diff --git a/src/franka_description b/src/franka_description
index ab47d8065a77370186ff41130b5d1c45254b047e..f60d564b34022e7224c4ed4f263d82174a4f7890 160000
--- a/src/franka_description
+++ b/src/franka_description
@@ -1 +1 @@
-Subproject commit ab47d8065a77370186ff41130b5d1c45254b047e
+Subproject commit f60d564b34022e7224c4ed4f263d82174a4f7890
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
index 0199c638ef433c0e046fb30a7e823ee147c59c1e..fa9334582c9af0a3e123b487ed13615f0f2dc0f3 160000
--- a/src/panda_moveit_config
+++ b/src/panda_moveit_config
@@ -1 +1 @@
-Subproject commit 0199c638ef433c0e046fb30a7e823ee147c59c1e
+Subproject commit fa9334582c9af0a3e123b487ed13615f0f2dc0f3
diff --git a/src/panda_simulation b/src/panda_simulation
index 15ca0343beb1cfa0b6cdf50bb292521b521c0c0a..672bd5a836df8fda218dc1ff93f8bbcd33918e48 160000
--- a/src/panda_simulation
+++ b/src/panda_simulation
@@ -1 +1 @@
-Subproject commit 15ca0343beb1cfa0b6cdf50bb292521b521c0c0a
+Subproject commit 672bd5a836df8fda218dc1ff93f8bbcd33918e48
diff --git a/src/sample_applications b/src/sample_applications
index fc48544bd2d73ee7bd60bc4bb81fb2bc63108bb0..43300491c625b5d984d2f09ced8bbb1d269d231d 160000
--- a/src/sample_applications
+++ b/src/sample_applications
@@ -1 +1 @@
-Subproject commit fc48544bd2d73ee7bd60bc4bb81fb2bc63108bb0
+Subproject commit 43300491c625b5d984d2f09ced8bbb1d269d231d