diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 00000000..1f06f3e9
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,5 @@
+# LFS configuration
+*.dae filter=lfs merge=lfs -text
+*.DAE filter=lfs merge=lfs -text
+*.stl filter=lfs merge=lfs -text
+*.STL filter=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..5330aeb2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,6 @@
+.ccache/
+build/
+install/
+log/
+
+**__pycache__
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..62aa0611
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "src/dependencies/moveit_pro_kinova_configs"]
+	path = src/dependencies/moveit_pro_kinova_configs
+	url = git@github.com:PickNikRobotics/moveit_pro_kinova_configs.git
+[submodule "src/dependencies/picknik_accessories"]
+	path = src/dependencies/picknik_accessories
+	url = git@github.com:PickNikRobotics/picknik_accessories.git
diff --git a/README.md b/README.md
index bfa76772..7f3ff3a5 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,3 @@
-# MoveIt Pro Workspace
+# tacrs_demo_kinova_ws
 
-This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
-
-You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
-
-For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
+Kinova configs to support TacRS final demo testing at PickNik.
diff --git a/src/dependencies/moveit_pro_kinova_configs b/src/dependencies/moveit_pro_kinova_configs
new file mode 160000
index 00000000..66c2e46c
--- /dev/null
+++ b/src/dependencies/moveit_pro_kinova_configs
@@ -0,0 +1 @@
+Subproject commit 66c2e46c6f13964470c5f22c6b8f4b9d2d4ff070
diff --git a/src/dependencies/picknik_accessories b/src/dependencies/picknik_accessories
new file mode 160000
index 00000000..69bfb7cc
--- /dev/null
+++ b/src/dependencies/picknik_accessories
@@ -0,0 +1 @@
+Subproject commit 69bfb7ccbfa7b9712cf1c2f13ee1280eac6f0430