diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..bcc3e55
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "unitree_legged_sdk"]
+	path = unitree_legged_sdk
+	url = https://github.com/unitreerobotics/unitree_legged_sdk.git
+	branch = go1
diff --git a/unitree_legged_sdk b/unitree_legged_sdk
new file mode 160000
index 0000000..a0be89b
--- /dev/null
+++ b/unitree_legged_sdk
@@ -0,0 +1 @@
+Subproject commit a0be89bb73eafb07b6e6cdfb3631e1515bf31911