diff --git a/.gitmodules b/.gitmodules
index 97af90c30fca339cf53797ad41fef1921d4652ec..f65cd27fa5255dfc480e88435661d49f058cc321 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -25,3 +25,11 @@
 [submodule "robotic-controller/src/panda_util"]
 	path = robotic-controller/src/panda_util
 	url = ../packages/panda_util.git
+[submodule "robotic-controller/src/moveit_ros_manipulation"]
+	path = robotic-controller/src/moveit_ros_manipulation
+	url = ../packages/hardware-specific-packages/manipulation.git
+	branch = noetic/main
+[submodule "robotic-controller/src/franka_gripper"]
+	path = robotic-controller/src/franka_gripper
+	url = ../packages/hardware-specific-packages/franka_gripper
+	branch = noetic/main
diff --git a/robotic-controller/src/franka_gripper b/robotic-controller/src/franka_gripper
new file mode 160000
index 0000000000000000000000000000000000000000..2150d01e355332dbd5e4175361260cc88a656b16
--- /dev/null
+++ b/robotic-controller/src/franka_gripper
@@ -0,0 +1 @@
+Subproject commit 2150d01e355332dbd5e4175361260cc88a656b16
diff --git a/robotic-controller/src/moveit_ros_manipulation b/robotic-controller/src/moveit_ros_manipulation
new file mode 160000
index 0000000000000000000000000000000000000000..12e9210cb834938ff45eb3fccf9f566c2e6d554a
--- /dev/null
+++ b/robotic-controller/src/moveit_ros_manipulation
@@ -0,0 +1 @@
+Subproject commit 12e9210cb834938ff45eb3fccf9f566c2e6d554a