diff --git a/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp b/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp
index beb69c939..c072753fe 100644
--- a/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp
+++ b/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp
@@ -163,7 +163,7 @@ class ContactModel6DLoopTpl : public ContactModelAbstractTpl<_Scalar> {
   int joint2_id_;         //!< Reference joint id of the second contact
   SE3 joint2_placement_;  //!< Placement of the second contact with respect to
                           //!< the joint
-  Vector2s gains_;  //!< Baumgarte stabilization gains
+  Vector2s gains_;        //!< Baumgarte stabilization gains
 };
 
 template <typename _Scalar>
diff --git a/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx b/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx
index 145e93a49..f6b99471e 100644
--- a/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx
+++ b/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx
@@ -27,7 +27,7 @@ ContactModel6DLoopTpl<Scalar>::ContactModel6DLoopTpl(
       joint1_id_(joint1_id),
       joint2_id_(joint2_id),
       joint1_placement_(joint1_placement),
-      joint2_placement_(joint2_placement){
+      joint2_placement_(joint2_placement) {
   if (ref != pinocchio::ReferenceFrame::LOCAL) {
     std::cerr << "Warning: Only reference frame LOCAL is supported for 6D loop "
                  "contacts\n";
@@ -45,7 +45,7 @@ ContactModel6DLoopTpl<Scalar>::ContactModel6DLoopTpl(
       joint1_id_(joint1_id),
       joint2_id_(joint2_id),
       joint1_placement_(joint1_placement),
-      joint2_placement_(joint2_placement){
+      joint2_placement_(joint2_placement) {
   if (ref != pinocchio::ReferenceFrame::LOCAL) {
     std::cerr << "Warning: Only reference frame LOCAL is supported for 6D loop "
                  "contacts\n";