diff --git a/ada_moveit/config/ada.urdf.xacro b/ada_moveit/config/ada.urdf.xacro
index 8785c5c..3a324ef 100644
--- a/ada_moveit/config/ada.urdf.xacro
+++ b/ada_moveit/config/ada.urdf.xacro
@@ -5,7 +5,7 @@
     <xacro:arg name="end_effector_tool" default="fork" />
 
     <!-- Import ada urdf file -->
-    <xacro:include filename="$(find ada_description)/urdf/ada.xacro" /> 
+    <xacro:include filename="$(find ada_description)/urdf/ada.xacro" />
 
     <link name="root"/>
     <xacro:property name="root" value="root" />
diff --git a/ada_moveit/launch/demo.launch.py b/ada_moveit/launch/demo.launch.py
index a88e754..be19184 100644
--- a/ada_moveit/launch/demo.launch.py
+++ b/ada_moveit/launch/demo.launch.py
@@ -55,7 +55,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
 
@@ -104,7 +104,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
diff --git a/ada_moveit/launch/move_group.launch.py b/ada_moveit/launch/move_group.launch.py
index 57d60c5..c26824e 100644
--- a/ada_moveit/launch/move_group.launch.py
+++ b/ada_moveit/launch/move_group.launch.py
@@ -26,7 +26,7 @@ def get_move_group_launch(context):
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
@@ -70,7 +70,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
 
     ld = LaunchDescription()
diff --git a/ada_moveit/launch/moveit_rviz.launch.py b/ada_moveit/launch/moveit_rviz.launch.py
index 84e5592..ec43525 100644
--- a/ada_moveit/launch/moveit_rviz.launch.py
+++ b/ada_moveit/launch/moveit_rviz.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
     ld.add_action(eet_da)
@@ -45,7 +45,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
diff --git a/ada_moveit/launch/rsp.launch.py b/ada_moveit/launch/rsp.launch.py
index 40c33dc..521535e 100644
--- a/ada_moveit/launch/rsp.launch.py
+++ b/ada_moveit/launch/rsp.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
     ld.add_action(eet_da)
@@ -45,7 +45,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
diff --git a/ada_moveit/launch/spawn_controllers.launch.py b/ada_moveit/launch/spawn_controllers.launch.py
index 5a9b778..15769ae 100644
--- a/ada_moveit/launch/spawn_controllers.launch.py
+++ b/ada_moveit/launch/spawn_controllers.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
     ld.add_action(eet_da)
@@ -45,7 +45,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
diff --git a/ada_moveit/launch/static_virtual_joint_tfs.launch.py b/ada_moveit/launch/static_virtual_joint_tfs.launch.py
index 2874709..b005c7a 100644
--- a/ada_moveit/launch/static_virtual_joint_tfs.launch.py
+++ b/ada_moveit/launch/static_virtual_joint_tfs.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
     ld.add_action(eet_da)
@@ -45,7 +45,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()
 
diff --git a/ada_moveit/launch/warehouse_db.launch.py b/ada_moveit/launch/warehouse_db.launch.py
index 7954578..90d89e7 100644
--- a/ada_moveit/launch/warehouse_db.launch.py
+++ b/ada_moveit/launch/warehouse_db.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         "end_effector_tool",
         default_value="fork",
         description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-        choices=['none', 'fork', 'articulable_fork']
+        choices=["none", "fork", "articulable_fork"],
     )
     end_effector_tool = LaunchConfiguration("end_effector_tool")
     ld.add_action(eet_da)
@@ -45,7 +45,7 @@ def generate_launch_description():
     # Get MoveIt Configs
     builder = MoveItConfigsBuilder("ada", package_name="ada_moveit")
     builder = builder.robot_description(
-        mappings={'sim': sim, 'end_effector_tool': end_effector_tool}
+        mappings={"sim": sim, "end_effector_tool": end_effector_tool}
     )
     moveit_config = builder.to_moveit_configs()