diff --git a/doc/treeview.dox b/doc/treeview.dox
index be4c17469e381234f3dbc358b0910498022445b1..9a87f00e5138bcad3e6e35a909b7c79a2d57d544 100644
--- a/doc/treeview.dox
+++ b/doc/treeview.dox
@@ -34,9 +34,9 @@ namespace pinocchio {
        - \subpage md_doc_maths_se3
   */
 
-  /** \page Chapters Chapters
-       - \subpage md_doc_Chapters_creating-models
-       - \subpage md_doc_Chapters_crtp
+  /** \page Usage Usage
+       - \subpage md_doc_usage_creating-models
+       - \subpage md_doc_usage_crtp
   */
 
   //
diff --git a/doc/Chapters/creating-models.md b/doc/usage/creating-models.md
similarity index 71%
rename from doc/Chapters/creating-models.md
rename to doc/usage/creating-models.md
index 1d82bda9378006169f167b84e8ed53d1c8df3b58..8e55bcbc279e1e3c47c72261320e74d14ab2bc8e 100644
--- a/doc/Chapters/creating-models.md
+++ b/doc/usage/creating-models.md
@@ -1,8 +1,8 @@
 # Creating models
 <!--
 //
-// Copyright (c) 2016 CNRS
-// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
+// Copyright (c) 2016, 2018 CNRS
+// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza, Guilhem Saurel
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -32,42 +32,44 @@ but you can also create a Model from scratch and fill it with the Joints you wan
 ### Format urdf
 
 To load an urdf file in C++ code, copy the following lines:
-```
+```cpp
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/parser/urdf.hpp>
-#include <pinocchio/multibody/parser/utils.hpp>
-#include <pinocchio/multibody/joint.hpp>
 
 bool verbose = false;
 const std::string filename = "path/to/file/model.urdf";
-se3::JointModelFreeflyer rootJoint;
-se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose);
+
+se3::Model model
+se3::urdf::buildModel (filename, model, verbose);
 se3::Data data (model);
 ```
 
 ### Format Python
 
 To load a python file in C++ code, copy the following lines:
-```
-#include <pinocchio/multibody/model.hpp>
-#include <pinocchio/multibody/parser/python.hpp>
-#include <pinocchio/multibody/parser/utils.hpp>
-#include <pinocchio/multibody/joint.hpp>
+```cpp
+#include "pinocchio/multibody/model.hpp"
+#include "pinocchio/parsers/python.hpp"
+
+bool verbose = false;
+const std::string filename = "path/to/file/model.py";
+const std::string model_name = "python_variable_name_in_filename"
 
-//put here code to load from python
+se3::Model model = se3::python::buildModel(filename, model_name, verbose);
+se3::Data data (model);
 ```
 
 ### Format lua
 
 To load an lua file in C++ code, copy the following lines:
-```
+```cpp
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/parser/lua.hpp>
-#include <pinocchio/multibody/parser/utils.hpp>
-#include <pinocchio/multibody/joint.hpp>
 
+bool verbose = false;
 bool freeflyer = true;
 const std::string filename = "path/to/file/model.lua";
-se3::Model model = se3::lua::buildModel (filename, freeflyer);
+
+se3::Model model = se3::lua::buildModel (filename, freeflyer, verbose);
 se3::Data data (model);
 ```
diff --git a/doc/Chapters/crtp.md b/doc/usage/crtp.md
similarity index 100%
rename from doc/Chapters/crtp.md
rename to doc/usage/crtp.md