diff --git a/.gitmodules b/.gitmodules
index e69de29..2bb1af5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "src/moveit_ws/src/universal_robot"]
+	path = src/moveit_ws/src/universal_robot
+	url = https://github.com/EECS-467-W20-RRRobot-Project/universal_robot.git
+	branch = ariac_2019_ur10_moveit_config
diff --git a/src/moveit_ws/src/universal_robot b/src/moveit_ws/src/universal_robot
new file mode 160000
index 0000000..8bb711d
--- /dev/null
+++ b/src/moveit_ws/src/universal_robot
@@ -0,0 +1 @@
+Subproject commit 8bb711dc9f81087306ae962f9e251e69dc31721d