diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index f846cb7..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,4 +0,0 @@
-[submodule "src/moveit_ws/src/universal_robot"]
-	path = src/ariac_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/ariac_ws/src/CMakeLists.txt b/src/ariac_ws/src/CMakeLists.txt
deleted file mode 100644
index e5cafb2..0000000
--- a/src/ariac_ws/src/CMakeLists.txt
+++ /dev/null
@@ -1,67 +0,0 @@
-# toplevel CMakeLists.txt for a catkin workspace
-# catkin/cmake/toplevel.cmake
-
-cmake_minimum_required(VERSION 3.0.2)
-
-set(CATKIN_TOPLEVEL TRUE)
-
-# search for catkin within the workspace
-set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
-execute_process(COMMAND ${_cmd}
-  RESULT_VARIABLE _res
-  OUTPUT_VARIABLE _out
-  ERROR_VARIABLE _err
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-  ERROR_STRIP_TRAILING_WHITESPACE
-)
-if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
-  # searching fot catkin resulted in an error
-  string(REPLACE ";" " " _cmd_str "${_cmd}")
-  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
-endif()
-
-# include catkin from workspace or via find_package()
-if(_res EQUAL 0)
-  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
-  # include all.cmake without add_subdirectory to let it operate in same scope
-  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
-  add_subdirectory("${_out}")
-
-else()
-  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
-  # or CMAKE_PREFIX_PATH from the environment
-  if(NOT DEFINED CMAKE_PREFIX_PATH)
-    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
-      if(NOT WIN32)
-        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
-      else()
-        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
-      endif()
-    endif()
-  endif()
-
-  # list of catkin workspaces
-  set(catkin_search_path "")
-  foreach(path ${CMAKE_PREFIX_PATH})
-    if(EXISTS "${path}/.catkin")
-      list(FIND catkin_search_path ${path} _index)
-      if(_index EQUAL -1)
-        list(APPEND catkin_search_path ${path})
-      endif()
-    endif()
-  endforeach()
-
-  # search for catkin in all workspaces
-  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
-  find_package(catkin QUIET
-    NO_POLICY_SCOPE
-    PATHS ${catkin_search_path}
-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
-
-  if(NOT catkin_FOUND)
-    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
-  endif()
-endif()
-
-catkin_workspace()
diff --git a/src/ariac_ws/src/universal_robot b/src/ariac_ws/src/universal_robot
deleted file mode 160000
index 88bc5a2..0000000
--- a/src/ariac_ws/src/universal_robot
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 88bc5a2c708624e0b9dd0bc914c0e3bb73269ecb