diff --git a/tutorial_1/Dockerfile b/tutorial_1/Dockerfile
index c379dc5..9e19398 100644
--- a/tutorial_1/Dockerfile
+++ b/tutorial_1/Dockerfile
@@ -40,3 +40,5 @@ RUN mkdir /home/user/devel
 ENV DEVEL_HPP_DIR=/home/user/devel
 
 RUN echo "source $DEVEL_HPP_DIR/config.sh" >> /home/user/.bashrc
+RUN python3 -m venv /home/user/install-pip
+RUN /home/user/install-pip/bin/pip install "numpy==1.26.4" trimesh pycollada viser
diff --git a/tutorial_1/config.sh b/tutorial_1/config.sh
index 3677c4b..dbdc4f2 100644
--- a/tutorial_1/config.sh
+++ b/tutorial_1/config.sh
@@ -1,12 +1,13 @@
 export INSTALL_HPP_DIR=$DEVEL_HPP_DIR/install
+export INSTALL_PIP_DIR=$HOME/install-pip
 export ROBOTPKG=/opt/openrobots
 
-export PATH=$INSTALL_HPP_DIR/sbin:$INSTALL_HPP_DIR/bin:$ROBOTPKG/bin:$ROBOTPKG/sbin:$PATH
+export PATH=$INSTALL_HPP_DIR/bin:$ROBOTPKG/bin:$PATH
 export PKG_CONFIG_PATH=$INSTALL_HPP_DIR/lib/pkgconfig/:$ROBOTPKG/lib/pkgconfig
 
-export PYTHONPATH=$INSTALL_HPP_DIR/lib/python3.12/site-packages:$ROBOTPKG/lib/python3.12/site-packages:$PYTHONPATH
+export PYTHONPATH=$INSTALL_HPP_DIR/lib/python3.12/site-packages:$INSTALL_PIP_DIR/lib/python3.12/site-packages:$ROBOTPKG/lib/python3.12/site-packages:$PYTHONPATH
 
-export LD_LIBRARY_PATH=$INSTALL_HPP_DIR/lib:$ROBOTPKG/lib:$INSTALL_HPP_DIR/lib64:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=$INSTALL_HPP_DIR/lib:$INSTALL_PIP_DIR/lib:$ROBOTPKG/lib:$INSTALL_HPP_DIR/lib64:$LD_LIBRARY_PATH
 
 export AMENT_PREFIX_PATH=$INSTALL_HPP_DIR:$ROBOTPKG
 export CMAKE_PREFIX_PATH=$INSTALL_HPP_DIR:$ROBOTPKG:/usr