diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..46a688e
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "ariac_ws/src/universal_robot"]
+	path = ariac_ws/src/universal_robot
+	url = https://github.com/osrf/universal_robot
+	branch = ariac_2019_ur10_moveit_config
diff --git a/ariac_ws/src/universal_robot b/ariac_ws/src/universal_robot
new file mode 160000
index 0000000..8bb711d
--- /dev/null
+++ b/ariac_ws/src/universal_robot
@@ -0,0 +1 @@
+Subproject commit 8bb711dc9f81087306ae962f9e251e69dc31721d