diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 116c56a572f73c94b2ac65a05d1d389242feba52..86dc3d0ecbb32343c0d173786e76300dd58924ba 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -152,6 +152,7 @@ class RobotLoader(object):
         lb[:7] = -1
         self.robot.model.lowerPositionLimit = lb
 
+
 class B1Loader(RobotLoader):
     path = "b1_description"
     urdf_filename = "b1.urdf"
@@ -160,6 +161,7 @@ class B1Loader(RobotLoader):
     ref_posture = "standing"
     free_flyer = True
 
+
 class Go1Loader(RobotLoader):
     path = "go1_description"
     urdf_filename = "go1.urdf"
@@ -168,6 +170,7 @@ class Go1Loader(RobotLoader):
     ref_posture = "standing"
     free_flyer = True
 
+
 class A1Loader(RobotLoader):
     path = "a1_description"
     urdf_filename = "a1.urdf"
diff --git a/robots/b1_description/meshes/calf.dae b/robots/b1_description/meshes/calf.dae
index aea5a47388b221d826394a1b4aae72b303f8e92f..6a41173f0dcb2bb66ebaf3f86b7fcc8425b8b31f 100644
--- a/robots/b1_description/meshes/calf.dae
+++ b/robots/b1_description/meshes/calf.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/hip.dae b/robots/b1_description/meshes/hip.dae
index da4e15b4a059ff5df9ef360ff451c3ddc35aaf42..aa6f623ff1430d6bf59ab650301b0b5b41e4cf50 100644
--- a/robots/b1_description/meshes/hip.dae
+++ b/robots/b1_description/meshes/hip.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh.dae b/robots/b1_description/meshes/thigh.dae
index 95821e25ec513bcb7547e94a7a1601615e864abc..f909d446c9c9f2cfc2eb86861efa2ef6cea23b41 100644
--- a/robots/b1_description/meshes/thigh.dae
+++ b/robots/b1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh_mirror.dae b/robots/b1_description/meshes/thigh_mirror.dae
index 485a183bb92f43090b8f1c42a82daa1c6167019d..656f0402c36648186d097c76219c77b21df86917 100644
--- a/robots/b1_description/meshes/thigh_mirror.dae
+++ b/robots/b1_description/meshes/thigh_mirror.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/trunk.dae b/robots/b1_description/meshes/trunk.dae
index 4f6b7826ba79326f3bad82b5ce94294831f258a5..5b5ab182613b96ca205e4229043cef65408b5bc8 100644
--- a/robots/b1_description/meshes/trunk.dae
+++ b/robots/b1_description/meshes/trunk.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/urdf/b1.urdf b/robots/b1_description/urdf/b1.urdf
index 96525de930347085a057d98743ddaa1a32fc2887..49a448e5aa0c45a4ae1dc46c02116e8cbe56485e 100644
--- a/robots/b1_description/urdf/b1.urdf
+++ b/robots/b1_description/urdf/b1.urdf
@@ -1208,4 +1208,3 @@
   </transmission>
   <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
 </robot>
-
diff --git a/robots/go1_description/meshes/calf.dae b/robots/go1_description/meshes/calf.dae
index 702d8b0fe19cca37c46c32162eef04758b3e3356..c0d67acfee7d4f03186defd2a499e94bd6bee871 100644
--- a/robots/go1_description/meshes/calf.dae
+++ b/robots/go1_description/meshes/calf.dae
@@ -56,4 +56,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/depthCamera.dae b/robots/go1_description/meshes/depthCamera.dae
index d306a2750d8625b59771359ef797e659adf78bf7..cf3e01b83f9f2b10a56f21e1bcba6ce639d02e2e 100644
--- a/robots/go1_description/meshes/depthCamera.dae
+++ b/robots/go1_description/meshes/depthCamera.dae
@@ -89,4 +89,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/hip.dae b/robots/go1_description/meshes/hip.dae
index 4aebd60bae9e8711774c5ae070ac8a556810ba24..96a78e8683c9cf12bcaa00e7fa31b91c6087a0cc 100644
--- a/robots/go1_description/meshes/hip.dae
+++ b/robots/go1_description/meshes/hip.dae
@@ -56,4 +56,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/thigh.dae b/robots/go1_description/meshes/thigh.dae
index f3b03bc94eddcb125d883036794503311b326207..dad2cd4aa2de06cac0ffe641d91ce4a2e5ba0f78 100644
--- a/robots/go1_description/meshes/thigh.dae
+++ b/robots/go1_description/meshes/thigh.dae
@@ -89,4 +89,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/thigh_mirror.dae b/robots/go1_description/meshes/thigh_mirror.dae
index 5ed715b5d3fa5516505f08bf1c3a6c18dcf5fa9e..3c8fbe5edfbb0879295770ea38e5eea7f53e7360 100644
--- a/robots/go1_description/meshes/thigh_mirror.dae
+++ b/robots/go1_description/meshes/thigh_mirror.dae
@@ -89,4 +89,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/trunk.dae b/robots/go1_description/meshes/trunk.dae
index 08e1d7d82e22bdd7c295e3217e5f8481f2d752ff..461eee7bdd12a67a24b610a63492d73801b0d7e2 100644
Binary files a/robots/go1_description/meshes/trunk.dae and b/robots/go1_description/meshes/trunk.dae differ
diff --git a/robots/go1_description/meshes/ultraSound.dae b/robots/go1_description/meshes/ultraSound.dae
index 13cc85df5aaf340cc73aea4bba3f1d328f85c796..16d9f32fcf8871a4b96f0ca18e258275128ff146 100644
--- a/robots/go1_description/meshes/ultraSound.dae
+++ b/robots/go1_description/meshes/ultraSound.dae
@@ -89,4 +89,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/urdf/go1.urdf b/robots/go1_description/urdf/go1.urdf
index fd3ef85e07caaef095fe5bf9818c1ada8daa6bbc..92b652c6ca17073b7561aaeee2322958bdccbb0e 100644
--- a/robots/go1_description/urdf/go1.urdf
+++ b/robots/go1_description/urdf/go1.urdf
@@ -96,10 +96,10 @@
             <imageTopicName>rgb/imageRaw_left</imageTopicName>
             <depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
             <pointCloudTopicName>depth/points_left</pointCloudTopicName>
-            <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>              
-            <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>            
-            <pointCloudCutoff>0.1</pointCloudCutoff>                
-            <pointCloudCutoffMax>1.5</pointCloudCutoffMax>                
+            <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
+            <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
+            <pointCloudCutoff>0.1</pointCloudCutoff>
+            <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
             <distortionK1>0.0</distortionK1>
             <distortionK2>0.0</distortionK2>
             <distortionK3>0.0</distortionK3>
@@ -139,10 +139,10 @@
                 <imageTopicName>rgb/imageRaw_left</imageTopicName>
                 <depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
                 <pointCloudTopicName>depth/points_left</pointCloudTopicName>
-                <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>              
-                <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>            
-                <pointCloudCutoff>0.1</pointCloudCutoff>                
-                <pointCloudCutoffMax>1.5</pointCloudCutoffMax>                
+                <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
+                <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
+                <pointCloudCutoff>0.1</pointCloudCutoff>
+                <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
                 <distortionK1>0.0</distortionK1>
                 <distortionK2>0.0</distortionK2>
                 <distortionK3>0.0</distortionK3>
@@ -1774,4 +1774,3 @@
     </inertial>
   </link>
 </robot>
-