diff --git a/src/drt_ur_gui b/src/drt_ur_gui
index d95bee7..a7776d0 160000
--- a/src/drt_ur_gui
+++ b/src/drt_ur_gui
@@ -1 +1 @@
-Subproject commit d95bee725f8056173f47a6ae2a45f1c42233b557
+Subproject commit a7776d0d47400a8ebe65c7a782373849ac686ad9
diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback
index 1d967d7..9d4ba58 160000
--- a/src/phoebe_bridgeback
+++ b/src/phoebe_bridgeback
@@ -1 +1 @@
-Subproject commit 1d967d79efa6c06476df6938d85f9c5be90bf617
+Subproject commit 9d4ba58287b31b706a1afe861da1b8cacbf1eba8
diff --git a/src/ros2_robotiq_gripper b/src/ros2_robotiq_gripper
index dc7c884..fb2d353 160000
--- a/src/ros2_robotiq_gripper
+++ b/src/ros2_robotiq_gripper
@@ -1 +1 @@
-Subproject commit dc7c8848c235ea1250061e366969e12433a33e9a
+Subproject commit fb2d3536456938db2d22631d20eeb17e5b20e9d8