diff --git a/graphics/scara_design.tex b/graphics/scara_design.tex
index be31df2..bae0cee 100644
--- a/graphics/scara_design.tex
+++ b/graphics/scara_design.tex
@@ -7,13 +7,15 @@
 %\input{graphics/tics.tikz}
         
 \begin{document}
-    \begin{tikzpicture}[on grid]
+    \begin{tikzpicture}[on grid, x=0.75cm, y=0.75cm]
         % Define Drawing Box dimentions
         \def \boxheight {5};
         \def \boxwidth {6};
         \def \boxorigin {(-\boxwidth/2,-1)};
         \def \boxsize {(\boxwidth,\boxheight)};
         \def \armcolor {gray};
+        \def \jointred {\draw[fill=orange] (0,0) circle(0.4);}
+        \def \jointblue {\draw[fill=blue] (0,0) circle(0.4);}
 
         
         \def \width {0.3};
@@ -38,6 +40,7 @@
             \pgfmathsetmacro{\k}{180-\f-\g};
             \pgfmathsetmacro{\m}{180-\g-\e-\a};
             \begin{scope}[shift={(-\A/2,0)}, rotate=\c]
+                \jointred
                 \def \length{\B}
                 \arm
                 \begin{scope}[shift={(\B,0)}, rotate=-\m]
@@ -46,6 +49,7 @@
                 \end{scope}
             \end{scope}
             \begin{scope}[shift={(\A/2,0)}, rotate=\h]
+                \jointblue
                 \def \length{\B}
                 \arm
                 \begin{scope}[shift={(\B,0)}, rotate=\k]
@@ -73,34 +77,45 @@
         }
         };
 
-        \pgfmathsetmacro{\B}{2};
+        \pgfmathsetmacro{\B}{2.3};
         \pgfmathsetmacro{\A}{1};
-        \begin{scope}[shift={(0,0)}]
+        \def \nodepos {(2.4,3.4)};
+        %rechts boven
+        \begin{scope}[shift={(1*\boxwidth,1*\boxheight)}]
+            \node at \nodepos {2.};
             \draw (0,0) pic {box};
             \draw (0,0) pic {floor=2};
-            \pgfmathsetmacro{\c}{90};
-            \pgfmathsetmacro{\h}{40};
-            \def \armcolor{lightgray};
-            \doublescara;
+            %\pgfmathsetmacro{\c}{90};
+            %\pgfmathsetmacro{\h}{40};
+            %\def \armcolor{lightgray};
+            %\doublescara;
             \pgfmathsetmacro{\c}{130};
             \pgfmathsetmacro{\h}{60};
             \def \armcolor{gray};
             \doublescara;
         \end{scope}
 
+        
+        % Links boven
         \begin{scope}[shift={(0*\boxwidth,\boxheight)}]
+            \node at \nodepos {1.};
             \draw (0,0) pic {box};
             \draw (0,0) pic {floor=2};
             \begin{scope}[shift={(0,0)}, rotate=120]
+                \jointred
                 \def \length{\B}
                 \arm
                 \begin{scope}[shift={(\B,0)}, rotate=-100]
+                    \jointblue
                     \def \length{\B}
                     \arm
                 \end{scope}
             \end{scope}
         \end{scope}
+        
+        %rechts onder
         \begin{scope}[shift={(\boxwidth,0*\boxheight)}]
+            \node at \nodepos {4.};
             \draw (0,0) pic {box};
             \draw (0,0) pic {floor=2};
             \def \a {105};
@@ -110,6 +125,7 @@
             \def \B {2.5};
             \def \A {3};
             \begin{scope}[shift={(0,0)}, rotate=180+\b]
+                \jointblue
                 \def \length{\C}
                 \begin{scope}[shift={(\length,0)}, rotate=-(180+\c)]
                     \def \length{\A}
@@ -126,6 +142,7 @@
                 \arm
             \end{scope}
             \begin{scope}[shift={(\C,0)}, rotate=\a]
+                \jointred
                 \def \length{\C}
                 \begin{scope}[shift={(\length,0)}, rotate=-180-\a]
                     \def \length{\C}
@@ -134,7 +151,10 @@
                 \arm
             \end{scope}
         \end{scope}
-        \begin{scope}[shift={(1*\boxwidth,1*\boxheight)}]
+
+        % Links onder
+        \begin{scope}[shift={(0,0)}]
+            \node at \nodepos {3.};
             \draw (0,0) pic {box};
             \draw (0,0) pic {floor=2};
             \def \a {105};
@@ -144,6 +164,7 @@
             \def \B {2.5};
             \def \A {3};
             \begin{scope}[shift={(0,0)}, rotate=180+\b]
+                \draw[fill=blue] (0,0) circle(0.5);
                 \def \length{\C}
                 \begin{scope}[shift={(\length,0)}, rotate=-(180+\c)]
                     \def \length{\A}
@@ -156,6 +177,7 @@
                 \arm
             \end{scope}
             \begin{scope}[shift={(0,0)}, rotate=\a]
+                \jointred
                 \def \length{\A}
                 \arm
             \end{scope}