diff --git a/README.md b/README.md
index bfa76772..3a5d6f8e 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,63 @@
-# MoveIt Pro Workspace
+# MoveIt Pro Example Workspace
 
-This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+This is fork of the [MoveIt Pro Empty Workspace](https://github.com/PickNikRobotics/moveit_pro_empty_ws).
+This workspace contains reference materials for using MoveIt Pro, including:
+- [Example base UR5e configuration](src/moveit_pro_ur_configs/picknik_ur_base_config)
+- [A physics based simulation environment with a robot on a linear rail](src/lab_sim)
+- [Mobile manipulation configuration](src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config)
+- [Example behaviors](src/example_behaviors)
 
-You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+Since the [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) package uses git LFS, [it cannot be added as a subtree](https://github.com/git-lfs/git-lfs/issues/854).
+Please ensure you have the submodule up to date using:
+```bash
+git submodule update --recursive --init
+```
+
+## Working with Git Subtrees
+
+This repository was created through the combination of multiple repositories using git subtree.
+If you have no intrest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
+
+### Repository Structure
+
+
+The structure of this repository is as follows:
+
+.
+├── README.md
+└── src
+    ├── [example_behaviors](https://github.com/PickNikRobotics/example_behaviors)
+    ├── [lab_sim](https://github.com/PickNikRobotics/lab_sim)
+    ├── [moveit_pro_ur_configs](https://github.com/PickNikRobotics/moveit_pro_ur_configs)
+    │   ├── picknik_ur_base_config
+    │   ├── picknik_ur_mock_hw_config
+    │   ├── picknik_ur_multi_arm_config
+    │   ├── picknik_ur_sim_config
+    │   └── picknik_ur_site_config
+    ├── [moveit_pro_kinova_configs](https://github.com/PickNikRobotics/moveit_pro_kinova_configs)
+    │   ├── kinova_gen3_base_config
+    │   ├── kinova_gen3_mujoco_config
+    │   └── moveit_studio_kinova_pstop_manager
+    ├── [moveit_pro_mobile_manipulation](https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation)
+    │   ├── mobile_manipulation_config
+    │   └── picknik_ur_mobile_config
+    ├── [fanuc_sim](https://github.com/PickNikRobotics/fanuc_sim)
+    ├── [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) (submodule)
+    └── external_dependencies
+        ├── [ridgeback](https://github.com/sjahr/ridgeback/tree/ros2)
+        ├── [ros2_robotiq_gripper](https://github.com/PickNikRobotics/ros2_robotiq_gripper)
+        └── [serial](https://github.com/tylerjw/serial/tree/ros2)
+
+This repository contains a **copy** of the git repositories that were added as subtrees.
+File changes and commits are treated as if they happen only in this repository.
+If you update the contents of a subtree, you can merge the latest `main` branch of [lab_sim](https://github.com/PickNikRobotics/lab_sim) using the following command:
+```bash
+git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash
+```
+
+To pull the upstream changes to all subtrees and submodules, a convenience script is provided.
+From the top level, you can execute:
+```bash
+./sync_subtrees.sh
+```
 
-For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
diff --git a/sync_subtrees.sh b/sync_subtrees.sh
new file mode 100644
index 00000000..fdb3ae9e
--- /dev/null
+++ b/sync_subtrees.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+git subtree pull --prefix src/example_behaviors https://github.com/PickNikRobotics/example_behaviors main --squash
+git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash
+git subtree pull --prefix src/moveit_pro_ur_configs https://github.com/PickNikRobotics/moveit_pro_ur_configs main --squash
+git subtree pull --prefix src/moveit_pro_kinova_configs https://github.com/PickNikRobotics/moveit_pro_kinova_configs main --squash
+git subtree pull --prefix src/moveit_pro_mobile_manipulation https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation main --squash
+git subtree pull --prefix src/fanuc_sim https://github.com/PickNikRobotics/fanuc_sim main --squash
+git subtree pull --prefix src/external_dependencies/ridgeback https://github.com/sjahr/ridgeback ros2 --squash
+git subtree pull --prefix src/external_dependencies/ros2_robotiq_gripper https://github.com/PickNikRobotics/ros2_robotiq_gripper main --squash
+git subtree pull --prefix src/external_dependencies/serial https://github.com/tylerjw/serial.git ros2 --squash
+gis submodule update --recursive --init
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