diff --git a/submodules/gesture_detection b/submodules/gesture_detection
index e2e24a5..c72ff7d 160000
--- a/submodules/gesture_detection
+++ b/submodules/gesture_detection
@@ -1 +1 @@
-Subproject commit e2e24a5e7eb09e43cdb163985ec50e4d6ad32863
+Subproject commit c72ff7ded0fdfeb292df2b7fc349370670978062
diff --git a/submodules/robot_controller_base b/submodules/robot_controller_base
index b34711e..730c241 160000
--- a/submodules/robot_controller_base
+++ b/submodules/robot_controller_base
@@ -1 +1 @@
-Subproject commit b34711ebc690cf9199b15bc3074e08f258303003
+Subproject commit 730c2417dd700d72506ba9dfdb153649e279e18b