diff --git a/.gitmodules b/.gitmodules
index ec2c8fa1d5f86f3c5fa57561cfe76ddc0d7e4900..691876969b7a4dff00e0cc5cee7aada11926acd2 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,10 +1,10 @@
 [submodule "src/franka_description"]
 	path = src/franka_description
-	url = ../../packages/franka_description.git
+	url = ../../packages/hardware-specific-packages/franka_description
 	branch = master
 [submodule "src/panda_moveit_config"]
 	path = src/panda_moveit_config
-	url = ../../packages/panda_moveit_config.git
+	url = https://github.com/ros-planning/panda_moveit_config.git
 	branch = master
 [submodule "src/panda_grasping"]
 	path = src/panda_grasping
@@ -22,3 +22,11 @@
 	path = src/ccf_immersive_sorting
 	url = ../../ccf/ccf_immersive_sorting.git
 	branch = noetic/main
+[submodule "src/moveit_ros_manipulation"]
+	path = src/moveit_ros_manipulation
+	url = ../../packages/hardware-specific-packages/manipulation
+	branch = master
+[submodule "src/franka_gripper"]
+	path = src/franka_gripper
+	url = ../../packages/hardware-specific-packages/franka_gripper
+	branch = master
diff --git a/src/franka_description b/src/franka_description
index a651f4fee48571a0378362440a8bdc75b00479e3..a6fde6402e77edf90d1fbecdf69fb04085365f89 160000
--- a/src/franka_description
+++ b/src/franka_description
@@ -1 +1 @@
-Subproject commit a651f4fee48571a0378362440a8bdc75b00479e3
+Subproject commit a6fde6402e77edf90d1fbecdf69fb04085365f89
diff --git a/src/franka_gripper b/src/franka_gripper
new file mode 160000
index 0000000000000000000000000000000000000000..39f5a3d611f208fa610edc51415286bb5c4e1dff
--- /dev/null
+++ b/src/franka_gripper
@@ -0,0 +1 @@
+Subproject commit 39f5a3d611f208fa610edc51415286bb5c4e1dff
diff --git a/src/moveit_ros_manipulation b/src/moveit_ros_manipulation
new file mode 160000
index 0000000000000000000000000000000000000000..d727b5c3a3371488ad048d2175e7cbcc554da393
--- /dev/null
+++ b/src/moveit_ros_manipulation
@@ -0,0 +1 @@
+Subproject commit d727b5c3a3371488ad048d2175e7cbcc554da393
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
index e090da261367d86bd893353693dfe79f855d0ddf..d99e64f9dc549e52daef15b7d86e283887186b3c 160000
--- a/src/panda_moveit_config
+++ b/src/panda_moveit_config
@@ -1 +1 @@
-Subproject commit e090da261367d86bd893353693dfe79f855d0ddf
+Subproject commit d99e64f9dc549e52daef15b7d86e283887186b3c