diff --git a/src/iiwa_com b/src/iiwa_com
index 791613ad42b23a03c463eed29d07ed467ebaa7ea..c30ca13978082663de7ebff64e2e9b81b3d646b7 160000
--- a/src/iiwa_com
+++ b/src/iiwa_com
@@ -1 +1 @@
-Subproject commit 791613ad42b23a03c463eed29d07ed467ebaa7ea
+Subproject commit c30ca13978082663de7ebff64e2e9b81b3d646b7
diff --git a/src/robo_guide b/src/robo_guide
index b41accb1f73a3ee88a1203e25005c1e95d9f08bd..315e068b212bfa4b0e58005a2c4ea31c4880fd87 160000
--- a/src/robo_guide
+++ b/src/robo_guide
@@ -1 +1 @@
-Subproject commit b41accb1f73a3ee88a1203e25005c1e95d9f08bd
+Subproject commit 315e068b212bfa4b0e58005a2c4ea31c4880fd87