diff --git a/ur_description/README.md b/ur_description/README.md
new file mode 100644
index 000000000..6f2dcb754
--- /dev/null
+++ b/ur_description/README.md
@@ -0,0 +1,9 @@
+# Package Structure
+This package has been updated to provide a more flexible way of building URDF for Universal Robot.
+All robot parameter are described in the config folder (yaml files).
+Those parameter will be used for constructing the robot model.
+
+
+
+# DATA FLOW :
+![alt text](urdf_data_flow.svg) 
diff --git a/ur_description/urdf_data_flow.drawio b/ur_description/urdf_data_flow.drawio
new file mode 100644
index 000000000..242102083
--- /dev/null
+++ b/ur_description/urdf_data_flow.drawio
@@ -0,0 +1 @@
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ljV5Onbb4yLp5WvXyOyrhlIc+bMu4kyrhjIavQPIce1WO6WoOBmENiKr8qiM6z6fWhopsPVeeGqe0kzltjcTyu3LFZH3xqOl/uR5JlCB7Y15B1lvc+RyWL/JTuXB0qmOtJQU4BKtyKmjjF3GRW4/lBzc4RTDfPXchiCMfnm1LEEdguHloxS0BH7jF92DGWuDKuwKSEwXRsISyFcWOLPmzRNtymWBMeP4P5hlQxheNcfC7+fpJX31DLKxi6a+lm8wKZzEqTnx9rgi0Bt2g9O4sLJmkyeZaG+8MuPrCzBjMn9LKgatnrjqjXhYdJFXa7qPrEA6szd30dblvEgA43t/qE8UuomkI1vJVMbGuswR3wiINNyTqJwX8TIloM7sLjfIPvcPhi0+FbHFGu2go8TfglrqUFv4LabZNowJwbSaNw9bBLVtH2YRVmoWyZl6HJ5l1yMIaKdIAAri0I4ArPiCtb5YUl7CaDGbXownTXMKZvUBsJNZfjLU9kxOsFm22cmOtNYVONwuaiSCOrDvoKUjK1yhFhe1gEwfBTiQO0Mkcrc8o0KtuCEJrkAl28cHmNwLHSPKVScOXy1isQiG1RWvhAKBuVdvU2eUy7Dmqmjul1baXUq2NOC3ebMXBNHdPnoe/Kk8fUjn5HFNy5yWMamxPWKY8JrQULWgt6vZ9OjzT4edV6qfjSdoKGFbDAHpmYL6cu+sKLaNhjq75g96IuMSHuwg6GymoPrgjDq9/YHfVaCK+JXyQMtn6APzaArY4P8McDUPMbFHnRHAnC+jM3lPrO0iltlQszBjujs4qApVLCXJulIgpCmGJzvBfrAjDboiCB6awLcxOkdQWZiJo0o1LVqlz6MBnNHwQso6AtSSs2fGxby/JoblKtDByqR1fNqz4YXdjj2vLVpMXDh86/SDG2bj6q2p6L5SMY56Rqy1PRZPgRe+GqMfxYyxObfm67k+oW67qqWBcHWw/1zd1TF+pye3ivjHdYvTXU1fRxTU62bQavvgAYSGgfT7B8BMyWFgOgL9OEMVl1O53sm19Z7hG9+H8=</diagram></mxfile>
\ No newline at end of file
diff --git a/ur_description/urdf_data_flow.svg b/ur_description/urdf_data_flow.svg
new file mode 100644
index 000000000..4b474f509
--- /dev/null
+++ b/ur_description/urdf_data_flow.svg
@@ -0,0 +1,4 @@
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align-items: unsafe center; justify-content: unsafe center; width: 106px; height: 1px; padding-top: 295px; margin-left: 48px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ur_macro.xacro</div></div></div></foreignObject><text x="101" y="298" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">ur_macro.xacro</text></switch></g><path d="M 30 213 L 30 303 L 30 379 L 40 378.5" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><rect x="40" y="368.5" width="30" height="20" rx="10" ry="10" fill="none" stroke="#000000" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; 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height: 1px; padding-top: 488px; margin-left: 102px;"><div style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div align="left"><font style="font-size: 8px">read_model_data</font></div></div></div></div></foreignObject><text x="102" y="492" fill="#000000" font-family="Helvetica" font-size="12px">read_m...</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 38px; height: 1px; padding-top: 429px; margin-left: 103px;"><div style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div align="left"><font style="font-size: 8px">ur_arm_transmission</font></div></div></div></div></foreignObject><text x="103" y="432" fill="#000000" font-family="Helvetica" font-size="12px">ur_arm...</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 265px; margin-left: 116px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><font style="font-size: 8px" color="#00CC00">pass filepath as  xacro arg<br /></font></div></div></div></foreignObject><text x="180" y="268" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">pass filepath as  xac...</text></switch></g><path d="M 127.61 243 L 127.94 278.13" fill="none" stroke="#00ff00" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="none"/><path d="M 127.99 283.38 L 124.42 276.42 L 127.94 278.13 L 131.42 276.35 Z" fill="#00ff00" stroke="#00ff00" stroke-miterlimit="10" pointer-events="none"/><path d="M 105.11 244.28 L 105.29 276.63" fill="none" stroke="#cc00cc" stroke-miterlimit="10" pointer-events="none"/><path d="M 105.31 281.88 L 101.78 274.9 L 105.29 276.63 L 108.78 274.86 Z" fill="#cc00cc" stroke="#cc00cc" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 326px; margin-left: 116px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><font style="font-size: 8px" color="#00CC00">pass filepath as  xacro arg<br /></font></div></div></div></foreignObject><text x="180" y="330" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">pass filepath as  xac...</text></switch></g><path d="M 127.5 304.5 L 127.98 481.63" fill="none" stroke="#00ff00" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="none"/><path d="M 128 486.88 L 124.48 479.89 L 127.98 481.63 L 131.48 479.87 Z" fill="#00ff00" stroke="#00ff00" stroke-miterlimit="10" pointer-events="none"/></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text></a></switch></svg>
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