diff --git a/source/Tutorials/Intermediate/URDF/URDF-Main.rst b/source/Tutorials/Intermediate/URDF/URDF-Main.rst
index 3f07f759ac..1db4ff6bfe 100644
--- a/source/Tutorials/Intermediate/URDF/URDF-Main.rst
+++ b/source/Tutorials/Intermediate/URDF/URDF-Main.rst
@@ -8,6 +8,7 @@ URDF
 ====
 
 URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS.
+A URDF file follows the XML format as described on `here <https://wiki.ros.org/urdf/XML>`_.
 
 .. contents:: Contents
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