owl:NamedIndividual rdf:about="agents#steve">
+        <rdf:type rdf:resource="cg_agents#Human"/>
+        <cg_agents:hasBase rdf:resource="agents#steve_base"/>
+        <cg_agents:hasHead rdf:resource="agents#steve_head"/>
+    </owl:NamedIndividual>
+
+</rdf:RDF>