diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..1ccf264
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "Deployment/odin_ros_driver"]
+	path = Deployment/odin_ros_driver
+	url = https://github.com/manifoldsdk/odin_ros_driver.git
+[submodule "Train/mount/rsl_rl"]
+	path = Train/mount/rsl_rl
+	url = https://github.com/leggedrobotics/sru-navigation-learning.git
diff --git a/Deployment/odin_ros_driver b/Deployment/odin_ros_driver
new file mode 160000
index 0000000..13aa528
--- /dev/null
+++ b/Deployment/odin_ros_driver
@@ -0,0 +1 @@
+Subproject commit 13aa528b1da581e2168ac858f8b144f0b4438a7a
diff --git a/Train/IsaacLab b/Train/IsaacLab
deleted file mode 160000
index 90b79bb..0000000
--- a/Train/IsaacLab
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 90b79bb2d44feb8d833f260f2bf37da3487180ba