update branches and remote locations in git modules

.gitmodules

 [submodule "src/franka_description"]
 	path = src/franka_description
-	url = ../../packages/hardware-specific-packages/franka_description
-	branch = master
+	url = ../../packages/forked-franka-packages/franka_description
+	branch = noetic/main
 [submodule "src/panda_moveit_config"]
 	path = src/panda_moveit_config
-	url = ../../packages/panda_moveit_config
-	branch = noetic/realrobot
+	url = ../../packages/forked-moveit-packages/panda_moveit_config
+	branch = noetic/main
 [submodule "src/panda_grasping"]
 	path = src/panda_grasping
 	url = ../../packages/panda_grasping.git
-	branch = master
+	branch = noetic/main
 [submodule "src/ccf"]
 	path = src/ccf
 	url = ../../ccf/ccf.git
@@ -20,12 +20,12 @@
 	branch = noetic/main
 [submodule "src/moveit_ros_manipulation"]
 	path = src/moveit_ros_manipulation
-	url = ../../packages/hardware-specific-packages/manipulation
-	branch = master
+	url = ../../packages/forked-moveit-packages/manipulation
+	branch = noetic/main
 [submodule "src/franka_gripper"]
 	path = src/franka_gripper
-	url = ../../packages/hardware-specific-packages/franka_gripper
-	branch = master
+	url = ../../packages/forked-franka-packages/franka_gripper
+	branch = noetic/main
 [submodule "src/panda_util"]
 	path = src/panda_util
 	url = ../../packages/panda_util.git
@@ -33,4 +33,4 @@
 [submodule "src/paho_mqtt"]
 	path = src/paho_mqtt
 	url = ../../packages/paho_mqtt.git
-	branch = main
+	branch = noetic/main