diff --git a/Stolen-Content-from-the-internet-about-ROS.md b/Stolen-Content-from-the-internet-about-ROS.md
index 7833b31..15203fc 100644
--- a/Stolen-Content-from-the-internet-about-ROS.md
+++ b/Stolen-Content-from-the-internet-about-ROS.md
@@ -1,2 +1,3 @@
 Some Graphics, I saw on the internet that helped me understand whats going on... 
 
+![URDS schema](images/URDF_schame.png 'URDF Schema')
diff --git a/images/URDF_Schema.png b/images/URDF_Schema.png
new file mode 100644
index 0000000..bd072ce
Binary files /dev/null and b/images/URDF_Schema.png differ