diff --git a/.gitmodules b/.gitmodules
index d0ea17585cb7224eff6eb426ad8de440de286f1d..e25ff67d834b14e44ed0b1145d604e939fc1c089 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,15 +10,19 @@
 [submodule "robotic-controller/src/panda_moveit_config"]
 	path = robotic-controller/src/panda_moveit_config
 	url = ../packages/panda_moveit_config.git
+	branch = noetic/realrobot
 [submodule "robotic-controller/src/panda_grasping"]
 	path = robotic-controller/src/panda_grasping
 	url = ../packages/panda_grasping.git
+	branch = noetic/main
 [submodule "robotic-controller/src/ccf"]
 	path = robotic-controller/src/ccf
 	url = ../ccf/ccf.git
+	branch = noetic/feature/collab
 [submodule "robotic-controller/src/ccf_immersive_sorting"]
 	path = robotic-controller/src/ccf_immersive_sorting
 	url = ../ccf/ccf_immersive_sorting.git
+	branch = noetic/feature/collab
 [submodule "robotic-controller/src/panda_util"]
 	path = robotic-controller/src/panda_util
 	url = ../packages/panda_util.git
diff --git a/robotic-controller/src/ccf b/robotic-controller/src/ccf
index 9a442a0d87ed1ef0accd1e1f52ba568f72190a23..1c2eb54adfcfa80dce643596859d2478aa4a5123 160000
--- a/robotic-controller/src/ccf
+++ b/robotic-controller/src/ccf
@@ -1 +1 @@
-Subproject commit 9a442a0d87ed1ef0accd1e1f52ba568f72190a23
+Subproject commit 1c2eb54adfcfa80dce643596859d2478aa4a5123
diff --git a/robotic-controller/src/ccf_immersive_sorting b/robotic-controller/src/ccf_immersive_sorting
index 2df9e2ef0c39c90dec1064ded79339b0663888b1..6c2a90b30d4c17219447aa18291b8c07d6f433ca 160000
--- a/robotic-controller/src/ccf_immersive_sorting
+++ b/robotic-controller/src/ccf_immersive_sorting
@@ -1 +1 @@
-Subproject commit 2df9e2ef0c39c90dec1064ded79339b0663888b1
+Subproject commit 6c2a90b30d4c17219447aa18291b8c07d6f433ca
diff --git a/robotic-controller/src/panda_grasping b/robotic-controller/src/panda_grasping
index 25091252635d65401331244cdbf9f41415d4b924..7bc0919815fbcdef192fbf67bb667754b7dbe64c 160000
--- a/robotic-controller/src/panda_grasping
+++ b/robotic-controller/src/panda_grasping
@@ -1 +1 @@
-Subproject commit 25091252635d65401331244cdbf9f41415d4b924
+Subproject commit 7bc0919815fbcdef192fbf67bb667754b7dbe64c
diff --git a/robotic-controller/src/panda_moveit_config b/robotic-controller/src/panda_moveit_config
index 0199c638ef433c0e046fb30a7e823ee147c59c1e..57764d7bb6cfe54c057dd92e5a3ddca4ea39ef53 160000
--- a/robotic-controller/src/panda_moveit_config
+++ b/robotic-controller/src/panda_moveit_config
@@ -1 +1 @@
-Subproject commit 0199c638ef433c0e046fb30a7e823ee147c59c1e
+Subproject commit 57764d7bb6cfe54c057dd92e5a3ddca4ea39ef53