diff --git a/src/ccf b/src/ccf
index c14f4513d910723c604983e5b7227eebcc79de26..71567f2bd40d007d546db17b352040f81c191388 160000
--- a/src/ccf
+++ b/src/ccf
@@ -1 +1 @@
-Subproject commit c14f4513d910723c604983e5b7227eebcc79de26
+Subproject commit 71567f2bd40d007d546db17b352040f81c191388
diff --git a/src/ccf_immersive_sorting b/src/ccf_immersive_sorting
index bc0f0a7bf952710a496f492c39e95dbdef69a3e1..b3c89a95fa44cb0ee2d21469efef1337fd2b26a3 160000
--- a/src/ccf_immersive_sorting
+++ b/src/ccf_immersive_sorting
@@ -1 +1 @@
-Subproject commit bc0f0a7bf952710a496f492c39e95dbdef69a3e1
+Subproject commit b3c89a95fa44cb0ee2d21469efef1337fd2b26a3
diff --git a/src/franka_description b/src/franka_description
index a6fde6402e77edf90d1fbecdf69fb04085365f89..e5acbe3888f7bc844a782bc490e5e0a21da99524 160000
--- a/src/franka_description
+++ b/src/franka_description
@@ -1 +1 @@
-Subproject commit a6fde6402e77edf90d1fbecdf69fb04085365f89
+Subproject commit e5acbe3888f7bc844a782bc490e5e0a21da99524
diff --git a/src/franka_gripper b/src/franka_gripper
index 39f5a3d611f208fa610edc51415286bb5c4e1dff..2150d01e355332dbd5e4175361260cc88a656b16 160000
--- a/src/franka_gripper
+++ b/src/franka_gripper
@@ -1 +1 @@
-Subproject commit 39f5a3d611f208fa610edc51415286bb5c4e1dff
+Subproject commit 2150d01e355332dbd5e4175361260cc88a656b16
diff --git a/src/moveit_ros_manipulation b/src/moveit_ros_manipulation
index d727b5c3a3371488ad048d2175e7cbcc554da393..12e9210cb834938ff45eb3fccf9f566c2e6d554a 160000
--- a/src/moveit_ros_manipulation
+++ b/src/moveit_ros_manipulation
@@ -1 +1 @@
-Subproject commit d727b5c3a3371488ad048d2175e7cbcc554da393
+Subproject commit 12e9210cb834938ff45eb3fccf9f566c2e6d554a
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
index 410069f86896998b39437580ef02fc666c374973..f2877be783d7e3e691774f3707066eded1124a20 160000
--- a/src/panda_moveit_config
+++ b/src/panda_moveit_config
@@ -1 +1 @@
-Subproject commit 410069f86896998b39437580ef02fc666c374973
+Subproject commit f2877be783d7e3e691774f3707066eded1124a20