diff --git a/02_Presentation/robotics/chiral_wrist/ch.png b/02_Presentation/robotics/chiral_wrist/ch.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe8e099146db902128a0c5e86343909a7d7b7421
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diff --git a/02_Presentation/robotics/chiral_wrist/chiral_wrist.md b/02_Presentation/robotics/chiral_wrist/chiral_wrist.md
index 5893ebfb5ebb4137ea116c72043d2765f8ca57d3..dc4ad24ad95a23aa201ed7111b1eebd733f3de5b 100644
--- a/02_Presentation/robotics/chiral_wrist/chiral_wrist.md
+++ b/02_Presentation/robotics/chiral_wrist/chiral_wrist.md
@@ -27,9 +27,18 @@
 
 ## Geometry
 
-- get pic of chiral
-- get pic top optimization
 
+Option 1:
+
+<img src="./ch.png" width="60%" /><br/>
+
+
+Option 2:
+
+<img src="./prob.png" width="30%" /><br/>
+
+<img src="../../top_opt/voxel_designer/chiral.gif" width="30%" />
+<img src="../../top_opt/voxel_designer/chiral1.gif" width="30%" /><br/>
 
 ### Same fixed Displacement:
   
diff --git a/02_Presentation/robotics/chiral_wrist/prob.png b/02_Presentation/robotics/chiral_wrist/prob.png
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index 0000000000000000000000000000000000000000..80883326f4be9bc8d017043dea8185ae7454159d
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