diff --git a/src/ccf b/src/ccf
index ec711ac992162a690738c37bb42c8504aa0fe59a..136485805b111581ebfb7ef89c28d6d709af15ba 160000
--- a/src/ccf
+++ b/src/ccf
@@ -1 +1 @@
-Subproject commit ec711ac992162a690738c37bb42c8504aa0fe59a
+Subproject commit 136485805b111581ebfb7ef89c28d6d709af15ba
diff --git a/src/ccf_base_application b/src/ccf_base_application
index 601928ea999b9e4a0c69dd146f0f06dda636cd96..2838f104c855ee34947be988775be03df60ab4e6 160000
--- a/src/ccf_base_application
+++ b/src/ccf_base_application
@@ -1 +1 @@
-Subproject commit 601928ea999b9e4a0c69dd146f0f06dda636cd96
+Subproject commit 2838f104c855ee34947be988775be03df60ab4e6
diff --git a/src/ccf_human_aware_sorting b/src/ccf_human_aware_sorting
deleted file mode 160000
index 00cd9f85ae203682c3c256e1d35f9c3ce4989164..0000000000000000000000000000000000000000
--- a/src/ccf_human_aware_sorting
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 00cd9f85ae203682c3c256e1d35f9c3ce4989164
diff --git a/src/ccf_immersive_sorting b/src/ccf_immersive_sorting
index a6429f346691a78fdf27f36f0e1330dc89ab7355..c57b6ff631f973d1652dc0495aa4a9080b383292 160000
--- a/src/ccf_immersive_sorting
+++ b/src/ccf_immersive_sorting
@@ -1 +1 @@
-Subproject commit a6429f346691a78fdf27f36f0e1330dc89ab7355
+Subproject commit c57b6ff631f973d1652dc0495aa4a9080b383292
diff --git a/src/panda_grasping b/src/panda_grasping
index c47afd31ba85f303f4e624f482e3dcd51177b839..27c92ac6e62027eb51dd5fcb10b194a3a156be66 160000
--- a/src/panda_grasping
+++ b/src/panda_grasping
@@ -1 +1 @@
-Subproject commit c47afd31ba85f303f4e624f482e3dcd51177b839
+Subproject commit 27c92ac6e62027eb51dd5fcb10b194a3a156be66
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
index 9f32ec946c6af51078978f604e7d5a3fa9af24dd..410069f86896998b39437580ef02fc666c374973 160000
--- a/src/panda_moveit_config
+++ b/src/panda_moveit_config
@@ -1 +1 @@
-Subproject commit 9f32ec946c6af51078978f604e7d5a3fa9af24dd
+Subproject commit 410069f86896998b39437580ef02fc666c374973