diff --git a/CMakeLists.txt b/CMakeLists.txt
index 19e09884997bcf791cb06b46c792b26cd714cbd8..1a8ee3a41f78b8def8b946f273c5991483b941fa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,28 +1,39 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
 
 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME talos_data)
-SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME talos_data)
+set(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
 
 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
+include(cmake/base.cmake)
 
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX C)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Main Library
-ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+add_library(${PROJECT_NAME} INTERFACE)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
 
-FOREACH(dir config gazebo meshes robots urdf srdf launch)
-  INSTALL(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
-ENDFOREACH(dir)
+foreach(
+  dir
+  config
+  gazebo
+  meshes
+  robots
+  urdf
+  srdf
+  launch)
+  install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
+endforeach(dir)
 
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
-SET(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
diff --git a/config/joint_limits.yaml b/config/joint_limits.yaml
index 0c73ba38cb316861611d393036c595ba297b006f..857de748574889237db44e2d7ec42cd57184d22b 100644
--- a/config/joint_limits.yaml
+++ b/config/joint_limits.yaml
@@ -58,4 +58,3 @@ joint_limits:
     max_velocity: *max_arm_vel
 
   # Hands and legs keep the default values from URDF
-
diff --git a/config/talos_plotjuggler.xml b/config/talos_plotjuggler.xml
index db2b765a45f0d0b6d553b8b823af155bc3be267d..f5ec3734e76790b9a4efd6a30a62f819fbfe95ee 100644
--- a/config/talos_plotjuggler.xml
+++ b/config/talos_plotjuggler.xml
@@ -1326,4 +1326,3 @@
  </Plugins>
  <previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/>
 </root>
-
diff --git a/gazebo/gazebo.urdf.xacro b/gazebo/gazebo.urdf.xacro
index 8e727288d6aa2b4836f965815a450feafc1e301f..955c0633ee5689223200b819937a626ad1ce9e44 100644
--- a/gazebo/gazebo.urdf.xacro
+++ b/gazebo/gazebo.urdf.xacro
@@ -23,7 +23,7 @@
       <topicName>wrench</topicName>
     </plugin>
   </gazebo>
-  
+
 
   <gazebo reference="imu_link">
     <!-- this is expected to be reparented to pelvis with appropriate offset
@@ -52,7 +52,7 @@
                the biases are fixed additive offsets.  We choose
                bias means and stddevs to produce biases close to the provided
                data. -->
-               
+
           <!--
           <rate>
             <mean>0.0</mean>
@@ -67,8 +67,8 @@
             <bias_stddev>0.001</bias_stddev>
           </accel>
           -->
-          
-          
+
+
           <rate>
             <mean>0.0</mean>
             <stddev>0.0</stddev>
@@ -81,8 +81,8 @@
             <bias_mean>0.0</bias_mean>
             <bias_stddev>0.000</bias_stddev>
           </accel>
-          
-          
+
+
         </noise>
       </imu>
     </sensor>
@@ -92,4 +92,3 @@
   <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
 
 </robot>
-
diff --git a/launch/talos_gazebo_spawn_hs.launch b/launch/talos_gazebo_spawn_hs.launch
index 2b917ab976bd13258daf5debef43a39b548112c5..392929c72937333dc1b9737e344412e82f78677e 100644
--- a/launch/talos_gazebo_spawn_hs.launch
+++ b/launch/talos_gazebo_spawn_hs.launch
@@ -9,10 +9,10 @@
   <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
 
   <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
-  
+
   <include file="$(find talos_data)/launch/talos_spawn.launch">
   <arg name="robot"  value="$(arg robot)"/>
   <arg name="gzpose" value="$(arg gzpose)"/>
   </include>
-  
+
 </launch>
diff --git a/launch/talos_gazebo_spawn_hs_wide.launch b/launch/talos_gazebo_spawn_hs_wide.launch
index 54238b116e7b337d89b54eaaeda638bc87821d53..db711857700815896e48e085eea88272bf501d06 100644
--- a/launch/talos_gazebo_spawn_hs_wide.launch
+++ b/launch/talos_gazebo_spawn_hs_wide.launch
@@ -9,10 +9,10 @@
   <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
 
   <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
-  
+
   <include file="$(find talos_gazebo)/launch/talos_spawn.launch">
   <arg name="robot"  value="$(arg robot)"/>
   <arg name="gzpose" value="$(arg gzpose)"/>
   </include>
-  
+
 </launch>
diff --git a/robots/talos_full_v2.urdf.xacro b/robots/talos_full_v2.urdf.xacro
index 73fb67d30bc7b759e4e07efd8171cff6aa10a085..0235214c136dacae4ead1fae8146a5a71ab99a8d 100644
--- a/robots/talos_full_v2.urdf.xacro
+++ b/robots/talos_full_v2.urdf.xacro
@@ -30,8 +30,8 @@
   <xacro:property name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
   <xacro:if value="${var_enable_leg_passive != 'true'}">
     <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-  </xacro:if> 
-  
+  </xacro:if>
+
   <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
   <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
 
diff --git a/robots/talos_left_arm.urdf b/robots/talos_left_arm.urdf
index 3184fc2c0a1e48221d054d8d9aa9cac78b02f9a6..7b44e7dc2b9728a193d5b9d6a7537fe71f7a027e 100644
--- a/robots/talos_left_arm.urdf
+++ b/robots/talos_left_arm.urdf
@@ -836,4 +836,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-
diff --git a/robots/talos_reduced.urdf b/robots/talos_reduced.urdf
index 56bbdfe1b0d9ac9d7a9568b7e67925acd345918e..fb21fc4fda6c84559e54a55f44e6ce6e6ed2df0d 100644
--- a/robots/talos_reduced.urdf
+++ b/robots/talos_reduced.urdf
@@ -2190,8 +2190,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2516,8 +2516,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2783,4 +2783,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index 86186d287e68d7bcf28972ee3a67aaac34b14a55..a6a3c8f13f3940602417f43f86b5f1c1d85d3fd0 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -162,7 +162,7 @@
         <joint name="torso_2_joint" value="0.006761" />
     </group_state>
 
-    
+
     <rotor_params>
         <joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100."  />
         <joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
@@ -195,7 +195,7 @@
         <joint name="torso_1_joint" mass="1e-5" gear_ratio="100." />
         <joint name="torso_2_joint" mass="1e-5" gear_ratio="100." />
    </rotor_params>
-    
+
 
   <!--
    Talos Specificities.
@@ -694,5 +694,5 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
       <link name="gripper_right_base_link" />
       <joint name="gripper_right_joint" />
       <torque_constant value="48e-3" unit="N.m/A"/>
-    </gripper> 
+    </gripper>
 </robot>
diff --git a/urdf/gripper/gripper.transmission.xacro b/urdf/gripper/gripper.transmission.xacro
index ea9b889e41a3218d737e07ddd89cc0db90329092..bf925805300b059caab2d12d314d8703c7936b7d 100644
--- a/urdf/gripper/gripper.transmission.xacro
+++ b/urdf/gripper/gripper.transmission.xacro
@@ -35,4 +35,4 @@
   </xacro:macro>
 
 
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/leg/leg.transmission.xacro b/urdf/leg/leg.transmission.xacro
index ec55dcf84cf5cb03aae32e5e3f1cd8aecae84bd6..fd28b13b19d5ed339d3653c943de89f02dcccd3c 100644
--- a/urdf/leg/leg.transmission.xacro
+++ b/urdf/leg/leg.transmission.xacro
@@ -23,4 +23,3 @@
     </transmission>
   </xacro:macro>
 </robot>
-
diff --git a/urdf/sensors/calibration.xacro b/urdf/sensors/calibration.xacro
index 55f7e73a93f2e06e2d6f4ee6db8e98aa1ceea80e..f11c413a5d185e85e3c1a338406d5ce24c2e498b 100644
--- a/urdf/sensors/calibration.xacro
+++ b/urdf/sensors/calibration.xacro
@@ -27,5 +27,3 @@
   <xacro:property name="cal_head_mount_xtion_yaw"   value="0.0" />
 
 </robot>
-
-
diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
index 1e359a0352ed28b2fda87ff6d5a62b115a51eeaf..50e7c6775b061e72f1ec3a556ea35a955c8a277e 100644
--- a/urdf/talos_full.urdf
+++ b/urdf/talos_full.urdf
@@ -2188,8 +2188,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2514,8 +2514,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
diff --git a/urdf/talos_full_common.urdf.xacro b/urdf/talos_full_common.urdf.xacro
index 47d7364e4cb17f6fea77e92befd4b7136869d232..75a2c2719a805ed9d35ec085fbf95d2c764330b0 100644
--- a/urdf/talos_full_common.urdf.xacro
+++ b/urdf/talos_full_common.urdf.xacro
@@ -29,7 +29,7 @@
   <xacro:unless value="${var_enable_leg_passive != 'true'}">
     <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
   </xacro:unless> -->
-  
+
   <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
   <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
 
diff --git a/urdf/talos_full_v2.urdf b/urdf/talos_full_v2.urdf
index ed00b4b425bb78ac6516e22bb1fd2c833801475d..780cb70cfa208235a4000e36a93e149019c4b906 100644
--- a/urdf/talos_full_v2.urdf
+++ b/urdf/talos_full_v2.urdf
@@ -2719,4 +2719,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
index 3f912160d996a4c293957283eeb1abdc25a7649f..ddabb42e4ec915aefe3dd912921fec05652777b2 100644
--- a/urdf/talos_reduced.urdf
+++ b/urdf/talos_reduced.urdf
@@ -2189,7 +2189,7 @@
     <geometry>
       <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
     </geometry>
-    </collision> 
+    </collision>
     <!--
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2514,7 +2514,7 @@
     <geometry>
       <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
     </geometry>
-    </collision> 
+    </collision>
     <!--
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2781,4 +2781,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-
diff --git a/urdf/talos_reduced_v2.urdf b/urdf/talos_reduced_v2.urdf
index 1a77db552ed43549aa81e2f7abbdafdc925661a6..6ee6de717d7856544556d1e4732ad5b3dbabc51a 100644
--- a/urdf/talos_reduced_v2.urdf
+++ b/urdf/talos_reduced_v2.urdf
@@ -2719,4 +2719,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index acffea1fdbe9ce3e423a06517a10d98f3a5b99b5..fe1d9557a18b17a1910455ece734cde7ce76fa33 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -165,4 +165,3 @@
   </xacro:macro>
 
 </robot>
-