diff --git a/.gitmodules b/.gitmodules
index 851b0d1ae59ab65f5cd40a14e20f91e25f7c594b..e74ad40527cc7eb8b3084f91260f06edc1851950 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,3 +13,7 @@
 [submodule "src/panda_teaching"]
 	path = src/panda_teaching
 	url = ../panda_teaching.git
+[submodule "src/simulation_util"]
+	path = src/simulation_util
+	url = ../simulation_util.git
+	branch = master
diff --git a/src/panda_simulation b/src/panda_simulation
index a68f7cab3581974d2c09b6680185102b1c7629aa..cabb18c9dec6d38450090e2a322acf42115bb655 160000
--- a/src/panda_simulation
+++ b/src/panda_simulation
@@ -1 +1 @@
-Subproject commit a68f7cab3581974d2c09b6680185102b1c7629aa
+Subproject commit cabb18c9dec6d38450090e2a322acf42115bb655
diff --git a/src/simulation_util b/src/simulation_util
new file mode 160000
index 0000000000000000000000000000000000000000..1bb3837a9713b4124114bc4f58b9c2ab51d11592
--- /dev/null
+++ b/src/simulation_util
@@ -0,0 +1 @@
+Subproject commit 1bb3837a9713b4124114bc4f58b9c2ab51d11592