diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..ec18480ca747bad81c65d49f66de8fee807d9eff
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "franka_description"]
+	path = franka_description
+	url = https://github.com/frankaemika/franka_description.git
diff --git a/franka_description b/franka_description
new file mode 160000
index 0000000000000000000000000000000000000000..37b05181deb2d27a8ebcfee1e0d4a6871902682e
--- /dev/null
+++ b/franka_description
@@ -0,0 +1 @@
+Subproject commit 37b05181deb2d27a8ebcfee1e0d4a6871902682e