diff --git a/python/Gait.cpp b/python/Gait.cpp
index 299839207513289aa3891b0db10fa7de79e01ea5..c6e4d76d9aa6c3c7495fbed4b577dbf25aa00154 100644
--- a/python/Gait.cpp
+++ b/python/Gait.cpp
@@ -15,7 +15,8 @@ struct GaitVisitor : public bp::def_visitor<GaitVisitor<Gait>> {
         .def("is_new_step", &Gait::isNewPhase, "True if new phase of the gait.\n")
         .def("is_static", &Gait::getIsStatic, "True if static gait.\n")
         .def("get_phase_duration", &Gait::getPhaseDuration, bp::args("i", "j"), "Get phase duration.\n")
-        .def("get_remaining_time", &Gait::getRemainingTime, bp::args("i", "j"), "Get remaining time of the last computed phase.\n")
+        .def("get_remaining_time", &Gait::getRemainingTime, bp::args("i", "j"),
+             "Get remaining time of the last computed phase.\n")
 
         .def("initialize", &Gait::initialize, bp::args("params"), "Initialize Gait from Python.\n")
 
diff --git a/python/Joystick.cpp b/python/Joystick.cpp
index 1c88a442242eac1f7897e26d98fed060cb78ffcd..2075bd5587151acf4a7a57a0ffda1b049b06215f 100644
--- a/python/Joystick.cpp
+++ b/python/Joystick.cpp
@@ -8,27 +8,27 @@ struct JoystickVisitor : public bp::def_visitor<JoystickVisitor<Joystick>> {
   void visit(PyClassJoystick& cl) const {
     cl.def(bp::init<>(bp::arg(""), "Default constructor."))
 
-            .def("initialize", &Joystick::initialize, bp::args("params"), "Initialize Joystick from Python.\n")
+        .def("initialize", &Joystick::initialize, bp::args("params"), "Initialize Joystick from Python.\n")
 
-            .def("update_v_ref", &Joystick::update_v_ref, bp::args("k", "gait_is_static"), "Update joystick values.")
-            .def("handle_v_switch", &Joystick::handle_v_switch, bp::args("k"), "Handle velocity profile.\n")
-            .def("update_for_analysis", &Joystick::update_for_analysis,
-                 bp::args("des_vel_analysis", "N_analysis", "N_steady"), "Set test velocity profile.\n")
+        .def("update_v_ref", &Joystick::update_v_ref, bp::args("k", "gait_is_static"), "Update joystick values.")
+        .def("handle_v_switch", &Joystick::handle_v_switch, bp::args("k"), "Handle velocity profile.\n")
+        .def("update_for_analysis", &Joystick::update_for_analysis,
+             bp::args("des_vel_analysis", "N_analysis", "N_steady"), "Set test velocity profile.\n")
 
-            .def("get_p_ref", &Joystick::getPRef, "Get Reference Position")
-            .def("get_v_ref", &Joystick::getVRef, "Get Reference Velocity")
-            .def("get_joystick_code", &Joystick::getJoystickCode, "Get Joystick Code")
-            .def("get_start", &Joystick::getStart, "Get Joystick Start")
-            .def("get_stop", &Joystick::getStop, "Get Joystick Stop")
-            .def("get_cross", &Joystick::getCross, "Get Joystick Cross status")
-            .def("get_circle", &Joystick::getCircle, "Get Joystick Circle status")
-            .def("get_triangle", &Joystick::getTriangle, "Get Joystick Triangle status")
-            .def("get_square", &Joystick::getSquare, "Get Joystick Square status")
-            .def("get_l1", &Joystick::getL1, "Get Joystick L1 status")
-            .def("get_r1", &Joystick::getR1, "Get Joystick R1 status")
-            .def("get_profile_duration", &Joystick::getProfileDuration, "Get duration of current velocity profile")
-            .def("get_last_reached_velocity", &Joystick::getLastReachedVelocity, bp::args("k"),
-                 "Get last reached velocity.\n");
+        .def("get_p_ref", &Joystick::getPRef, "Get Reference Position")
+        .def("get_v_ref", &Joystick::getVRef, "Get Reference Velocity")
+        .def("get_joystick_code", &Joystick::getJoystickCode, "Get Joystick Code")
+        .def("get_start", &Joystick::getStart, "Get Joystick Start")
+        .def("get_stop", &Joystick::getStop, "Get Joystick Stop")
+        .def("get_cross", &Joystick::getCross, "Get Joystick Cross status")
+        .def("get_circle", &Joystick::getCircle, "Get Joystick Circle status")
+        .def("get_triangle", &Joystick::getTriangle, "Get Joystick Triangle status")
+        .def("get_square", &Joystick::getSquare, "Get Joystick Square status")
+        .def("get_l1", &Joystick::getL1, "Get Joystick L1 status")
+        .def("get_r1", &Joystick::getR1, "Get Joystick R1 status")
+        .def("get_profile_duration", &Joystick::getProfileDuration, "Get duration of current velocity profile")
+        .def("get_last_reached_velocity", &Joystick::getLastReachedVelocity, bp::args("k"),
+             "Get last reached velocity.\n");
   }
 
   static void expose() { bp::class_<Joystick>("Joystick", bp::no_init).def(JoystickVisitor<Joystick>()); }
diff --git a/python/MPC.cpp b/python/MPC.cpp
index 4e8747991f556678eeef2ed1113de2cd0b780a2e..6db4adf10a69385cbf19d9827bcd1eca24d02da2 100644
--- a/python/MPC.cpp
+++ b/python/MPC.cpp
@@ -16,9 +16,7 @@ struct MPCVisitor : public bp::def_visitor<MPCVisitor<MPC>> {
         .def("retrieve_cost", &MPC::retrieve_cost, "retrieve the cost.\n");
   }
 
-  static void expose() {
-    bp::class_<MPC>("MPC", bp::no_init).def(MPCVisitor<MPC>());
-  }
+  static void expose() { bp::class_<MPC>("MPC", bp::no_init).def(MPCVisitor<MPC>()); }
 };
 
 void exposeMPC() { MPCVisitor<MPC>::expose(); }
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