diff --git a/.env b/.env
index 56c721d60..a251207c1 100644
--- a/.env
+++ b/.env
@@ -1,5 +1,5 @@
 PROJECT_NAME="airstack"
-PROJECT_VERSION="1.0.1"
+PROJECT_VERSION="1.0.2"
 # can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/fire_academy.scene.usd"
diff --git a/.gitmodules b/.gitmodules
index dfc8bf112..f51a3e648 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping/vdb_mapping"]
 	path = robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping
-	url = git@github.com:fzi-forschungszentrum-informatik/vdb_mapping.git
+	url = git@github.com:castacks/vdb_mapping.git
 [submodule "robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping/vdb_mapping_ros2"]
 	path = robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping_ros2
 	url = git@github.com:castacks/vdb_mapping_ros2.git
diff --git a/robot/docker/Dockerfile.robot b/robot/docker/Dockerfile.robot
index 6d718c068..a31c32f8d 100644
--- a/robot/docker/Dockerfile.robot
+++ b/robot/docker/Dockerfile.robot
@@ -101,9 +101,9 @@ RUN pip3 install \
     scipy
 
 
-# Override install newer openvdb 8.2.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
+# Override install newer openvdb 9.1.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
 RUN apt remove -y libopenvdb*; \
-    git clone --recurse --branch v8.2.0-debian https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
+    git clone --recurse --branch v9.1.0 https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
     mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
     cmake .. && \
     make -j8 && make install && \
diff --git a/robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping b/robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping
index c2957cad5..251bb70ba 160000
--- a/robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping
+++ b/robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping
@@ -1 +1 @@
-Subproject commit c2957cad5b2fbfcf1159748ea431801dafe00c35
+Subproject commit 251bb70ba73b44ff033c618e7f81c251a4249217