diff --git a/Makefile b/Makefile
index 848eca65b2feca881ed11d2eac52c4e5ecf9f9e6..4d0ddb48971880aca935909336384036cf1eb07b 100644
--- a/Makefile
+++ b/Makefile
@@ -77,6 +77,7 @@ SUBDIR+=	prf-roboticsgroup-gazebo-plugins
 SUBDIR+=	prf-ros-control
 SUBDIR+= 	prf-ros-controllers
 SUBDIR+=	py-dynamic-graph-v3
+SUBDIR+=	py-dynamic-graph-tutorial
 SUBDIR+=	py-example-adder
 SUBDIR+=	py-hla
 SUBDIR+=	py-jsbsim
diff --git a/py-dynamic-graph-tutorial/DESCR b/py-dynamic-graph-tutorial/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..7fab2e8df1cbe5764896f9b142a09045dae96f17
--- /dev/null
+++ b/py-dynamic-graph-tutorial/DESCR
@@ -0,0 +1 @@
+Tutorial for the dynamic-graph
diff --git a/py-dynamic-graph-tutorial/Makefile b/py-dynamic-graph-tutorial/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..e20c04ffc9603904559dee40235aa27633b9e1bd
--- /dev/null
+++ b/py-dynamic-graph-tutorial/Makefile
@@ -0,0 +1,33 @@
+# robotpkg Makefile for:	wip/example-adder
+# Created:			Guilhem Saurel on Tue, 10 Jul 2018
+#
+
+ORG=				stack-of-tasks
+NAME=				dynamic-graph-tutorial
+VERSION=			1.0.0
+
+PKGNAME=			${PKGTAG.python-}${NAME}-${VERSION}
+DISTNAME=			${NAME}-${VERSION}
+
+MASTER_SITES=		${MASTER_SITE_GITHUB:=${ORG}/${NAME}/releases/download/v${VERSION}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}
+CHECKOUT_VCS_OPTS=	--recursive
+
+CATEGORIES=			wip
+COMMENT=			Tutorial for the dynamic-graph
+MAINTAINER=			gsaurel@laas.fr
+LICENSE=			2-clause-bsd
+
+DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
+
+include ../../wip/dynamic-graph-v3/depend.mk
+include ../../wip/py-dynamic-graph-v3/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+
+include ../../mk/robotpkg.mk
diff --git a/py-dynamic-graph-tutorial/PLIST b/py-dynamic-graph-tutorial/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..8471dd1edcbdea77895f6a2aa3c0061bcd43aff9
--- /dev/null
+++ b/py-dynamic-graph-tutorial/PLIST
@@ -0,0 +1,11 @@
+@comment Fri Jul 13 15:58:59 CEST 2018
+include/dynamic-graph/tutorial/feedback-controller.hh
+include/dynamic-graph/tutorial/inverted-pendulum.hh
+include/dynamic/graph/tutorial/config.hh
+include/dynamic/graph/tutorial/deprecated.hh
+include/dynamic/graph/tutorial/warning.hh
+lib/libdynamic-graph-tutorial.so
+lib/libdynamic-graph-tutorial.so.${PKGVERSION}
+lib/pkgconfig/dynamic-graph-tutorial.pc
+${PYTHON_SITELIB}/dynamic_graph/tutorial/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/tutorial/wrap.so
diff --git a/py-dynamic-graph-tutorial/depend.mk b/py-dynamic-graph-tutorial/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..f2be8aecc755afcba1d8e75539bbfb5dff7209cd
--- /dev/null
+++ b/py-dynamic-graph-tutorial/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/py-dynamic-graph-tutorial
+# Created:			Guilhem Saurel on Fri, 13 Jul 2018
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_DYNAMIC_GRAPH_TUTORIAL_DEPEND_MK:=	${PY_DYNAMIC_GRAPH_TUTORIAL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-dynamic-graph-tutorial
+endif
+
+ifeq (+,$(PY_DYNAMIC_GRAPH_TUTORIAL_DEPEND_MK)) # ------------------------------------------
+
+PREFER.py-dynamic-graph-tutorial?=	robotpkg
+
+SYSTEM_SEARCH.py-dynamic-graph-tutorial=\
+  'include/dynamic/graph/tutorial/config.hh:/DYNAMIC_GRAPH_TUTORIAL_VERSION/s/[^0-9.]//gp'	\
+  'lib/libdynamic-graph-tutorial.so'							\
+  'lib/pkgconfig/dynamic-graph-tutorial.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		py-dynamic-graph-tutorial
+
+DEPEND_ABI.py-dynamic-graph-tutorial?=	py-dynamic-graph-tutorial>=1.0.0
+DEPEND_DIR.py-dynamic-graph-tutorial?=	../../wip/py-dynamic-graph-tutorial
+
+endif # PY_DYNAMIC_GRAPH_TUTORIAL_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-dynamic-graph-tutorial/distinfo b/py-dynamic-graph-tutorial/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..2c625383af5128f00b1d7dcf0ee4516045ceb4b7
--- /dev/null
+++ b/py-dynamic-graph-tutorial/distinfo
@@ -0,0 +1,3 @@
+SHA1 (dynamic-graph-tutorial-1.0.0.tar.gz) = 06bfc8f6ff9611bf070f350d1c7c041419daf412
+RMD160 (dynamic-graph-tutorial-1.0.0.tar.gz) = 62332efbb0420c94fe25f40d1253dc48d692ee52
+Size (dynamic-graph-tutorial-1.0.0.tar.gz) = 774188 bytes