You could add a file handler in your undertow configuration:
<subsystem xmlns="urn:jboss:domain:undertow:3.0">
<buffer-cache name="default"/>
<server name="default-server">
<http-listener name="default" socket-binding="http" redirect-socket="https"/>
<host name="default-host" alias="localhost">
<location name="/" handler="welcome-content"/>
<location name="/picture" handler="pictures"/>
<filter-ref name="server-header"/>
<filter-ref name="x-powered-by-header"/>
</host>
</server>
<servlet-container name="default">
<jsp-config/>
<websockets/>
</servlet-container>
<handlers>
<file name="welcome-content" path="${jboss.home.dir}/welcome-content"/>
<file name="pictures" path="${jboss.home.dir}/my_local_dir"/>
</handlers>
<filters>
<response-header name="server-header" header-name="Server" header-value="WildFly/10"/>
<response-header name="x-powered-by-header" header-name="X-Powered-By" header-value="Undertow/1"/>
</filters>
</subsystem>