diff --git a/docs/source/conf.py b/docs/source/conf.py
index 56d12d6..52cac92 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -1,5 +1,4 @@
 # -*- coding: utf-8 -*-
-#
 # Configuration file for the Sphinx documentation builder.
 #
 # This file does only contain a selection of the most common options. For a
diff --git a/examples/dynamics/control/attractor_point.py b/examples/dynamics/control/attractor_point.py
index 5ed0b87..c2d9b38 100644
--- a/examples/dynamics/control/attractor_point.py
+++ b/examples/dynamics/control/attractor_point.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Attractor point using impedance control with RRBot
 
 Try to move the end-effector using the mouse, and see what happens. Compare the obtained results with
diff --git a/examples/dynamics/control/gravity_compensation.py b/examples/dynamics/control/gravity_compensation.py
index 8f170b2..e0dfcfb 100644
--- a/examples/dynamics/control/gravity_compensation.py
+++ b/examples/dynamics/control/gravity_compensation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Force control: gravity compensation with RRBot
 
 Try to move the end-effector using the mouse, and see what happens. Compare the obtained results with
diff --git a/examples/dynamics/control/no_forces.py b/examples/dynamics/control/no_forces.py
index 175d7ff..983a3c8 100644
--- a/examples/dynamics/control/no_forces.py
+++ b/examples/dynamics/control/no_forces.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Force control: apply no forces/torques.
 
 Try to move the end-effector using the mouse, and see what happens. Compare the obtained results with
diff --git a/examples/environments/inverted_pendulum.py b/examples/environments/inverted_pendulum.py
index 2b4e7c5..d264a0b 100644
--- a/examples/environments/inverted_pendulum.py
+++ b/examples/environments/inverted_pendulum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """In this file, we create from scratch the inverted pendulum swing-up environment defined in OpenAI Gym.
 
 This is based on the control problem proposed in OpenAI Gym [1]:
diff --git a/examples/imitation/demo.py b/examples/imitation/demo.py
index 1e3de4b..d681eba 100644
--- a/examples/imitation/demo.py
+++ b/examples/imitation/demo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Imitation learning demonstration using DMPs and ROS with the Franka robot.
 """
 
diff --git a/examples/imitation/trajectory_reproduction_kuka_dmp.py b/examples/imitation/trajectory_reproduction_kuka_dmp.py
index ee2a159..ee6f15d 100644
--- a/examples/imitation/trajectory_reproduction_kuka_dmp.py
+++ b/examples/imitation/trajectory_reproduction_kuka_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use an imitation learning task in PyRoboLearn using Dynamic Movement Primitives as a policy,
 and a mouse keyboard interface.
 """
diff --git a/examples/interfaces/asus_xtion.py b/examples/interfaces/asus_xtion.py
index e23fccc..01541f8 100644
--- a/examples/interfaces/asus_xtion.py
+++ b/examples/interfaces/asus_xtion.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Run the Asus Xtion interface.
 
 Make sure that the `openni` library is installed with all the correct environment variables set, and that the Asus
diff --git a/examples/interfaces/mouse_keyboard.py b/examples/interfaces/mouse_keyboard.py
index 59114a4..d176f9e 100644
--- a/examples/interfaces/mouse_keyboard.py
+++ b/examples/interfaces/mouse_keyboard.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the mouse keyboard interface.
 """
 
diff --git a/examples/interfaces/openpose.py b/examples/interfaces/openpose.py
index aea1c44..4cf8fa7 100644
--- a/examples/interfaces/openpose.py
+++ b/examples/interfaces/openpose.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Run the Openpose interface.
 
 Make sure that the webcam is connected, and that the openpose framework has been installed before running this code.
diff --git a/examples/interfaces/playstation.py b/examples/interfaces/playstation.py
index 298025d..b7ec079 100644
--- a/examples/interfaces/playstation.py
+++ b/examples/interfaces/playstation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Playstation game controller interface
 
 How to run:
diff --git a/examples/interfaces/robots/quadcopter_controller.py b/examples/interfaces/robots/quadcopter_controller.py
index ccdae40..ecd2f64 100644
--- a/examples/interfaces/robots/quadcopter_controller.py
+++ b/examples/interfaces/robots/quadcopter_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a quadcopter in the air using an Xbox or Playstation game controller.
 
 how to run:
diff --git a/examples/interfaces/robots/quadcopter_speech.py b/examples/interfaces/robots/quadcopter_speech.py
index 364f3eb..611cac7 100644
--- a/examples/interfaces/robots/quadcopter_speech.py
+++ b/examples/interfaces/robots/quadcopter_speech.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a quadcopter in the air using speech.
 
 Try to say:
diff --git a/examples/interfaces/robots/wheeled_controller.py b/examples/interfaces/robots/wheeled_controller.py
index bf145e1..cfcf559 100644
--- a/examples/interfaces/robots/wheeled_controller.py
+++ b/examples/interfaces/robots/wheeled_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a wheeled robot using a keyboard, an Xbox or Playstation game controller.
 
 how to run:
diff --git a/examples/interfaces/robots/wheeled_speech.py b/examples/interfaces/robots/wheeled_speech.py
index 7107e79..25a9197 100644
--- a/examples/interfaces/robots/wheeled_speech.py
+++ b/examples/interfaces/robots/wheeled_speech.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a wheeled robot in the air using speech.
 
 Try to say:
diff --git a/examples/interfaces/spacemouse.py b/examples/interfaces/spacemouse.py
index 3bcc46b..2ba1df8 100644
--- a/examples/interfaces/spacemouse.py
+++ b/examples/interfaces/spacemouse.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Run the Space mouse interface.
 
 Make sure that the `spnav` library is installed, and the space mouse (by 3Dconnexion) is connected to the computer
diff --git a/examples/interfaces/speech.py b/examples/interfaces/speech.py
index 275bba7..6e56bbd 100644
--- a/examples/interfaces/speech.py
+++ b/examples/interfaces/speech.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Run the speech interface.
 
 This will perform speech recognition, translation, and synthesization. Make sure that your computer has a microphone
diff --git a/examples/interfaces/webcam.py b/examples/interfaces/webcam.py
index 57dba39..e3e7ff1 100644
--- a/examples/interfaces/webcam.py
+++ b/examples/interfaces/webcam.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Run the Webcam interface.
 
 Make sure that the webcam is connected before running this code. Note that it can take some time to initialize
diff --git a/examples/interfaces/xbox.py b/examples/interfaces/xbox.py
index d44befb..848788e 100644
--- a/examples/interfaces/xbox.py
+++ b/examples/interfaces/xbox.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Xbox game controller interface
 
 How to run:
diff --git a/examples/kinematics/forward/fk.py b/examples/kinematics/forward/fk.py
index 567438b..c93732f 100644
--- a/examples/kinematics/forward/fk.py
+++ b/examples/kinematics/forward/fk.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """In this file, we perform forward kinematics using the Kuka robot.
 
 The Kuka robot just draw a circle in the air. The joint positions are in the `data.txt` file.
diff --git a/examples/kinematics/inverse/ik.py b/examples/kinematics/inverse/ik.py
index 13f7bb3..a87be3a 100644
--- a/examples/kinematics/inverse/ik.py
+++ b/examples/kinematics/inverse/ik.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """In this file, we perform inverse kinematics using the Kuka robot.
 
 Set the `solver_flag` to a number between 0 and 1 (see lines [19,22]) to select which IK solver to select.
diff --git a/examples/kinematics/inverse/ik_libraries.py b/examples/kinematics/inverse/ik_libraries.py
index 033adae..bbeda82 100644
--- a/examples/kinematics/inverse/ik_libraries.py
+++ b/examples/kinematics/inverse/ik_libraries.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """In this file, we use and compare several IK libraries using the Kuka robot.
 
 Namely, we compare: pybullet, PyKDL, trac_ik, and rbdl.
diff --git a/examples/kinematics/inverse/moving_sphere.py b/examples/kinematics/inverse/moving_sphere.py
index cb5c24c..1329a54 100644
--- a/examples/kinematics/inverse/moving_sphere.py
+++ b/examples/kinematics/inverse/moving_sphere.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Inverse kinematics with the Kuka robot where the goal is to follow a moving sphere.
 """
 
diff --git a/examples/manipulability/2d_manipulability.py b/examples/manipulability/2d_manipulability.py
index 3b37498..76025c6 100644
--- a/examples/manipulability/2d_manipulability.py
+++ b/examples/manipulability/2d_manipulability.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Draw the 2D velocity and force manipulability ellipsoids on the end-effector of a 3-link planar manipulator.
 
 References:
diff --git a/examples/manipulability/com_dynamic_manipulability_tracking_with_balance.py b/examples/manipulability/com_dynamic_manipulability_tracking_with_balance.py
index be1420f..4849d89 100644
--- a/examples/manipulability/com_dynamic_manipulability_tracking_with_balance.py
+++ b/examples/manipulability/com_dynamic_manipulability_tracking_with_balance.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Center of mass manipulability tracking
 
 Track the dynamic manipulability ellipsoid of the center of mass of a particular robot while keeping its balance.
diff --git a/examples/manipulability/com_manipulability_tracking.py b/examples/manipulability/com_manipulability_tracking.py
index 1a3528b..5ca5377 100644
--- a/examples/manipulability/com_manipulability_tracking.py
+++ b/examples/manipulability/com_manipulability_tracking.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Center of mass manipulability tracking
 
 Track the velocity manipulability ellipsoid of the center of mass of a particular robot. In this example, the robot
diff --git a/examples/manipulability/com_manipulability_tracking_with_balance.py b/examples/manipulability/com_manipulability_tracking_with_balance.py
index fb5f094..9f8575f 100644
--- a/examples/manipulability/com_manipulability_tracking_with_balance.py
+++ b/examples/manipulability/com_manipulability_tracking_with_balance.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Center of mass manipulability tracking
 
 Track the velocity manipulability ellipsoid of the center of mass of a particular robot while keeping its balance.
diff --git a/examples/middlewares/bullet_ros_control_gazebo.py b/examples/middlewares/bullet_ros_control_gazebo.py
index e233ddc..1a32673 100644
--- a/examples/middlewares/bullet_ros_control_gazebo.py
+++ b/examples/middlewares/bullet_ros_control_gazebo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Test the publisher using Gazebo with ROS control and Pybullet
 
 Before running this file, read the following instructions!
diff --git a/examples/middlewares/bullet_ros_publisher.py b/examples/middlewares/bullet_ros_publisher.py
index a7984c0..8b680be 100644
--- a/examples/middlewares/bullet_ros_publisher.py
+++ b/examples/middlewares/bullet_ros_publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the Bullet-ROS simulator (the publisher version) in PRL.
 
 The publisher version publish the various data on the corresponding topics every time the joints are set. If the
diff --git a/examples/middlewares/bullet_ros_rqt.py b/examples/middlewares/bullet_ros_rqt.py
index 0b28170..f8299cb 100644
--- a/examples/middlewares/bullet_ros_rqt.py
+++ b/examples/middlewares/bullet_ros_rqt.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Test the publisher using PyBullet, ROS, and RQT.
 """
 
diff --git a/examples/middlewares/bullet_ros_subscriber.py b/examples/middlewares/bullet_ros_subscriber.py
index ec66f43..e9bdd93 100644
--- a/examples/middlewares/bullet_ros_subscriber.py
+++ b/examples/middlewares/bullet_ros_subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the Bullet-ROS simulator (the subscriber version) in PRL.
 
 The subscriber version subscribe to various topics related to the loaded robot.
diff --git a/examples/models/dmp.py b/examples/models/dmp.py
index 5b2ebca..a8fc72a 100644
--- a/examples/models/dmp.py
+++ b/examples/models/dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide some examples using DMPs.
 """
 
diff --git a/examples/models/gmm.py b/examples/models/gmm.py
index 395344a..392b61a 100644
--- a/examples/models/gmm.py
+++ b/examples/models/gmm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide some examples using GMMs.
 """
 
diff --git a/examples/models/promp.py b/examples/models/promp.py
index 928b4fc..132a1d6 100644
--- a/examples/models/promp.py
+++ b/examples/models/promp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide some examples using ProMPs.
 """
 
diff --git a/examples/plotting/joints.py b/examples/plotting/joints.py
index 7855c8f..3ee611b 100644
--- a/examples/plotting/joints.py
+++ b/examples/plotting/joints.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the joint real-time plotting example.
 
 Try to move the Kuka manipulator with your mouse, and check the joint values. Note that it can take few seconds to
diff --git a/examples/plotting/link_frames.py b/examples/plotting/link_frames.py
index 3f1d1af..f55d5c9 100644
--- a/examples/plotting/link_frames.py
+++ b/examples/plotting/link_frames.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the link frame real-time plotting example.
 
 Try to move the Kuka manipulator and / or the box with your mouse. Note that it can take few seconds to load the plot.
diff --git a/examples/reinforcement/baselines/acrobot_gym.py b/examples/reinforcement/baselines/acrobot_gym.py
index e11034f..99f3395 100644
--- a/examples/reinforcement/baselines/acrobot_gym.py
+++ b/examples/reinforcement/baselines/acrobot_gym.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Acrobot' OpenAI Gym environments in PRL using the `stable_baselines` library.
 """
 
diff --git a/examples/reinforcement/baselines/acrobot_prl.py b/examples/reinforcement/baselines/acrobot_prl.py
index 56122ec..a609f13 100644
--- a/examples/reinforcement/baselines/acrobot_prl.py
+++ b/examples/reinforcement/baselines/acrobot_prl.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the PRL 'Acrobot' environment using the `stable_baselines` library.
 """
 
diff --git a/examples/reinforcement/baselines/cartpole_gym.py b/examples/reinforcement/baselines/cartpole_gym.py
index c39f4dc..3be6610 100644
--- a/examples/reinforcement/baselines/cartpole_gym.py
+++ b/examples/reinforcement/baselines/cartpole_gym.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PRL using the `stable_baselines` library.
 """
 
diff --git a/examples/reinforcement/baselines/pendulum_gym.py b/examples/reinforcement/baselines/pendulum_gym.py
index 4ffdea1..869e32f 100644
--- a/examples/reinforcement/baselines/pendulum_gym.py
+++ b/examples/reinforcement/baselines/pendulum_gym.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Pendulum' OpenAI Gym environments in PRL using the `stable_baselines` library.
 """
 
diff --git a/examples/reinforcement/baselines/pendulum_prl.py b/examples/reinforcement/baselines/pendulum_prl.py
index d40da8a..12f8659 100644
--- a/examples/reinforcement/baselines/pendulum_prl.py
+++ b/examples/reinforcement/baselines/pendulum_prl.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the PRL 'Acrobot' environment using the `stable_baselines` library.
 """
 
diff --git a/examples/reinforcement/gym/cartpole/linear_bo.py b/examples/reinforcement/gym/cartpole/linear_bo.py
index 2c77bf4..6966e7a 100644
--- a/examples/reinforcement/gym/cartpole/linear_bo.py
+++ b/examples/reinforcement/gym/cartpole/linear_bo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
 the Bayesian Optimization algorithm.
 """
diff --git a/examples/reinforcement/gym/cartpole/linear_cem.py b/examples/reinforcement/gym/cartpole/linear_cem.py
index 4600d90..349f385 100644
--- a/examples/reinforcement/gym/cartpole/linear_cem.py
+++ b/examples/reinforcement/gym/cartpole/linear_cem.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
 the Cross-Entropy Method algorithm.
 """
diff --git a/examples/reinforcement/gym/cartpole/linear_cmaes.py b/examples/reinforcement/gym/cartpole/linear_cmaes.py
index fad8b02..3e3c959 100644
--- a/examples/reinforcement/gym/cartpole/linear_cmaes.py
+++ b/examples/reinforcement/gym/cartpole/linear_cmaes.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
 the CMA-ES algorithm.
 """
diff --git a/examples/reinforcement/gym/cartpole/linear_fd.py b/examples/reinforcement/gym/cartpole/linear_fd.py
index 9de6e85..e925d65 100644
--- a/examples/reinforcement/gym/cartpole/linear_fd.py
+++ b/examples/reinforcement/gym/cartpole/linear_fd.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
 the finite difference algorithm.
 """
diff --git a/examples/reinforcement/gym/cartpole/linear_power.py b/examples/reinforcement/gym/cartpole/linear_power.py
index b2ddb27..441630d 100644
--- a/examples/reinforcement/gym/cartpole/linear_power.py
+++ b/examples/reinforcement/gym/cartpole/linear_power.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
 the PoWER RL algorithm.
 """
diff --git a/examples/reinforcement/gym/cartpole/neat_neat.py b/examples/reinforcement/gym/cartpole/neat_neat.py
index 83bebab..4ed20b1 100644
--- a/examples/reinforcement/gym/cartpole/neat_neat.py
+++ b/examples/reinforcement/gym/cartpole/neat_neat.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using NEAT.
 """
 
diff --git a/examples/reinforcement/gym/cartpole/random_none.py b/examples/reinforcement/gym/cartpole/random_none.py
index 2a17e4e..0bfa770 100644
--- a/examples/reinforcement/gym/cartpole/random_none.py
+++ b/examples/reinforcement/gym/cartpole/random_none.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a random policy
 """
 
diff --git a/examples/rewards/basics.py b/examples/rewards/basics.py
index 091130a..5e93799 100644
--- a/examples/rewards/basics.py
+++ b/examples/rewards/basics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Demonstrate the various features (operations) you can use with the ``Reward`` class.
 
 To illustrate the various operations we use the ``FixedReward``.
diff --git a/examples/rewards/forward_progress.py b/examples/rewards/forward_progress.py
index fe48f12..72c94cd 100644
--- a/examples/rewards/forward_progress.py
+++ b/examples/rewards/forward_progress.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Demonstrate how the reward function that measures how much a robot has moved forward increases / decreases based on
 the robot velocity. Use the arrow keys on your keyboard to move the robot, and observe how the computed reward value
 changes.
diff --git a/examples/rewards/manipulator.py b/examples/rewards/manipulator.py
index e452590..6cfa991 100644
--- a/examples/rewards/manipulator.py
+++ b/examples/rewards/manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Demonstrate how the distance cost decreases as you move the manipulator (with your mouse) closer to the target
 object in the world.
 """
diff --git a/examples/robots/attach_gripper_to_manipulator.py b/examples/robots/attach_gripper_to_manipulator.py
index 6ac8e77..73e1ff9 100644
--- a/examples/robots/attach_gripper_to_manipulator.py
+++ b/examples/robots/attach_gripper_to_manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Attach a gripper/hand to the Kuka manipulator.
 
 In this file, you can attach different grippers / hands to the kuka robot. You can move the robot with the mouse.
diff --git a/examples/robots/attach_manipulator_to_quadruped.py b/examples/robots/attach_manipulator_to_quadruped.py
index f858e43..01105fc 100644
--- a/examples/robots/attach_manipulator_to_quadruped.py
+++ b/examples/robots/attach_manipulator_to_quadruped.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Attach the Kuka Youbot manipulator to the HyQ2Max quadruped.
 """
 
diff --git a/examples/robots/distribute_epucks.py b/examples/robots/distribute_epucks.py
index 91cf611..b18d6f6 100644
--- a/examples/robots/distribute_epucks.py
+++ b/examples/robots/distribute_epucks.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Distribute several e-pucks in the world and make them move forward.
 
 You can move in the world using the keyboard and mouse:
diff --git a/examples/robots/load_robot.py b/examples/robots/load_robot.py
index 6e57a3a..160630a 100644
--- a/examples/robots/load_robot.py
+++ b/examples/robots/load_robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load a robot in a basic world.
 
 You can move in the world using the keyboard and mouse:
diff --git a/examples/robots/quadcopter_controller.py b/examples/robots/quadcopter_controller.py
index ccdae40..ecd2f64 100644
--- a/examples/robots/quadcopter_controller.py
+++ b/examples/robots/quadcopter_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a quadcopter in the air using an Xbox or Playstation game controller.
 
 how to run:
diff --git a/examples/robots/robot_with_sliders.py b/examples/robots/robot_with_sliders.py
index c11f015..841e2ee 100644
--- a/examples/robots/robot_with_sliders.py
+++ b/examples/robots/robot_with_sliders.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Manipulate the robot's joints with sliders.
 
 You can move in the world using the keyboard and mouse:
diff --git a/examples/robots/robots/aibo.py b/examples/robots/robots/aibo.py
index 767ca28..ed70c21 100644
--- a/examples/robots/robots/aibo.py
+++ b/examples/robots/robots/aibo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Aibo robot.
 """
 
diff --git a/examples/robots/robots/allegrohand.py b/examples/robots/robots/allegrohand.py
index 2a35664..9b3c899 100644
--- a/examples/robots/robots/allegrohand.py
+++ b/examples/robots/robots/allegrohand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Allegro hand.
 """
 
diff --git a/examples/robots/robots/ant.py b/examples/robots/robots/ant.py
index e1fa58c..52f1a74 100644
--- a/examples/robots/robots/ant.py
+++ b/examples/robots/robots/ant.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Ant Mujoco model.
 """
 
diff --git a/examples/robots/robots/atlas.py b/examples/robots/robots/atlas.py
index 0b6bd06..748fba1 100644
--- a/examples/robots/robots/atlas.py
+++ b/examples/robots/robots/atlas.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Atlas robot.
 """
 
diff --git a/examples/robots/robots/ballbot.py b/examples/robots/robots/ballbot.py
index 191a63b..c2d73a7 100644
--- a/examples/robots/robots/ballbot.py
+++ b/examples/robots/robots/ballbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Ballbot robot.
 """
 
diff --git a/examples/robots/robots/baxter.py b/examples/robots/robots/baxter.py
index c85c6e2..75477aa 100644
--- a/examples/robots/robots/baxter.py
+++ b/examples/robots/robots/baxter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Baxter robotic platform.
 """
 
diff --git a/examples/robots/robots/bb8.py b/examples/robots/robots/bb8.py
index 410b0c8..e082f98 100644
--- a/examples/robots/robots/bb8.py
+++ b/examples/robots/robots/bb8.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the BB8 robotic platform.
 """
 
diff --git a/examples/robots/robots/cartpole.py b/examples/robots/robots/cartpole.py
index bd1114e..b48a6dc 100644
--- a/examples/robots/robots/cartpole.py
+++ b/examples/robots/robots/cartpole.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Cartpole robotic platform.
 """
 
diff --git a/examples/robots/robots/cassie.py b/examples/robots/robots/cassie.py
index 02771f9..88341c6 100644
--- a/examples/robots/robots/cassie.py
+++ b/examples/robots/robots/cassie.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cassie robotic platform.
 """
 
diff --git a/examples/robots/robots/centauro.py b/examples/robots/robots/centauro.py
index 8fdf030..01c6391 100644
--- a/examples/robots/robots/centauro.py
+++ b/examples/robots/robots/centauro.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Centauro robot.
 """
 
diff --git a/examples/robots/robots/cogimon.py b/examples/robots/robots/cogimon.py
index 0f71af7..678b4ec 100644
--- a/examples/robots/robots/cogimon.py
+++ b/examples/robots/robots/cogimon.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Cogimon robot.
 """
 
diff --git a/examples/robots/robots/coman.py b/examples/robots/robots/coman.py
index be94d65..22287cb 100644
--- a/examples/robots/robots/coman.py
+++ b/examples/robots/robots/coman.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Coman robot.
 """
 
diff --git a/examples/robots/robots/crab.py b/examples/robots/robots/crab.py
index f658d65..de6e3f3 100644
--- a/examples/robots/robots/crab.py
+++ b/examples/robots/robots/crab.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Crab robot.
 """
 
diff --git a/examples/robots/robots/cubli.py b/examples/robots/robots/cubli.py
index dcd1315..7b0c49c 100644
--- a/examples/robots/robots/cubli.py
+++ b/examples/robots/robots/cubli.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Cubli robot.
 """
 
diff --git a/examples/robots/robots/darwin.py b/examples/robots/robots/darwin.py
index 934cd88..028215a 100644
--- a/examples/robots/robots/darwin.py
+++ b/examples/robots/robots/darwin.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Darwin robot.
 """
 
diff --git a/examples/robots/robots/edo.py b/examples/robots/robots/edo.py
index b8bc930..e2e2631 100644
--- a/examples/robots/robots/edo.py
+++ b/examples/robots/robots/edo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the e.Do robot.
 """
 
diff --git a/examples/robots/robots/epuck.py b/examples/robots/robots/epuck.py
index 896f722..9484085 100644
--- a/examples/robots/robots/epuck.py
+++ b/examples/robots/robots/epuck.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load some Epuck robots.
 """
 
diff --git a/examples/robots/robots/f10_racecar.py b/examples/robots/robots/f10_racecar.py
index a68a4c8..4bd0ad7 100644
--- a/examples/robots/robots/f10_racecar.py
+++ b/examples/robots/robots/f10_racecar.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the F10 racecar robot.
 """
 
diff --git a/examples/robots/robots/fetch.py b/examples/robots/robots/fetch.py
index 02a9961..7455050 100644
--- a/examples/robots/robots/fetch.py
+++ b/examples/robots/robots/fetch.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Fetch robot.
 """
 
diff --git a/examples/robots/robots/franka.py b/examples/robots/robots/franka.py
index 0228dcc..11acf57 100644
--- a/examples/robots/robots/franka.py
+++ b/examples/robots/robots/franka.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Franka Emika robot.
 """
 
diff --git a/examples/robots/robots/half_cheetah.py b/examples/robots/robots/half_cheetah.py
index b369448..4b59122 100644
--- a/examples/robots/robots/half_cheetah.py
+++ b/examples/robots/robots/half_cheetah.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the HalfCheetah Mujoco model.
 """
 
diff --git a/examples/robots/robots/hopper.py b/examples/robots/robots/hopper.py
index 7fbf275..df41817 100644
--- a/examples/robots/robots/hopper.py
+++ b/examples/robots/robots/hopper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Hopper Mujoco model.
 """
 
diff --git a/examples/robots/robots/hubo.py b/examples/robots/robots/hubo.py
index 604cde2..8fa6f90 100644
--- a/examples/robots/robots/hubo.py
+++ b/examples/robots/robots/hubo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Hubo robot.
 """
 
diff --git a/examples/robots/robots/humanoid.py b/examples/robots/robots/humanoid.py
index c45d7c2..5fee5b8 100644
--- a/examples/robots/robots/humanoid.py
+++ b/examples/robots/robots/humanoid.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Humanoid Mujoco model.
 """
 
diff --git a/examples/robots/robots/husky.py b/examples/robots/robots/husky.py
index 01ba05b..7a4d543 100644
--- a/examples/robots/robots/husky.py
+++ b/examples/robots/robots/husky.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Husky robot.
 """
 
diff --git a/examples/robots/robots/hyq.py b/examples/robots/robots/hyq.py
index 5e7262c..d29dc3d 100644
--- a/examples/robots/robots/hyq.py
+++ b/examples/robots/robots/hyq.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the HyQ robotic platform.
 """
 
diff --git a/examples/robots/robots/hyq2max.py b/examples/robots/robots/hyq2max.py
index 8f67c31..6d33687 100644
--- a/examples/robots/robots/hyq2max.py
+++ b/examples/robots/robots/hyq2max.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the HyQ2Max robot.
 """
 
diff --git a/examples/robots/robots/jaco.py b/examples/robots/robots/jaco.py
index 3ba852b..90718cd 100644
--- a/examples/robots/robots/jaco.py
+++ b/examples/robots/robots/jaco.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Jaco robot.
 """
 
diff --git a/examples/robots/robots/kr5.py b/examples/robots/robots/kr5.py
index 344b6e9..933ba45 100644
--- a/examples/robots/robots/kr5.py
+++ b/examples/robots/robots/kr5.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Kuka KR5 robotic industrial platform.
 """
 
diff --git a/examples/robots/robots/kuka_iiwa.py b/examples/robots/robots/kuka_iiwa.py
index 1c4f76e..42abffd 100644
--- a/examples/robots/robots/kuka_iiwa.py
+++ b/examples/robots/robots/kuka_iiwa.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kuka IIWA robotic platform.
 """
 
diff --git a/examples/robots/robots/kuka_lwr.py b/examples/robots/robots/kuka_lwr.py
index f4f2c65..d2c11ed 100644
--- a/examples/robots/robots/kuka_lwr.py
+++ b/examples/robots/robots/kuka_lwr.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Kuka LWR robotic platform.
 """
 
diff --git a/examples/robots/robots/laikago.py b/examples/robots/robots/laikago.py
index 8d53c86..eba915b 100644
--- a/examples/robots/robots/laikago.py
+++ b/examples/robots/robots/laikago.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Laikago robotic platform.
 """
 
diff --git a/examples/robots/robots/littledog.py b/examples/robots/robots/littledog.py
index e758525..4d2930f 100644
--- a/examples/robots/robots/littledog.py
+++ b/examples/robots/robots/littledog.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Little Dog robotic platform.
 """
 
diff --git a/examples/robots/robots/manipulator2d.py b/examples/robots/robots/manipulator2d.py
index 82e2416..af3ba8a 100644
--- a/examples/robots/robots/manipulator2d.py
+++ b/examples/robots/robots/manipulator2d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load 2d manipulators.
 """
 
diff --git a/examples/robots/robots/minitaur.py b/examples/robots/robots/minitaur.py
index f446b33..ac02172 100644
--- a/examples/robots/robots/minitaur.py
+++ b/examples/robots/robots/minitaur.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Minitaur robot.
 """
 
diff --git a/examples/robots/robots/mkz.py b/examples/robots/robots/mkz.py
index 199b30e..9c2ed55 100644
--- a/examples/robots/robots/mkz.py
+++ b/examples/robots/robots/mkz.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Lincoln MKZ car robotic platform.
 """
 
diff --git a/examples/robots/robots/morphex.py b/examples/robots/robots/morphex.py
index ec556a3..ec48a2e 100644
--- a/examples/robots/robots/morphex.py
+++ b/examples/robots/robots/morphex.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Morphex robot.
 """
 
diff --git a/examples/robots/robots/nao.py b/examples/robots/robots/nao.py
index 0e7b3af..af7c37a 100644
--- a/examples/robots/robots/nao.py
+++ b/examples/robots/robots/nao.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Nao robot.
 """
 
diff --git a/examples/robots/robots/opendog.py b/examples/robots/robots/opendog.py
index 79db499..1f6bdee 100644
--- a/examples/robots/robots/opendog.py
+++ b/examples/robots/robots/opendog.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the OpenDog robot.
 """
 
diff --git a/examples/robots/robots/pepper.py b/examples/robots/robots/pepper.py
index 0cd0b0c..80b8ca3 100644
--- a/examples/robots/robots/pepper.py
+++ b/examples/robots/robots/pepper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Pepper robot.
 """
 
diff --git a/examples/robots/robots/phantomx.py b/examples/robots/robots/phantomx.py
index 6b57821..489436f 100644
--- a/examples/robots/robots/phantomx.py
+++ b/examples/robots/robots/phantomx.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Phantom X robot.
 """
 
diff --git a/examples/robots/robots/pleurobot.py b/examples/robots/robots/pleurobot.py
index 90bfa3c..44b4a41 100644
--- a/examples/robots/robots/pleurobot.py
+++ b/examples/robots/robots/pleurobot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Pleurobot robot.
 """
 
diff --git a/examples/robots/robots/pr2.py b/examples/robots/robots/pr2.py
index c931d90..914975c 100644
--- a/examples/robots/robots/pr2.py
+++ b/examples/robots/robots/pr2.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the PR2 robot.
 """
 
diff --git a/examples/robots/robots/quadcopter.py b/examples/robots/robots/quadcopter.py
index ad9dfe6..63b5364 100644
--- a/examples/robots/robots/quadcopter.py
+++ b/examples/robots/robots/quadcopter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Quadcopter robotic platform.
 """
 
diff --git a/examples/robots/robots/rhex.py b/examples/robots/robots/rhex.py
index b897e39..b340ea0 100644
--- a/examples/robots/robots/rhex.py
+++ b/examples/robots/robots/rhex.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Rhex robotic platform.
 """
 
diff --git a/examples/robots/robots/rrbot.py b/examples/robots/robots/rrbot.py
index bd91d7e..94c1a0c 100644
--- a/examples/robots/robots/rrbot.py
+++ b/examples/robots/robots/rrbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the RRBot robotic platform.
 """
 
diff --git a/examples/robots/robots/sawyer.py b/examples/robots/robots/sawyer.py
index 1489357..ba50837 100644
--- a/examples/robots/robots/sawyer.py
+++ b/examples/robots/robots/sawyer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Sawyer robot.
 """
 
diff --git a/examples/robots/robots/sea_hexapod.py b/examples/robots/robots/sea_hexapod.py
index 1b4f9ba..eba595b 100644
--- a/examples/robots/robots/sea_hexapod.py
+++ b/examples/robots/robots/sea_hexapod.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the SEA Hexapod robot.
 """
 
diff --git a/examples/robots/robots/sea_snake.py b/examples/robots/robots/sea_snake.py
index c5dcf8f..a0788e9 100644
--- a/examples/robots/robots/sea_snake.py
+++ b/examples/robots/robots/sea_snake.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the SEA Snake robot.
 """
 
diff --git a/examples/robots/robots/softhand.py b/examples/robots/robots/softhand.py
index eed9424..5c92b46 100644
--- a/examples/robots/robots/softhand.py
+++ b/examples/robots/robots/softhand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Soft Hand robotic platform.
 """
 
diff --git a/examples/robots/robots/swimmer.py b/examples/robots/robots/swimmer.py
index b3575d0..ef92153 100644
--- a/examples/robots/robots/swimmer.py
+++ b/examples/robots/robots/swimmer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Swimmer Mujoco model.
 """
 
diff --git a/examples/robots/robots/walker2d.py b/examples/robots/robots/walker2d.py
index 75f0142..6e51619 100644
--- a/examples/robots/robots/walker2d.py
+++ b/examples/robots/robots/walker2d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the Walker2D Mujoco model.
 """
 
diff --git a/examples/robots/robots/walkman.py b/examples/robots/robots/walkman.py
index 7bdd7cc..2050e09 100644
--- a/examples/robots/robots/walkman.py
+++ b/examples/robots/robots/walkman.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the WALK-MAN robot.
 """
 
diff --git a/examples/robots/robots/wam.py b/examples/robots/robots/wam.py
index 8fb0c35..cfba122 100644
--- a/examples/robots/robots/wam.py
+++ b/examples/robots/robots/wam.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the WAM robotic platform.
 """
 
diff --git a/examples/robots/robots/youbot.py b/examples/robots/robots/youbot.py
index 75198a8..a4ffa4f 100644
--- a/examples/robots/robots/youbot.py
+++ b/examples/robots/robots/youbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load the various Youbot robotic platforms.
 
 These include: YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm
diff --git a/examples/robots/visualize_robot.py b/examples/robots/visualize_robot.py
index 6003635..f341ef1 100644
--- a/examples/robots/visualize_robot.py
+++ b/examples/robots/visualize_robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Test different visualization tools that can be used on the robot.
 
 
diff --git a/examples/robots/wheeled_controller.py b/examples/robots/wheeled_controller.py
index bf145e1..cfcf559 100644
--- a/examples/robots/wheeled_controller.py
+++ b/examples/robots/wheeled_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Control a wheeled robot using a keyboard, an Xbox or Playstation game controller.
 
 how to run:
diff --git a/examples/simulators/bullet.py b/examples/simulators/bullet.py
index 922ceac..ad6c9c1 100644
--- a/examples/simulators/bullet.py
+++ b/examples/simulators/bullet.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the Bullet simulator in pyrobolearn.
 
 Simple example where we use the bullet simulator, load a basic world (with a floor and gravity enabled) and the RRBot
diff --git a/examples/simulators/bullet_ros_publisher.py b/examples/simulators/bullet_ros_publisher.py
index a68e3f9..38b4b3f 100644
--- a/examples/simulators/bullet_ros_publisher.py
+++ b/examples/simulators/bullet_ros_publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the Bullet-ROS simulator (the publisher version) in PRL.
 
 The publisher version publish the various data on the corresponding topics every time the joints are set. If the
diff --git a/examples/simulators/bullet_ros_subscriber.py b/examples/simulators/bullet_ros_subscriber.py
index 146f391..4a554f6 100644
--- a/examples/simulators/bullet_ros_subscriber.py
+++ b/examples/simulators/bullet_ros_subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Example on how to use the Bullet-ROS simulator (the subscriber version) in PRL.
 
 The subscriber version subscribe to various topics related to the loaded robot.
diff --git a/examples/simulators/simulators.py b/examples/simulators/simulators.py
index fe6447e..644b493 100644
--- a/examples/simulators/simulators.py
+++ b/examples/simulators/simulators.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Simulator tests.
 
 Example on how to load different things with the simulators. This example is still in an experimental phase. For
diff --git a/examples/states/basics.py b/examples/states/basics.py
index d6764c1..4304ae6 100644
--- a/examples/states/basics.py
+++ b/examples/states/basics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Test different states
 """
 
diff --git a/examples/states/robot.py b/examples/states/robot.py
index 1b4fdb8..019e33b 100644
--- a/examples/states/robot.py
+++ b/examples/states/robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Get the robot's joint position and velocity states.
 
 In this example, we load a Kuka manipulator and print the joint position and velocity states. You can try to move the
diff --git a/examples/states/world.py b/examples/states/world.py
index bc2ac24..7efc58b 100644
--- a/examples/states/world.py
+++ b/examples/states/world.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Get the cartesian position state of an object loaded in the world.
 
 In this example, we load a sphere in the world which can be moved using the mouse. At every time step, we print the
diff --git a/examples/worlds/follow_moving_body.py b/examples/worlds/follow_moving_body.py
index bae8a06..134f515 100644
--- a/examples/worlds/follow_moving_body.py
+++ b/examples/worlds/follow_moving_body.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Follow a body with the main camera in the world.
 
 Try to move the sphere with the mouse (left-click on the object).
diff --git a/examples/worlds/load_robot.py b/examples/worlds/load_robot.py
index 94d4881..f56f48e 100644
--- a/examples/worlds/load_robot.py
+++ b/examples/worlds/load_robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """load a robot in a basic world and distribute randomly few objects on the floor.
 
 Load a basic world (i.e. with a floor and gravity enabled), and load a robot inside of it, and distributed randomly
diff --git a/examples/worlds/load_world.py b/examples/worlds/load_world.py
index 917f5ef..c946ba6 100644
--- a/examples/worlds/load_world.py
+++ b/examples/worlds/load_world.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Load a basic world with different objects in it
 
 Load a basic world (i.e. with a floor and gravity enabled) with different objects (only visual, and with collision
diff --git a/examples/worlds/move_camera.py b/examples/worlds/move_camera.py
index a6184ba..4e989bf 100644
--- a/examples/worlds/move_camera.py
+++ b/examples/worlds/move_camera.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Move main camera in the world.
 
 Move the main camera in the world using the keyboard:
diff --git a/papers/openai2018learning/env.py b/papers/openai2018learning/env.py
index 0fde908..107411b 100644
--- a/papers/openai2018learning/env.py
+++ b/papers/openai2018learning/env.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """
 Provide the environment (world, states, actions, rewards, terminal conditions, etc) defined in the paper [1] using the
 PyRoboLearn framework.
diff --git a/papers/openai2018learning/main.py b/papers/openai2018learning/main.py
index 3ed882b..9000558 100644
--- a/papers/openai2018learning/main.py
+++ b/papers/openai2018learning/main.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """
 This sample of code implements the "Learning Dexterous In-Hand Manipulation" paper [1] using the PyRoboLearn framework.
 
diff --git a/pyrobolearn/actions/action.py b/pyrobolearn/actions/action.py
index 4160947..240c4a1 100644
--- a/pyrobolearn/actions/action.py
+++ b/pyrobolearn/actions/action.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Action class.
 
 This file defines the `Action` class, which is returned by the policy and given to the environment.
diff --git a/pyrobolearn/actions/basic_actions.py b/pyrobolearn/actions/basic_actions.py
index fcd85c8..ad24fe3 100644
--- a/pyrobolearn/actions/basic_actions.py
+++ b/pyrobolearn/actions/basic_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define basic actions
 
 This includes notably the fixed and functional actions.
diff --git a/pyrobolearn/actions/gym_actions.py b/pyrobolearn/actions/gym_actions.py
index 112bd19..1b20a59 100644
--- a/pyrobolearn/actions/gym_actions.py
+++ b/pyrobolearn/actions/gym_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the OpenAI Gym Action
 
 This defines the OpenAI Gym action such that it is compatible with the pyrobolearn framework. It notably decouples
diff --git a/pyrobolearn/actions/robot_actions/actuator_actions.py b/pyrobolearn/actions/robot_actions/actuator_actions.py
index 609f330..7216a0a 100644
--- a/pyrobolearn/actions/robot_actions/actuator_actions.py
+++ b/pyrobolearn/actions/robot_actions/actuator_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various actuator actions
 """
 
diff --git a/pyrobolearn/actions/robot_actions/grasp_actions.py b/pyrobolearn/actions/robot_actions/grasp_actions.py
index c5b5bed..5a718c0 100644
--- a/pyrobolearn/actions/robot_actions/grasp_actions.py
+++ b/pyrobolearn/actions/robot_actions/grasp_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define grasping actions
 """
 
diff --git a/pyrobolearn/actions/robot_actions/joint_actions.py b/pyrobolearn/actions/robot_actions/joint_actions.py
index 4d16ac4..9714b7a 100644
--- a/pyrobolearn/actions/robot_actions/joint_actions.py
+++ b/pyrobolearn/actions/robot_actions/joint_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various joint actions
 
 This includes notably the joint positions, velocities, and force/torque actions.
diff --git a/pyrobolearn/actions/robot_actions/link_actions.py b/pyrobolearn/actions/robot_actions/link_actions.py
index c12d26d..643b3ca 100644
--- a/pyrobolearn/actions/robot_actions/link_actions.py
+++ b/pyrobolearn/actions/robot_actions/link_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various link / end-effector actions
 
 This includes notably the link positions, velocities, and force/torque actions.
diff --git a/pyrobolearn/actions/robot_actions/robot_actions.py b/pyrobolearn/actions/robot_actions/robot_actions.py
index 6060d8a..bf843fb 100644
--- a/pyrobolearn/actions/robot_actions/robot_actions.py
+++ b/pyrobolearn/actions/robot_actions/robot_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the basic robot actions
 
 Check also the joint, link, and end-effector actions.
diff --git a/pyrobolearn/actions/world_actions.py b/pyrobolearn/actions/world_actions.py
index c5d6938..586f1c8 100644
--- a/pyrobolearn/actions/world_actions.py
+++ b/pyrobolearn/actions/world_actions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define world actions
 
 This includes:
diff --git a/pyrobolearn/actorcritics/actorcritic.py b/pyrobolearn/actorcritics/actorcritic.py
index 4e24e6b..20e18db 100644
--- a/pyrobolearn/actorcritics/actorcritic.py
+++ b/pyrobolearn/actorcritics/actorcritic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the various actor-critic models which combine a policy and value function.
 
 Note that actor-critic methods can share their parameters.
diff --git a/pyrobolearn/actorcritics/basic_actorcritic.py b/pyrobolearn/actorcritics/basic_actorcritic.py
index 3c880c9..67d152e 100644
--- a/pyrobolearn/actorcritics/basic_actorcritic.py
+++ b/pyrobolearn/actorcritics/basic_actorcritic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines basic actor-critic models (such as linear models) which combine a policy and value function.
 
 Dependencies:
diff --git a/pyrobolearn/actorcritics/nn_actorcritic.py b/pyrobolearn/actorcritics/nn_actorcritic.py
index f54549a..e2490cd 100644
--- a/pyrobolearn/actorcritics/nn_actorcritic.py
+++ b/pyrobolearn/actorcritics/nn_actorcritic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the neural network actor-critic models which combine a policy and value function.
 
 Note that actor-critic methods can share their parameters.
diff --git a/pyrobolearn/algos/bo.py b/pyrobolearn/algos/bo.py
index 829b6df..ce18fe0 100644
--- a/pyrobolearn/algos/bo.py
+++ b/pyrobolearn/algos/bo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Bayesian Optimization algorithm.
 """
 
diff --git a/pyrobolearn/algos/cem.py b/pyrobolearn/algos/cem.py
index d2e48e2..91b2845 100755
--- a/pyrobolearn/algos/cem.py
+++ b/pyrobolearn/algos/cem.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cross-Entropy Method algorithm.
 
 This CEM is an evolutionary algorithm that explores in the parameter space of the policy in an episodic way.
diff --git a/pyrobolearn/algos/cmaes.py b/pyrobolearn/algos/cmaes.py
index f35d701..ee942ad 100755
--- a/pyrobolearn/algos/cmaes.py
+++ b/pyrobolearn/algos/cmaes.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Covariance Matrix Adaptation Evolution Strategy algorithm.
 
 'The Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is a stochastic derivative-free numerical optimization
diff --git a/pyrobolearn/algos/ddpg.py b/pyrobolearn/algos/ddpg.py
index 4798006..aee405f 100755
--- a/pyrobolearn/algos/ddpg.py
+++ b/pyrobolearn/algos/ddpg.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the  Deep Deterministic Policy Gradient (DDPG).
 
 For the Twin Delayed DDPG algorithm, see `pyrobolearn/algos/td3.py`
diff --git a/pyrobolearn/algos/dqn.py b/pyrobolearn/algos/dqn.py
index 9e691b1..a12bd0a 100755
--- a/pyrobolearn/algos/dqn.py
+++ b/pyrobolearn/algos/dqn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the DQN algorithm.
 
 The DQN is a value-based, off-policy, model-free RL algorithm with exploration in the action space.
diff --git a/pyrobolearn/algos/ella.py b/pyrobolearn/algos/ella.py
index 336677d..e990bd3 100644
--- a/pyrobolearn/algos/ella.py
+++ b/pyrobolearn/algos/ella.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the 'Efficient Lifelong Learning Algorithm' (ELLA).
 
 The ELLA algorithm is an online multi-task learning algorithm that maintains a shared knowledge database that can be
diff --git a/pyrobolearn/algos/evaluator.py b/pyrobolearn/algos/evaluator.py
index f401bfb..5ce9cc6 100644
--- a/pyrobolearn/algos/evaluator.py
+++ b/pyrobolearn/algos/evaluator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Evaluator class used in the second step of RL algorithms
 
 The evaluator assesses the quality of the actions/trajectories performed by the policy using the given returns.
diff --git a/pyrobolearn/algos/explorer.py b/pyrobolearn/algos/explorer.py
index 2725caa..6f58acc 100644
--- a/pyrobolearn/algos/explorer.py
+++ b/pyrobolearn/algos/explorer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Explorer class used in the first step of RL algorithms
 
 It consists to explore and collect samples in the environment using the policy. The samples are stored in the
diff --git a/pyrobolearn/algos/fd.py b/pyrobolearn/algos/fd.py
index 16202ce..a88e1dd 100755
--- a/pyrobolearn/algos/fd.py
+++ b/pyrobolearn/algos/fd.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Finite-Difference (FD) method algorithm.
 
 This FD method is a policy gradient algorithm that explores in the parameter space of the policy in an episodic way.
diff --git a/pyrobolearn/algos/neat_algo.py b/pyrobolearn/algos/neat_algo.py
index 157aa61..3b1bd2f 100755
--- a/pyrobolearn/algos/neat_algo.py
+++ b/pyrobolearn/algos/neat_algo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the NEAT algorithm.
 
 This uses the Neuro-Evolution through Augmenting topologies (NEAT) framework. It allows the evolution of not only the
diff --git a/pyrobolearn/algos/power.py b/pyrobolearn/algos/power.py
index 2834f32..69c8ff6 100755
--- a/pyrobolearn/algos/power.py
+++ b/pyrobolearn/algos/power.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the PoWER reinforcement learning algorithm.
 
 This Policy learning by Weighting Exploration with the Returns (PoWER) algorithm is an model-free, on-policy, and
diff --git a/pyrobolearn/algos/ppo.py b/pyrobolearn/algos/ppo.py
index cc9530a..34b001c 100755
--- a/pyrobolearn/algos/ppo.py
+++ b/pyrobolearn/algos/ppo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Proximal Policy Optimization algorithm.
 
 The PPO is a model-free, on-policy, gradient-based on-policy algorithm that works with discrete and continuous action
diff --git a/pyrobolearn/algos/reinforce.py b/pyrobolearn/algos/reinforce.py
index 1580104..49e72d9 100755
--- a/pyrobolearn/algos/reinforce.py
+++ b/pyrobolearn/algos/reinforce.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the REINFORCE/VPG algorithm.
 
 The REINFORCE/VPG is a model-free, on-policy, gradient policy-based algorithm.
diff --git a/pyrobolearn/algos/rl_algo.py b/pyrobolearn/algos/rl_algo.py
index c4ef911..79fff59 100755
--- a/pyrobolearn/algos/rl_algo.py
+++ b/pyrobolearn/algos/rl_algo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the basic components for RL algorithms
 
 Dependencies:
diff --git a/pyrobolearn/algos/sac.py b/pyrobolearn/algos/sac.py
index a50b814..d609c98 100755
--- a/pyrobolearn/algos/sac.py
+++ b/pyrobolearn/algos/sac.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Soft-Actor Critic algorithm.
 
 Define the SAC reinforcement learning algorithm. This is a model-free, off-policy, actor-critic method.
diff --git a/pyrobolearn/algos/td3.py b/pyrobolearn/algos/td3.py
index 22261ec..598fbb5 100755
--- a/pyrobolearn/algos/td3.py
+++ b/pyrobolearn/algos/td3.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm.
 
 The REINFORCE/VPG is a model-free, off-policy, gradient policy-based algorithm that works only for continuous actions.
diff --git a/pyrobolearn/algos/updater.py b/pyrobolearn/algos/updater.py
index 02f5ec4..b306ecd 100644
--- a/pyrobolearn/algos/updater.py
+++ b/pyrobolearn/algos/updater.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Updater class used in the third and final step of RL algorithms
 
 The updater update the approximator (such as the policy and/or value function) parameters based on the loss, and
diff --git a/pyrobolearn/approximators/approximator.py b/pyrobolearn/approximators/approximator.py
index a856f00..ad14c9a 100644
--- a/pyrobolearn/approximators/approximator.py
+++ b/pyrobolearn/approximators/approximator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the basic (Function) Approximator class.
 
 This file describes the `Approximator` class that wraps a learning model and connects it with its inputs, and outputs.
diff --git a/pyrobolearn/approximators/basic_approximator.py b/pyrobolearn/approximators/basic_approximator.py
index d923da5..5a764e0 100644
--- a/pyrobolearn/approximators/basic_approximator.py
+++ b/pyrobolearn/approximators/basic_approximator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define basic function approximators.
 
 Define the various basic approximators such as the random approximator, linear approximator, etc.
diff --git a/pyrobolearn/approximators/nn_approximator.py b/pyrobolearn/approximators/nn_approximator.py
index 159fed5..238c07b 100644
--- a/pyrobolearn/approximators/nn_approximator.py
+++ b/pyrobolearn/approximators/nn_approximator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define Neural Network approximators.
 
 Dependencies:
diff --git a/pyrobolearn/approximators/polynomial.py b/pyrobolearn/approximators/polynomial.py
index 026442f..a2e9715 100644
--- a/pyrobolearn/approximators/polynomial.py
+++ b/pyrobolearn/approximators/polynomial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define linear function approximator.
 
 Dependencies:
diff --git a/pyrobolearn/backends/numpy_backend.py b/pyrobolearn/backends/numpy_backend.py
index 04fc61b..4405a46 100644
--- a/pyrobolearn/backends/numpy_backend.py
+++ b/pyrobolearn/backends/numpy_backend.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 from autograd import *
 from autograd.numpy import *
 import autograd.numpy as np
diff --git a/pyrobolearn/backends/torch_backend.py b/pyrobolearn/backends/torch_backend.py
index 88ebedf..dfa566f 100644
--- a/pyrobolearn/backends/torch_backend.py
+++ b/pyrobolearn/backends/torch_backend.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the torch backend API.
 """
 
diff --git a/pyrobolearn/control/ddp.py b/pyrobolearn/control/ddp.py
index 9d5a599..ead41b4 100644
--- a/pyrobolearn/control/ddp.py
+++ b/pyrobolearn/control/ddp.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # DDP: Differential Dynamic Programming
 
diff --git a/pyrobolearn/control/dp.py b/pyrobolearn/control/dp.py
index 7ac6812..567dc7a 100644
--- a/pyrobolearn/control/dp.py
+++ b/pyrobolearn/control/dp.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file describes the Dynamic Programming algorithm
 
diff --git a/pyrobolearn/control/ilqg.py b/pyrobolearn/control/ilqg.py
index 4ef6f7d..6ca74ca 100644
--- a/pyrobolearn/control/ilqg.py
+++ b/pyrobolearn/control/ilqg.py
@@ -1,8 +1,8 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file describes the iterative Linear Quadratic Gaussian (iLQG)
 
 
-
 class ILQG(object):
     r"""Iterative Linear Quadratic Gaussian (iLQG)
 
diff --git a/pyrobolearn/control/ilqr.py b/pyrobolearn/control/ilqr.py
index fefec40..fbf70e2 100644
--- a/pyrobolearn/control/ilqr.py
+++ b/pyrobolearn/control/ilqr.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file describes the iterative Linear Quadratic Regulator (iLQR)
 
diff --git a/pyrobolearn/control/lqg.py b/pyrobolearn/control/lqg.py
index 0fcfa2a..df18fa2 100644
--- a/pyrobolearn/control/lqg.py
+++ b/pyrobolearn/control/lqg.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file describes the Linear Quadratic Gaussian
 
diff --git a/pyrobolearn/control/lqr.py b/pyrobolearn/control/lqr.py
index f6524da..0a554c0 100644
--- a/pyrobolearn/control/lqr.py
+++ b/pyrobolearn/control/lqr.py
@@ -1,10 +1,13 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file describes the linear quadratic regulator
 
+
 import control
 from scipy.linalg import solve_continuous_are
 import numpy as np
 
+
 class LQR(object):
     r"""Linear Quadratic Regulator
 
diff --git a/pyrobolearn/control/mpc.py b/pyrobolearn/control/mpc.py
index 3ca469d..99f8904 100644
--- a/pyrobolearn/control/mpc.py
+++ b/pyrobolearn/control/mpc.py
@@ -1,6 +1,8 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # MPC: Model Predictive Control
 
+
 class MPC(object):
     r"""Model Predictive Control
 
diff --git a/pyrobolearn/control/optimal_control.py b/pyrobolearn/control/optimal_control.py
index 44c6c13..a4acb59 100644
--- a/pyrobolearn/control/optimal_control.py
+++ b/pyrobolearn/control/optimal_control.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 
diff --git a/pyrobolearn/control/pid.py b/pyrobolearn/control/pid.py
index b948572..ebf1d36 100644
--- a/pyrobolearn/control/pid.py
+++ b/pyrobolearn/control/pid.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This defines the PID controller
 
diff --git a/pyrobolearn/controllers/controller.py b/pyrobolearn/controllers/controller.py
index 9459e31..7ee8d0c 100644
--- a/pyrobolearn/controllers/controller.py
+++ b/pyrobolearn/controllers/controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the abstract controller's class.
 """
 
diff --git a/pyrobolearn/controllers/locomotion/fsm.py b/pyrobolearn/controllers/locomotion/fsm.py
index ab1aefb..98cf53d 100644
--- a/pyrobolearn/controllers/locomotion/fsm.py
+++ b/pyrobolearn/controllers/locomotion/fsm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various states and transitions in a finite state machine (FSM) used in locomotion.
 
 References:
diff --git a/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py b/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
index 1964199..d791d50 100755
--- a/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
+++ b/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the inverse dynamic controller for locomotion.
 
 The inverse dynamic controller is a low-level controller that uses quadratic programming to solve several dynamic
diff --git a/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py b/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
index f95ad77..3f9866e 100755
--- a/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
+++ b/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the inverse kinematic controller for locomotion.
 
 The inverse kinematic controller is a low-level controller that uses quadratic programming to solve several kinematic
diff --git a/pyrobolearn/controllers/locomotion/marc_raibert_controller.py b/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
index 7f8930f..6f276a7 100755
--- a/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
+++ b/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Marc Raibert's controller for locomotion.
 """
 
diff --git a/pyrobolearn/controllers/locomotion/utils/command.py b/pyrobolearn/controllers/locomotion/utils/command.py
index ac7539c..b8850bc 100755
--- a/pyrobolearn/controllers/locomotion/utils/command.py
+++ b/pyrobolearn/controllers/locomotion/utils/command.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import numpy as np
 
 
diff --git a/pyrobolearn/controllers/locomotion/utils/geometry.py b/pyrobolearn/controllers/locomotion/utils/geometry.py
index 2b34624..5b8beca 100755
--- a/pyrobolearn/controllers/locomotion/utils/geometry.py
+++ b/pyrobolearn/controllers/locomotion/utils/geometry.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import numpy as np
 from tf import transformations
 '''
diff --git a/pyrobolearn/controllers/locomotion/utils/math.py b/pyrobolearn/controllers/locomotion/utils/math.py
index a51374c..3f62f42 100755
--- a/pyrobolearn/controllers/locomotion/utils/math.py
+++ b/pyrobolearn/controllers/locomotion/utils/math.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import numpy as np
 
 
diff --git a/pyrobolearn/controllers/locomotion/utils/robot_param.py b/pyrobolearn/controllers/locomotion/utils/robot_param.py
index dc4a201..7a03471 100755
--- a/pyrobolearn/controllers/locomotion/utils/robot_param.py
+++ b/pyrobolearn/controllers/locomotion/utils/robot_param.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import numpy as np
 from urdf_parser_py.urdf import URDF
 
diff --git a/pyrobolearn/controllers/locomotion/utils/task.py b/pyrobolearn/controllers/locomotion/utils/task.py
index 7e2a5fe..313719c 100755
--- a/pyrobolearn/controllers/locomotion/utils/task.py
+++ b/pyrobolearn/controllers/locomotion/utils/task.py
@@ -1,5 +1,7 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
+
 class Task:
     def __init__(self, A, b, w=1):
         self.A = A  # matrix
diff --git a/pyrobolearn/controllers/task_controller.py b/pyrobolearn/controllers/task_controller.py
index a211cf2..f1c04fd 100644
--- a/pyrobolearn/controllers/task_controller.py
+++ b/pyrobolearn/controllers/task_controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the task controller.
 """
 
diff --git a/pyrobolearn/distributions/bernoulli.py b/pyrobolearn/distributions/bernoulli.py
index 7b10dcc..4353c4c 100644
--- a/pyrobolearn/distributions/bernoulli.py
+++ b/pyrobolearn/distributions/bernoulli.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the discrete Bernoulli distribution class.
 """
 
diff --git a/pyrobolearn/distributions/categorical.py b/pyrobolearn/distributions/categorical.py
index 5b0b7d9..ef87038 100644
--- a/pyrobolearn/distributions/categorical.py
+++ b/pyrobolearn/distributions/categorical.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the discrete Categorical distribution class.
 """
 
diff --git a/pyrobolearn/distributions/gaussian.py b/pyrobolearn/distributions/gaussian.py
index dc3a17e..8a35f37 100644
--- a/pyrobolearn/distributions/gaussian.py
+++ b/pyrobolearn/distributions/gaussian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Multivariate Gaussian / Normal distribution class.
 
 This distribution is so important in the field of Machine Learning that we extended the functionalities of the basic
diff --git a/pyrobolearn/distributions/gmm.py b/pyrobolearn/distributions/gmm.py
index bbe3fc7..391508d 100644
--- a/pyrobolearn/distributions/gmm.py
+++ b/pyrobolearn/distributions/gmm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Gaussian Mixture Model and Gaussian Mixture Regression
 
 This file provides the Gaussian Mixture Model implemented in PyTorch, and uses the Gaussian model defined in the
diff --git a/pyrobolearn/distributions/modules.py b/pyrobolearn/distributions/modules.py
index cd29111..de24e61 100644
--- a/pyrobolearn/distributions/modules.py
+++ b/pyrobolearn/distributions/modules.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various common probability distribution layers / modules.
 
 This file provides layers / modules that can output probability distributions that inherit from
diff --git a/pyrobolearn/dynamics/basic_dynamic.py b/pyrobolearn/dynamics/basic_dynamic.py
index 95e6874..a284d4b 100644
--- a/pyrobolearn/dynamics/basic_dynamic.py
+++ b/pyrobolearn/dynamics/basic_dynamic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the various basic dynamic transition function approximators (e.g. table and linear approximators)
 
 It can use learning models as most of these models learn a function (that is how to map inputs to outputs).
diff --git a/pyrobolearn/dynamics/dynamic.py b/pyrobolearn/dynamics/dynamic.py
index 3570ee6..ca8e2a6 100644
--- a/pyrobolearn/dynamics/dynamic.py
+++ b/pyrobolearn/dynamics/dynamic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the `transition`/`dynamic` function approximators in RL.
 
 Dynamic models allows to compute the next state given the current state and action; that is,
diff --git a/pyrobolearn/dynamics/nn_dynamic.py b/pyrobolearn/dynamics/nn_dynamic.py
index fe9a216..2b9eaa0 100644
--- a/pyrobolearn/dynamics/nn_dynamic.py
+++ b/pyrobolearn/dynamics/nn_dynamic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides dynamic transition neural network approximators
 
 For instance, a dynamic network is a function represented by a neural network that maps a state-action to the next
diff --git a/pyrobolearn/dynamics/polynomial.py b/pyrobolearn/dynamics/polynomial.py
index e486067..3c6ea0c 100644
--- a/pyrobolearn/dynamics/polynomial.py
+++ b/pyrobolearn/dynamics/polynomial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the polynomial dynamic transition function approximators
 
 The polynomial dynamic model predicts using a polynomial model the next state given the current state and action.
diff --git a/pyrobolearn/dynamics/robot_dynamic.py b/pyrobolearn/dynamics/robot_dynamic.py
index 85510c6..c06c885 100644
--- a/pyrobolearn/dynamics/robot_dynamic.py
+++ b/pyrobolearn/dynamics/robot_dynamic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides robot dynamic transition functions
 """
 
diff --git a/pyrobolearn/envs/control/acrobot.py b/pyrobolearn/envs/control/acrobot.py
index 8ef16b0..6b9efed 100644
--- a/pyrobolearn/envs/control/acrobot.py
+++ b/pyrobolearn/envs/control/acrobot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the acrobot environment.
 
 This is based on the control problem proposed in OpenAI Gym:
diff --git a/pyrobolearn/envs/control/cartpole.py b/pyrobolearn/envs/control/cartpole.py
index cdddfec..5828b63 100644
--- a/pyrobolearn/envs/control/cartpole.py
+++ b/pyrobolearn/envs/control/cartpole.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the inverted pole on a cart (Cartpole) environment.
 
 This is based on the control problem proposed in OpenAI Gym:
diff --git a/pyrobolearn/envs/control/control.py b/pyrobolearn/envs/control/control.py
index 17a08d2..886d186 100644
--- a/pyrobolearn/envs/control/control.py
+++ b/pyrobolearn/envs/control/control.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the abstract control environment from which all the other control environments inherit from.
 """
 
diff --git a/pyrobolearn/envs/control/pendulum.py b/pyrobolearn/envs/control/pendulum.py
index 2932f02..1ad0ca5 100644
--- a/pyrobolearn/envs/control/pendulum.py
+++ b/pyrobolearn/envs/control/pendulum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the inverted pendulum swing-up environment.
 
 This is based on the control problem proposed in OpenAI Gym:
diff --git a/pyrobolearn/envs/env.py b/pyrobolearn/envs/env.py
index e00dec0..f98051f 100644
--- a/pyrobolearn/envs/env.py
+++ b/pyrobolearn/envs/env.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `Env` class which defines the world, states, and possible rewards. This is the main object
 a policy interacts with.
 
diff --git a/pyrobolearn/envs/gym_wrapper.py b/pyrobolearn/envs/gym_wrapper.py
index 0755e1c..7162efd 100644
--- a/pyrobolearn/envs/gym_wrapper.py
+++ b/pyrobolearn/envs/gym_wrapper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the gym framework and the `gym.Env` class
 
 This provides a wrapper around the gym framework such that is compatible with the pyrobolearn framework.
diff --git a/pyrobolearn/envs/locomotion/locomotion.py b/pyrobolearn/envs/locomotion/locomotion.py
index 7cb98fa..d060c8a 100644
--- a/pyrobolearn/envs/locomotion/locomotion.py
+++ b/pyrobolearn/envs/locomotion/locomotion.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the abstract locomotion environment from which all the other locomotion environments inherit from.
 """
 
diff --git a/pyrobolearn/envs/locomotion/quadruped.py b/pyrobolearn/envs/locomotion/quadruped.py
index d337475..3768f88 100644
--- a/pyrobolearn/envs/locomotion/quadruped.py
+++ b/pyrobolearn/envs/locomotion/quadruped.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the locomotion with quadruped environment.
 
 This is based on [1] and [2] but generalized to other quadruped platforms.
diff --git a/pyrobolearn/envs/locomotion/robust_quadruped.py b/pyrobolearn/envs/locomotion/robust_quadruped.py
index 7e126ee..a617a2d 100644
--- a/pyrobolearn/envs/locomotion/robust_quadruped.py
+++ b/pyrobolearn/envs/locomotion/robust_quadruped.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the locomotion with quadruped environment.
 
 This is based on [1,2] but generalized to other quadruped platforms.
diff --git a/pyrobolearn/envs/locomotion_env.py b/pyrobolearn/envs/locomotion_env.py
index 6cb63d2..26b5fd3 100644
--- a/pyrobolearn/envs/locomotion_env.py
+++ b/pyrobolearn/envs/locomotion_env.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the locomotion environment.
 
 Define the environment to perform a locomotion task; it mainly defines the reward function.
diff --git a/pyrobolearn/envs/manipulation/dexterity.py b/pyrobolearn/envs/manipulation/dexterity.py
index e898d90..0243608 100644
--- a/pyrobolearn/envs/manipulation/dexterity.py
+++ b/pyrobolearn/envs/manipulation/dexterity.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the manipulation dexterity environment defined in [1].
 
 Reference:
diff --git a/pyrobolearn/envs/manipulation/manipulation.py b/pyrobolearn/envs/manipulation/manipulation.py
index b0f754e..e890f7d 100644
--- a/pyrobolearn/envs/manipulation/manipulation.py
+++ b/pyrobolearn/envs/manipulation/manipulation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the abstract manipulation environment from which all the other manipulation environments inherit from.
 """
 
diff --git a/pyrobolearn/envs/manipulation/reaching.py b/pyrobolearn/envs/manipulation/reaching.py
index 767d971..4fa392f 100644
--- a/pyrobolearn/envs/manipulation/reaching.py
+++ b/pyrobolearn/envs/manipulation/reaching.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the reaching manipulation environment.
 
 The goal is to reach a certain 3D (fixed or movable) target with the end-effector of a robot.
diff --git a/pyrobolearn/envs/sports/baseball.py b/pyrobolearn/envs/sports/baseball.py
index 55f638e..a2433d4 100644
--- a/pyrobolearn/envs/sports/baseball.py
+++ b/pyrobolearn/envs/sports/baseball.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the baseball environment.
 """
 
diff --git a/pyrobolearn/envs/sports/basketball.py b/pyrobolearn/envs/sports/basketball.py
index 4262db2..f771526 100644
--- a/pyrobolearn/envs/sports/basketball.py
+++ b/pyrobolearn/envs/sports/basketball.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the basketball environment.
 """
 
diff --git a/pyrobolearn/envs/sports/billiard.py b/pyrobolearn/envs/sports/billiard.py
index b9af286..66cc42c 100644
--- a/pyrobolearn/envs/sports/billiard.py
+++ b/pyrobolearn/envs/sports/billiard.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the billiard environment.
 """
 
diff --git a/pyrobolearn/envs/sports/darts.py b/pyrobolearn/envs/sports/darts.py
index ede0a55..c68c301 100644
--- a/pyrobolearn/envs/sports/darts.py
+++ b/pyrobolearn/envs/sports/darts.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the darts environments.
 """
 
diff --git a/pyrobolearn/envs/sports/football.py b/pyrobolearn/envs/sports/football.py
index 7d3fa00..617a234 100644
--- a/pyrobolearn/envs/sports/football.py
+++ b/pyrobolearn/envs/sports/football.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the football/soccer environment.
 """
 
diff --git a/pyrobolearn/envs/sports/kendo.py b/pyrobolearn/envs/sports/kendo.py
index b18ec3d..0419f78 100644
--- a/pyrobolearn/envs/sports/kendo.py
+++ b/pyrobolearn/envs/sports/kendo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the kendo environment.
 """
 
diff --git a/pyrobolearn/envs/sports/ping_pong.py b/pyrobolearn/envs/sports/ping_pong.py
index 746a5a2..acab834 100644
--- a/pyrobolearn/envs/sports/ping_pong.py
+++ b/pyrobolearn/envs/sports/ping_pong.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the ping pong (table tennis) environment.
 """
 
diff --git a/pyrobolearn/envs/vec_env.py b/pyrobolearn/envs/vec_env.py
index fa36e7e..6aeed80 100644
--- a/pyrobolearn/envs/vec_env.py
+++ b/pyrobolearn/envs/vec_env.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the vectorized PRL environment.
 """
 
diff --git a/pyrobolearn/envs/warehouse/move_on_conveyor.py b/pyrobolearn/envs/warehouse/move_on_conveyor.py
index 6492127..07899bc 100644
--- a/pyrobolearn/envs/warehouse/move_on_conveyor.py
+++ b/pyrobolearn/envs/warehouse/move_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Move boxes from one conveyor belt to another one.
 """
 
diff --git a/pyrobolearn/envs/warehouse/regroup_on_conveyor.py b/pyrobolearn/envs/warehouse/regroup_on_conveyor.py
index 4167df7..1fe19a9 100644
--- a/pyrobolearn/envs/warehouse/regroup_on_conveyor.py
+++ b/pyrobolearn/envs/warehouse/regroup_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Regroup small boxes that are on a conveyor.
 """
 
diff --git a/pyrobolearn/envs/warehouse/rotate_on_conveyor.py b/pyrobolearn/envs/warehouse/rotate_on_conveyor.py
index 6039699..33573ad 100644
--- a/pyrobolearn/envs/warehouse/rotate_on_conveyor.py
+++ b/pyrobolearn/envs/warehouse/rotate_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Rotate boxes that are on a conveyor.
 """
 
diff --git a/pyrobolearn/experiments/experiment.py b/pyrobolearn/experiments/experiment.py
index 95aaada..8f998ca 100644
--- a/pyrobolearn/experiments/experiment.py
+++ b/pyrobolearn/experiments/experiment.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `Experiment` class, which allows the user to define an experiment.
 
 We define the `Experiment` class here which is the highest-level class of our framework. More specifically, it allows
diff --git a/pyrobolearn/experiments/monitor.py b/pyrobolearn/experiments/monitor.py
index 5998eb8..81135bd 100644
--- a/pyrobolearn/experiments/monitor.py
+++ b/pyrobolearn/experiments/monitor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 
 class Monitor(object):
     r"""Monitor class.
diff --git a/pyrobolearn/exploration/actions/action_exploration.py b/pyrobolearn/exploration/actions/action_exploration.py
index 4bd349e..098478b 100644
--- a/pyrobolearn/exploration/actions/action_exploration.py
+++ b/pyrobolearn/exploration/actions/action_exploration.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the action exploration strategies.
 
 Action exploration is used in reinforcement learning algorithms and describe how the policy explores in the
diff --git a/pyrobolearn/exploration/actions/boltzmann.py b/pyrobolearn/exploration/actions/boltzmann.py
index 1b7a000..bbb6a16 100644
--- a/pyrobolearn/exploration/actions/boltzmann.py
+++ b/pyrobolearn/exploration/actions/boltzmann.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the discrete Boltzmann action exploration.
 
 The Boltzmann exploration strategy consists to explore in the discrete action space of policies by using a
diff --git a/pyrobolearn/exploration/actions/continuous.py b/pyrobolearn/exploration/actions/continuous.py
index 86c60f8..e5408e1 100644
--- a/pyrobolearn/exploration/actions/continuous.py
+++ b/pyrobolearn/exploration/actions/continuous.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the continuous action exploration strategies.
 
 Action exploration is used in reinforcement learning algorithms and describe how the policy explores in the
diff --git a/pyrobolearn/exploration/actions/discrete.py b/pyrobolearn/exploration/actions/discrete.py
index 275fff0..4c835f9 100644
--- a/pyrobolearn/exploration/actions/discrete.py
+++ b/pyrobolearn/exploration/actions/discrete.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the discrete action exploration strategies.
 
 Action exploration is used in reinforcement learning algorithms and describe how the policy explores in the
diff --git a/pyrobolearn/exploration/actions/eps_greedy.py b/pyrobolearn/exploration/actions/eps_greedy.py
index 1213d75..475fe61 100644
--- a/pyrobolearn/exploration/actions/eps_greedy.py
+++ b/pyrobolearn/exploration/actions/eps_greedy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the discrete epsilon-greedy action exploration.
 
 The epsilon-greedy exploration strategy consists to explore in the discrete action space of policies. Specifically,
diff --git a/pyrobolearn/exploration/actions/gaussian.py b/pyrobolearn/exploration/actions/gaussian.py
index cad5807..f6c817a 100644
--- a/pyrobolearn/exploration/actions/gaussian.py
+++ b/pyrobolearn/exploration/actions/gaussian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the continuous Gaussian action exploration strategies.
 
 The Gaussian exploration strategy consists to explore in the continuous action space of policies by using a
diff --git a/pyrobolearn/exploration/exploration.py b/pyrobolearn/exploration/exploration.py
index 5215cf6..942719d 100644
--- a/pyrobolearn/exploration/exploration.py
+++ b/pyrobolearn/exploration/exploration.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various exploration strategies.
 
 Specifically, this file provides the main abstract `Exploration` class from which all the other exploration strategies
diff --git a/pyrobolearn/exploration/parameters/gaussian.py b/pyrobolearn/exploration/parameters/gaussian.py
index ec9a1c8..1aa5173 100644
--- a/pyrobolearn/exploration/parameters/gaussian.py
+++ b/pyrobolearn/exploration/parameters/gaussian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the continuous Gaussian parameter exploration strategies.
 
 The Gaussian parameter exploration strategy consists to explore in the parameter space of policies by using a gaussian
diff --git a/pyrobolearn/exploration/parameters/parameter_exploration.py b/pyrobolearn/exploration/parameters/parameter_exploration.py
index 17c79ad..c3bf7a1 100644
--- a/pyrobolearn/exploration/parameters/parameter_exploration.py
+++ b/pyrobolearn/exploration/parameters/parameter_exploration.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the parameter exploration strategies.
 
 Parameter exploration is used in reinforcement learning algorithms, and describes how the policy explores in the
diff --git a/pyrobolearn/filters/extended_kalman_filter.py b/pyrobolearn/filters/extended_kalman_filter.py
index 1004dc0..0d4721b 100644
--- a/pyrobolearn/filters/extended_kalman_filter.py
+++ b/pyrobolearn/filters/extended_kalman_filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Extented Kalman Filter.
 """
 
diff --git a/pyrobolearn/filters/filter.py b/pyrobolearn/filters/filter.py
index 577b3f2..305598c 100644
--- a/pyrobolearn/filters/filter.py
+++ b/pyrobolearn/filters/filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # This file provides some common filters used in signal processing
+# -*- coding: utf-8 -*-
 
 import scipy
 
diff --git a/pyrobolearn/filters/histogram_filter.py b/pyrobolearn/filters/histogram_filter.py
index a9adbad..a8010c3 100644
--- a/pyrobolearn/filters/histogram_filter.py
+++ b/pyrobolearn/filters/histogram_filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Histogram Filter.
 """
 
diff --git a/pyrobolearn/filters/kalman_filter.py b/pyrobolearn/filters/kalman_filter.py
index 6612212..a7d1a54 100644
--- a/pyrobolearn/filters/kalman_filter.py
+++ b/pyrobolearn/filters/kalman_filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Kalman Filter state estimator.
 """
 
diff --git a/pyrobolearn/filters/particle_filter.py b/pyrobolearn/filters/particle_filter.py
index 7de9048..d39f08f 100644
--- a/pyrobolearn/filters/particle_filter.py
+++ b/pyrobolearn/filters/particle_filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Particle Filter.
 """
 
diff --git a/pyrobolearn/filters/unscented_kalman_filter.py b/pyrobolearn/filters/unscented_kalman_filter.py
index 3571310..a1dc96e 100644
--- a/pyrobolearn/filters/unscented_kalman_filter.py
+++ b/pyrobolearn/filters/unscented_kalman_filter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Unscented Kalman Filter.
 """
 
diff --git a/pyrobolearn/filters/utils.py b/pyrobolearn/filters/utils.py
index 2f56fef..14667a5 100644
--- a/pyrobolearn/filters/utils.py
+++ b/pyrobolearn/filters/utils.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Common filters used in signal processing
 
 These filters can be useful to smooth signal trajectories.
diff --git a/pyrobolearn/losses/dynamic_losses.py b/pyrobolearn/losses/dynamic_losses.py
index 982673c..e088ee1 100644
--- a/pyrobolearn/losses/dynamic_losses.py
+++ b/pyrobolearn/losses/dynamic_losses.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the dynamic losses in RL.
 
 That is, the losses that are used with dynamic models.
diff --git a/pyrobolearn/losses/loss.py b/pyrobolearn/losses/loss.py
index 71da2a9..93a000d 100644
--- a/pyrobolearn/losses/loss.py
+++ b/pyrobolearn/losses/loss.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the abstract loss class that is used by the learning algorithm / optimizer.
 
 Losses are evaluated on model parameters, data batches, and / or storages.
diff --git a/pyrobolearn/losses/losses.py b/pyrobolearn/losses/losses.py
index 340ce5b..0326166 100644
--- a/pyrobolearn/losses/losses.py
+++ b/pyrobolearn/losses/losses.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the common loss functions that are used by the learning algorithm / optimizer.
 
 Losses are evaluated on model parameters, data batches / storages, or transitions tuples.
diff --git a/pyrobolearn/losses/policy_losses.py b/pyrobolearn/losses/policy_losses.py
index c44cb6e..efe5739 100644
--- a/pyrobolearn/losses/policy_losses.py
+++ b/pyrobolearn/losses/policy_losses.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the policy losses in RL.
 """
 
diff --git a/pyrobolearn/losses/value_losses.py b/pyrobolearn/losses/value_losses.py
index f1f21b8..26755d7 100644
--- a/pyrobolearn/losses/value_losses.py
+++ b/pyrobolearn/losses/value_losses.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the value losses in RL.
 """
 
diff --git a/pyrobolearn/metrics/il_metrics.py b/pyrobolearn/metrics/il_metrics.py
index fefd51c..a4d0885 100644
--- a/pyrobolearn/metrics/il_metrics.py
+++ b/pyrobolearn/metrics/il_metrics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the metrics used in imitation learning (IL).
 """
 
diff --git a/pyrobolearn/metrics/metric.py b/pyrobolearn/metrics/metric.py
index ac0c170..416bb6b 100644
--- a/pyrobolearn/metrics/metric.py
+++ b/pyrobolearn/metrics/metric.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the various metrics used in different learning paradigms.
 """
 
diff --git a/pyrobolearn/metrics/rl_metrics.py b/pyrobolearn/metrics/rl_metrics.py
index f41669f..011778c 100644
--- a/pyrobolearn/metrics/rl_metrics.py
+++ b/pyrobolearn/metrics/rl_metrics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the metrics used in reinforcement learning (RL).
 """
 
diff --git a/pyrobolearn/metrics/tl_metrics.py b/pyrobolearn/metrics/tl_metrics.py
index ac61238..2ca112b 100644
--- a/pyrobolearn/metrics/tl_metrics.py
+++ b/pyrobolearn/metrics/tl_metrics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines the metrics used in transfer learning (TL).
 
 References:
diff --git a/pyrobolearn/models/basics/linear.py b/pyrobolearn/models/basics/linear.py
index c9d498b..27238c8 100644
--- a/pyrobolearn/models/basics/linear.py
+++ b/pyrobolearn/models/basics/linear.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Linear Model.
 
 The linear model is a discriminative deterministic model given by: :math:`y = f(x) = w^T x`.
diff --git a/pyrobolearn/models/basics/pca.py b/pyrobolearn/models/basics/pca.py
index 3f097ea..d17e81e 100644
--- a/pyrobolearn/models/basics/pca.py
+++ b/pyrobolearn/models/basics/pca.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Principal Component Analysis model.
 
 Dependencies: None
diff --git a/pyrobolearn/models/basics/polynomial.py b/pyrobolearn/models/basics/polynomial.py
index b316f75..e6571a0 100644
--- a/pyrobolearn/models/basics/polynomial.py
+++ b/pyrobolearn/models/basics/polynomial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the polynomial learning model.
 
 The polynomial model is a discriminative deterministic model given by: :math:`y = f(x) = W \phi(x)`, where
diff --git a/pyrobolearn/models/cpg/cpg.py b/pyrobolearn/models/cpg/cpg.py
index 7d7341c..3ff63c7 100644
--- a/pyrobolearn/models/cpg/cpg.py
+++ b/pyrobolearn/models/cpg/cpg.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Central Pattern Generator Node and Network classes
 
 Central Pattern Generators (CPGs) allows to model rhythmic movement primitives, and are often used in locomotion.
diff --git a/pyrobolearn/models/dmp/basis_functions.py b/pyrobolearn/models/dmp/basis_functions.py
index 9441087..f64d2f3 100644
--- a/pyrobolearn/models/dmp/basis_functions.py
+++ b/pyrobolearn/models/dmp/basis_functions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define basis functions used in the forcing terms in dynamic movement primitives
 
 This file implements basis functions used for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/biodiscrete_dmp.py b/pyrobolearn/models/dmp/biodiscrete_dmp.py
index e5a5129..2decd39 100644
--- a/pyrobolearn/models/dmp/biodiscrete_dmp.py
+++ b/pyrobolearn/models/dmp/biodiscrete_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the biologically-inspired discrete dynamic movement primitive (as described in [1,2])
 
 References:
diff --git a/pyrobolearn/models/dmp/canonical_systems.py b/pyrobolearn/models/dmp/canonical_systems.py
index db906b0..48eed71 100644
--- a/pyrobolearn/models/dmp/canonical_systems.py
+++ b/pyrobolearn/models/dmp/canonical_systems.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define canonical systems for dynamic movement primitives
 
 This file implements canonical systems for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/discrete_dmp.py b/pyrobolearn/models/dmp/discrete_dmp.py
index 141ffb5..0356d67 100644
--- a/pyrobolearn/models/dmp/discrete_dmp.py
+++ b/pyrobolearn/models/dmp/discrete_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the discrete dynamic movement primitive.
 """
 
diff --git a/pyrobolearn/models/dmp/dmp.py b/pyrobolearn/models/dmp/dmp.py
index 0533483..bc0dc7f 100644
--- a/pyrobolearn/models/dmp/dmp.py
+++ b/pyrobolearn/models/dmp/dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the general dynamic movement primitive abstract class.
 
 This file implements the DMP abstract class from which all dynamic movement primitive classes inherit from.
diff --git a/pyrobolearn/models/dmp/dmpytorch/basis_functions.py b/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
index 7d7ae26..e9270fa 100644
--- a/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
+++ b/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define basis functions used in the forcing terms in dynamic movement primitives
 
 This file implements basis functions used for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py b/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
index 56200e8..8f593b0 100644
--- a/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the biologically-inspired discrete dynamic movement primitive (as described in [1,2])
 
 References:
diff --git a/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py b/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
index 01385c7..9b5af57 100644
--- a/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
+++ b/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define canonical systems for dynamic movement primitives
 
 This file implements canonical systems for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py b/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
index ec10993..2f60a24 100644
--- a/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the discrete dynamic movement primitive.
 """
 
diff --git a/pyrobolearn/models/dmp/dmpytorch/dmp.py b/pyrobolearn/models/dmp/dmpytorch/dmp.py
index af8d427..7072a26 100644
--- a/pyrobolearn/models/dmp/dmpytorch/dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the general dynamic movement primitive abstract class.
 
 This file implements the DMP abstract class from which all dynamic movement primitive classes inherit from.
diff --git a/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py b/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
index 48137cc..dfa863a 100644
--- a/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
+++ b/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the forcing terms used in dynamic movement primitives
 
 This file implements the forcing terms used for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py b/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
index 221ca82..795c7d3 100644
--- a/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the rhythmic dynamic movement primitive.
 """
 
diff --git a/pyrobolearn/models/dmp/dmpytorch/weight.py b/pyrobolearn/models/dmp/dmpytorch/weight.py
index 9347461..57cdc51 100644
--- a/pyrobolearn/models/dmp/dmpytorch/weight.py
+++ b/pyrobolearn/models/dmp/dmpytorch/weight.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define weights used in the forcing terms in dynamic movement primitives
 """
 
diff --git a/pyrobolearn/models/dmp/forcing_terms.py b/pyrobolearn/models/dmp/forcing_terms.py
index ed361ee..ecf459b 100644
--- a/pyrobolearn/models/dmp/forcing_terms.py
+++ b/pyrobolearn/models/dmp/forcing_terms.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the forcing terms used in dynamic movement primitives
 
 This file implements the forcing terms used for discrete and rhythmic dynamic movement primitives.
diff --git a/pyrobolearn/models/dmp/orientation_dmp.py b/pyrobolearn/models/dmp/orientation_dmp.py
index d768042..9af08f6 100644
--- a/pyrobolearn/models/dmp/orientation_dmp.py
+++ b/pyrobolearn/models/dmp/orientation_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define DMPs for orientations
 
 For orientations expressed as rotation matrices or quaternions, DMPs have to be reformulated to account for the manifold on which these mathematical objects live. This is different from the standard DMP equations which assumes that the space is Euclidean.
diff --git a/pyrobolearn/models/dmp/rhythmic_dmp.py b/pyrobolearn/models/dmp/rhythmic_dmp.py
index 2be5dc1..3863ce9 100644
--- a/pyrobolearn/models/dmp/rhythmic_dmp.py
+++ b/pyrobolearn/models/dmp/rhythmic_dmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the rhythmic dynamic movement primitive.
 """
 
diff --git a/pyrobolearn/models/gaussian.py b/pyrobolearn/models/gaussian.py
index b699eba..e4bb2b3 100755
--- a/pyrobolearn/models/gaussian.py
+++ b/pyrobolearn/models/gaussian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Multivariate Gaussian / Normal distribution class.
 
 This distribution is so important in the field of Machine Learning that it is implemented from scratch with all
diff --git a/pyrobolearn/models/gmm/gmm.py b/pyrobolearn/models/gmm/gmm.py
index 10e1834..faeffe5 100755
--- a/pyrobolearn/models/gmm/gmm.py
+++ b/pyrobolearn/models/gmm/gmm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Gaussian Mixture Model and Gaussian Mixture Regression
 
 This file provides the Gaussian Mixture Model, and uses the Gaussian model defined in the `gaussian.py` file.
diff --git a/pyrobolearn/models/gp/gp.py b/pyrobolearn/models/gp/gp.py
index d4dadda..0d25d01 100644
--- a/pyrobolearn/models/gp/gp.py
+++ b/pyrobolearn/models/gp/gp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Gaussian Process (GP) learning model.
 
 This file provides the Gaussian Process (GP) model; a non-parametric, discriminative, and probabilistic model.
diff --git a/pyrobolearn/models/gp/gplvm.py b/pyrobolearn/models/gp/gplvm.py
index df13785..420089d 100644
--- a/pyrobolearn/models/gp/gplvm.py
+++ b/pyrobolearn/models/gp/gplvm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Gaussian Process Latent Variable Model (GPLVM)
 
 This file provides the GPLVM and shared GPLVM.
diff --git a/pyrobolearn/models/hmm/hmm.py b/pyrobolearn/models/hmm/hmm.py
index aa26f9b..2d0c3fc 100644
--- a/pyrobolearn/models/hmm/hmm.py
+++ b/pyrobolearn/models/hmm/hmm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # This file describes the Hidden Markov Model
+# -*- coding: utf-8 -*-
 
 # TODO: implement this model
 
diff --git a/pyrobolearn/models/kmp/kmp.py b/pyrobolearn/models/kmp/kmp.py
index 640b2b2..b810c33 100644
--- a/pyrobolearn/models/kmp/kmp.py
+++ b/pyrobolearn/models/kmp/kmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the kernelized movement primitive class.
 
 This file provides the Kernelized Movement Primitive (KMP) model, and uses the Gaussian mixture model as well as
diff --git a/pyrobolearn/models/model.py b/pyrobolearn/models/model.py
index 98a701e..79d919e 100644
--- a/pyrobolearn/models/model.py
+++ b/pyrobolearn/models/model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Model abstract class from which all learning models inherit from.
 
 Dependencies: None
diff --git a/pyrobolearn/models/nn/ae.py b/pyrobolearn/models/nn/ae.py
index 2ec6f18..26cb981 100644
--- a/pyrobolearn/models/nn/ae.py
+++ b/pyrobolearn/models/nn/ae.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Auto-Encoder (AE) learning model.
 
 This file provides the AE model; a parametric, generally non-linear, non-recurrent, discriminative,
diff --git a/pyrobolearn/models/nn/bnn.py b/pyrobolearn/models/nn/bnn.py
index 58c542c..e75d40d 100644
--- a/pyrobolearn/models/nn/bnn.py
+++ b/pyrobolearn/models/nn/bnn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide Bayesian Neural Networks.
 
 This file provides Bayesian neural networks which add uncertainty to the the prediction of NNs. In a bayesian neural
diff --git a/pyrobolearn/models/nn/capsule.py b/pyrobolearn/models/nn/capsule.py
index cedddcd..38a31a9 100644
--- a/pyrobolearn/models/nn/capsule.py
+++ b/pyrobolearn/models/nn/capsule.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide Capsule networks.
 
 References:
diff --git a/pyrobolearn/models/nn/cnn.py b/pyrobolearn/models/nn/cnn.py
index ebc859c..fed05b5 100644
--- a/pyrobolearn/models/nn/cnn.py
+++ b/pyrobolearn/models/nn/cnn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Convolutional Neural Network (CNN) learning model.
 
 This file provides the CNN model; a parametric, generally non-linear, non-recurrent, discriminative,
diff --git a/pyrobolearn/models/nn/dnn.py b/pyrobolearn/models/nn/dnn.py
index 3570cee..cc396f5 100644
--- a/pyrobolearn/models/nn/dnn.py
+++ b/pyrobolearn/models/nn/dnn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Deep Neural Network (DNN) learning model.
 
 This file provides the DNN model; a parametric, generally non-linear, possibly recurrent, discriminative/generative,
diff --git a/pyrobolearn/models/nn/gan.py b/pyrobolearn/models/nn/gan.py
index 514ec14..ad2ff78 100644
--- a/pyrobolearn/models/nn/gan.py
+++ b/pyrobolearn/models/nn/gan.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Generative Adversarial Network (GAN) learning model.
 
 This file provides the GAN model; a parametric, generally non-linear, non-recurrent, generative, and stochastic model.
diff --git a/pyrobolearn/models/nn/mann.py b/pyrobolearn/models/nn/mann.py
index 4843fea..22a202c 100644
--- a/pyrobolearn/models/nn/mann.py
+++ b/pyrobolearn/models/nn/mann.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various memory-augmented neural networks (MANNs).
 
 This file provides the various MANNs; a parametric, generally non-linear, recurrent with memory, discriminative,
diff --git a/pyrobolearn/models/nn/mlp.py b/pyrobolearn/models/nn/mlp.py
index cf598fd..6cf8139 100644
--- a/pyrobolearn/models/nn/mlp.py
+++ b/pyrobolearn/models/nn/mlp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Multi-Layer Perceptron (MLP) learning model.
 
 This file provides the MLP model; a parametric, generally non-linear, non-recurrent, discriminative,
diff --git a/pyrobolearn/models/nn/neat_model.py b/pyrobolearn/models/nn/neat_model.py
index e42bfee..6cda116 100644
--- a/pyrobolearn/models/nn/neat_model.py
+++ b/pyrobolearn/models/nn/neat_model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the NEAT model class.
 
 This uses the Neuro-Evolution through Augmenting topologies (NEAT) framework. It allows the evolution of not only the
diff --git a/pyrobolearn/models/nn/rcnn.py b/pyrobolearn/models/nn/rcnn.py
index 100f9fb..8a04ed7 100644
--- a/pyrobolearn/models/nn/rcnn.py
+++ b/pyrobolearn/models/nn/rcnn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Recurrent Convolutional Neural Network (RCNN) learning model.
 
 This file provides the RCNN model; a parametric, generally non-linear, recurrent, discriminative,
diff --git a/pyrobolearn/models/nn/rnn.py b/pyrobolearn/models/nn/rnn.py
index 7704174..93f3b3a 100644
--- a/pyrobolearn/models/nn/rnn.py
+++ b/pyrobolearn/models/nn/rnn.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Recurrent Neural Network (RNN) learning model.
 
 This file provides the RNN model; a parametric, generally non-linear, recurrent, discriminative,
diff --git a/pyrobolearn/models/nn/vae.py b/pyrobolearn/models/nn/vae.py
index de9358a..a461fdb 100644
--- a/pyrobolearn/models/nn/vae.py
+++ b/pyrobolearn/models/nn/vae.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Variational Auto-Encoder (VAE) learning model.
 
 This file provides the VAE model; a parametric, generally non-linear, non-recurrent, generative, and stochastic model.
diff --git a/pyrobolearn/models/promp/basis_functions.py b/pyrobolearn/models/promp/basis_functions.py
index 1a72e69..6f7a9da 100644
--- a/pyrobolearn/models/promp/basis_functions.py
+++ b/pyrobolearn/models/promp/basis_functions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the various basis functions and matrices used in ProMPs.
 
 A basis matrix contains the basis functions, and the derivative of the basis functions (with respect to the phase),
diff --git a/pyrobolearn/models/promp/canonical_systems.py b/pyrobolearn/models/promp/canonical_systems.py
index ee4cd35..e4c8e85 100644
--- a/pyrobolearn/models/promp/canonical_systems.py
+++ b/pyrobolearn/models/promp/canonical_systems.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the canonical systems used in ProMPs.
 
 This file defines the canonical systems used in ProMPs. The canonical system (CS) allows to modulate temporarily the
diff --git a/pyrobolearn/models/promp/discrete_promp.py b/pyrobolearn/models/promp/discrete_promp.py
index 54169ad..dc6b0ad 100644
--- a/pyrobolearn/models/promp/discrete_promp.py
+++ b/pyrobolearn/models/promp/discrete_promp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the discrete ProMP.
 
 References
diff --git a/pyrobolearn/models/promp/promp.py b/pyrobolearn/models/promp/promp.py
index 3134f7c..c36adb6 100755
--- a/pyrobolearn/models/promp/promp.py
+++ b/pyrobolearn/models/promp/promp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Probabilistic Movement Primitive class
 
 This file defines the Probabilistic Movement Primitive (ProMP) model, and use the Gaussian distribution defined
diff --git a/pyrobolearn/models/promp/rhythmic_promp.py b/pyrobolearn/models/promp/rhythmic_promp.py
index 2698e4d..7931fe8 100644
--- a/pyrobolearn/models/promp/rhythmic_promp.py
+++ b/pyrobolearn/models/promp/rhythmic_promp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the discrete ProMP.
 
 References
diff --git a/pyrobolearn/models/rmp/rmp.py b/pyrobolearn/models/rmp/rmp.py
index 6da0101..491ab4a 100644
--- a/pyrobolearn/models/rmp/rmp.py
+++ b/pyrobolearn/models/rmp/rmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the Riemannian Motion Policies
 
 "The Riemannian Motion Policy (RMP) is an acceleration field (dynamical system) coupled with a corresponding Riemannian metric defining directions of importance at each point, typically defined on a nonlinear task space." [1]
@@ -7,6 +7,7 @@ r"""Define the Riemannian Motion Policies
 References:
     - [1] "Riemannian Motion Policies", Ratliff et al., 2018
     - [2] "RMPflow: A Computational Graph for Automatic Motion Policy Generation", Cheng et al., 2018
+    - [3] "Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations", Rana et al., 2019
 
 Implementations found online:
     - RMP in ROS: https://github.com/rortiz9/rmp-ros
@@ -15,8 +16,19 @@ Implementations found online:
 
 # TODO: read and implement the RMP
 
+import torch
+
 from pyrobolearn.models.model import Model
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class RMP(object):  # Model
     r"""Riemannian Motion Policies
@@ -24,6 +36,7 @@ class RMP(object):  # Model
     References:
         - [1] "Riemannian Motion Policies", Ratliff et al., 2018
         - [2] "RMPflow: A Computational Graph for Automatic Motion Policy Generation", Cheng et al., 2018
+        - [3] "Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations", Rana et al., 2019
     """
 
     def __init__(self):
diff --git a/pyrobolearn/optimizers/bound.py b/pyrobolearn/optimizers/bound.py
index 8e81a2b..82f23fc 100644
--- a/pyrobolearn/optimizers/bound.py
+++ b/pyrobolearn/optimizers/bound.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the bounds in an optimization problem.
 
 A constrained optimization problem is generally given by:
diff --git a/pyrobolearn/optimizers/cma_optimizer.py b/pyrobolearn/optimizers/cma_optimizer.py
index 39aad6d..aaa1466 100644
--- a/pyrobolearn/optimizers/cma_optimizer.py
+++ b/pyrobolearn/optimizers/cma_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the Covariance Adaptation Matrix (CMA) which uses an evolution strategy to optimize
 the parameters.
 
diff --git a/pyrobolearn/optimizers/constraint.py b/pyrobolearn/optimizers/constraint.py
index 12635c2..57f75a9 100644
--- a/pyrobolearn/optimizers/constraint.py
+++ b/pyrobolearn/optimizers/constraint.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the constraints in an optimization problem.
 
 A constrained optimization problem is generally given by:
diff --git a/pyrobolearn/optimizers/gpyopt_optimizer.py b/pyrobolearn/optimizers/gpyopt_optimizer.py
index 8e3c847..a0c2d95 100644
--- a/pyrobolearn/optimizers/gpyopt_optimizer.py
+++ b/pyrobolearn/optimizers/gpyopt_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the GPyOpt optimizers for Bayesian Optimization (BO).
 
 References:
diff --git a/pyrobolearn/optimizers/ipopt_optimizer.py b/pyrobolearn/optimizers/ipopt_optimizer.py
index 57c037e..5a8584a 100644
--- a/pyrobolearn/optimizers/ipopt_optimizer.py
+++ b/pyrobolearn/optimizers/ipopt_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the non-linear Interior Point optimizer (IPopt).
 
 References:
diff --git a/pyrobolearn/optimizers/nlopt_optimizer.py b/pyrobolearn/optimizers/nlopt_optimizer.py
index b2b30a5..f51e144 100644
--- a/pyrobolearn/optimizers/nlopt_optimizer.py
+++ b/pyrobolearn/optimizers/nlopt_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the Non-Linear optimizers (NLopt).
 
 References:
diff --git a/pyrobolearn/optimizers/objective.py b/pyrobolearn/optimizers/objective.py
index aff44a5..a04145b 100644
--- a/pyrobolearn/optimizers/objective.py
+++ b/pyrobolearn/optimizers/objective.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the objective function in an optimization problem.
 
 A constrained optimization problem is generally given by:
diff --git a/pyrobolearn/optimizers/optimization.py b/pyrobolearn/optimizers/optimization.py
index 6037d75..515f7ee 100644
--- a/pyrobolearn/optimizers/optimization.py
+++ b/pyrobolearn/optimizers/optimization.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 
 class TrustRegion(object):
     r"""Trust Region
diff --git a/pyrobolearn/optimizers/optimization_problem.py b/pyrobolearn/optimizers/optimization_problem.py
index 2b5d6ce..bb72232 100644
--- a/pyrobolearn/optimizers/optimization_problem.py
+++ b/pyrobolearn/optimizers/optimization_problem.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Define the optimization problem.
 
 A constrained optimization problem is generally given by:
diff --git a/pyrobolearn/optimizers/optimizer.py b/pyrobolearn/optimizers/optimizer.py
index 516f2f3..900c9af 100644
--- a/pyrobolearn/optimizers/optimizer.py
+++ b/pyrobolearn/optimizers/optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the abstract optimizer class.
 
 Optimizers allows to optimize (i.e. minimize or maximize) a utility function (also known as objective function,
diff --git a/pyrobolearn/optimizers/qpsolvers_optimizer.py b/pyrobolearn/optimizers/qpsolvers_optimizer.py
index 611dcb8..cd9a851 100644
--- a/pyrobolearn/optimizers/qpsolvers_optimizer.py
+++ b/pyrobolearn/optimizers/qpsolvers_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around quadratic programming solvers.
 
 References:
diff --git a/pyrobolearn/optimizers/scipy_optimizer.py b/pyrobolearn/optimizers/scipy_optimizer.py
index f473987..1ead2cd 100644
--- a/pyrobolearn/optimizers/scipy_optimizer.py
+++ b/pyrobolearn/optimizers/scipy_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide a wrapper around the Scipy optimizers.
 
 References:
diff --git a/pyrobolearn/optimizers/torch_optimizer.py b/pyrobolearn/optimizers/torch_optimizer.py
index 3f5ab02..4652484 100644
--- a/pyrobolearn/optimizers/torch_optimizer.py
+++ b/pyrobolearn/optimizers/torch_optimizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide wrappers around the torch optimizers.
 
 Compared to the optimizers present in the PyTorch library [1], which require to pass the parameters of the model when
diff --git a/pyrobolearn/parameters/updater.py b/pyrobolearn/parameters/updater.py
index 267cef6..fcf759c 100644
--- a/pyrobolearn/parameters/updater.py
+++ b/pyrobolearn/parameters/updater.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the various update schemes to update optimization parameters and model parameters.
 
 These parameters include parameters of a learning model, simple weight numbers (int or float) used in losses/rewards,
diff --git a/pyrobolearn/physics/actuators_randomizer.py b/pyrobolearn/physics/actuators_randomizer.py
index f0aca33..da8deac 100644
--- a/pyrobolearn/physics/actuators_randomizer.py
+++ b/pyrobolearn/physics/actuators_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `ActuatorRandomizer` class which randomizes the physical attributes / properties of an actuator.
 
 Dependencies:
diff --git a/pyrobolearn/physics/body_physics_randomizer.py b/pyrobolearn/physics/body_physics_randomizer.py
index a48f303..8755f8e 100644
--- a/pyrobolearn/physics/body_physics_randomizer.py
+++ b/pyrobolearn/physics/body_physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `BodyPhysicsRandomizer` class which randomizes the physical attributes / properties of a body.
 
 Dependencies:
diff --git a/pyrobolearn/physics/joint_physics_randomizer.py b/pyrobolearn/physics/joint_physics_randomizer.py
index 1ebfb51..0c2fbde 100644
--- a/pyrobolearn/physics/joint_physics_randomizer.py
+++ b/pyrobolearn/physics/joint_physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `JointPhysicsRandomizer` class which randomizes the physical attributes / properties of a joint or
 multiple joints of a specific body.
 
diff --git a/pyrobolearn/physics/link_physics_randomizer.py b/pyrobolearn/physics/link_physics_randomizer.py
index b2723e3..2544dee 100644
--- a/pyrobolearn/physics/link_physics_randomizer.py
+++ b/pyrobolearn/physics/link_physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `LinkPhysicsRandomizer` class which randomizes the physical attributes / properties of a link or
 multiple links of a specific body.
 
diff --git a/pyrobolearn/physics/physics_randomizer.py b/pyrobolearn/physics/physics_randomizer.py
index 264e26c..b67934b 100644
--- a/pyrobolearn/physics/physics_randomizer.py
+++ b/pyrobolearn/physics/physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `PhysicsRandomizer` class which randomizes the physical attributes / properties of an object.
 
 This is the main abstract class from which all physics randomizers inherit from.
diff --git a/pyrobolearn/physics/robot_physics_randomizer.py b/pyrobolearn/physics/robot_physics_randomizer.py
index 9816745..1e2df19 100644
--- a/pyrobolearn/physics/robot_physics_randomizer.py
+++ b/pyrobolearn/physics/robot_physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `RobotPhysicsRandomizer` class which randomizes the physical attributes / properties of links and joints.
 
 Dependencies:
diff --git a/pyrobolearn/physics/sensors_randomizer.py b/pyrobolearn/physics/sensors_randomizer.py
index fded868..9f2c8c4 100644
--- a/pyrobolearn/physics/sensors_randomizer.py
+++ b/pyrobolearn/physics/sensors_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `SensorRandomizer` class which randomizes the physical attributes / properties of a sensor.
 
 Dependencies:
diff --git a/pyrobolearn/physics/world_physics_randomizer.py b/pyrobolearn/physics/world_physics_randomizer.py
index 615a8f2..e9a1302 100644
--- a/pyrobolearn/physics/world_physics_randomizer.py
+++ b/pyrobolearn/physics/world_physics_randomizer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `WorldPhysicsRandomizer` class which randomizes the physical attributes / properties of the world.
 
 Dependencies:
diff --git a/pyrobolearn/policies/basic_policy.py b/pyrobolearn/policies/basic_policy.py
index 1e82216..4fcfab3 100644
--- a/pyrobolearn/policies/basic_policy.py
+++ b/pyrobolearn/policies/basic_policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define various basic policies.
 
 Define the various basic policies such as the random policy, linear policy, policies based on value functions, etc.
diff --git a/pyrobolearn/policies/cpg_policy.py b/pyrobolearn/policies/cpg_policy.py
index 1e29abe..5140372 100644
--- a/pyrobolearn/policies/cpg_policy.py
+++ b/pyrobolearn/policies/cpg_policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Central Pattern Generator (CPG) Policy.
 
 Define the various CPG policies that can be used.
diff --git a/pyrobolearn/policies/dmp_policy.py b/pyrobolearn/policies/dmp_policy.py
index d04508d..62ff969 100644
--- a/pyrobolearn/policies/dmp_policy.py
+++ b/pyrobolearn/policies/dmp_policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Dynamic Movement Primitive (DMP) Policy.
 
 Define the various DMP policies that can be used.
diff --git a/pyrobolearn/policies/neat_policy.py b/pyrobolearn/policies/neat_policy.py
index 0e7d174..e818832 100644
--- a/pyrobolearn/policies/neat_policy.py
+++ b/pyrobolearn/policies/neat_policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the NEAT policy class.
 
 This uses the Neuro-Evolution through Augmenting topologies (NEAT) framework. It allows the evolution of not only the
diff --git a/pyrobolearn/policies/nn_policy.py b/pyrobolearn/policies/nn_policy.py
index fe8dc49..1bc0c0c 100644
--- a/pyrobolearn/policies/nn_policy.py
+++ b/pyrobolearn/policies/nn_policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Neural Network (NN) Policies.
 
 Define the various neural network policies that can be used.
diff --git a/pyrobolearn/policies/policy.py b/pyrobolearn/policies/policy.py
index 3f733e5..7f645c2 100644
--- a/pyrobolearn/policies/policy.py
+++ b/pyrobolearn/policies/policy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the basic Policy class.
 
 A policy couples one or several learning model(s), the action, and state together. In this framework, the policy
diff --git a/pyrobolearn/policies/polynomial.py b/pyrobolearn/policies/polynomial.py
index a051954..d08eeaf 100644
--- a/pyrobolearn/policies/polynomial.py
+++ b/pyrobolearn/policies/polynomial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the polynomial policy.
 
 The polynomial policy uses a polynomial parametric approximator to predict the action vector based on the state vector.
diff --git a/pyrobolearn/priorities/attractor_point.py b/pyrobolearn/priorities/attractor_point.py
index bec1fe5..2de6867 100644
--- a/pyrobolearn/priorities/attractor_point.py
+++ b/pyrobolearn/priorities/attractor_point.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Attractor point using impedance control with RRBot.
 
 Try to move the end-effector using the mouse, and see what happens. This example use priority tasks and constraints,
diff --git a/pyrobolearn/priorities/constraints/acceleration/dynamic_feasibility.py b/pyrobolearn/priorities/constraints/acceleration/dynamic_feasibility.py
index 9e4ee07..8c2c3a5 100644
--- a/pyrobolearn/priorities/constraints/acceleration/dynamic_feasibility.py
+++ b/pyrobolearn/priorities/constraints/acceleration/dynamic_feasibility.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the dynamic feasibility constraint.
 
 The equality dynamic feasibility constraint is given by:
diff --git a/pyrobolearn/priorities/constraints/constraint.py b/pyrobolearn/priorities/constraints/constraint.py
index a04ae04..d6afc5a 100644
--- a/pyrobolearn/priorities/constraints/constraint.py
+++ b/pyrobolearn/priorities/constraints/constraint.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the various constraints and bounds used in QP.
 
 Provide the various optimization constraints (:math:`G, h, F, c` in the upcoming formulation) used in QP.
diff --git a/pyrobolearn/priorities/constraints/constraint_from_task.py b/pyrobolearn/priorities/constraints/constraint_from_task.py
index df515dc..4062ea1 100644
--- a/pyrobolearn/priorities/constraints/constraint_from_task.py
+++ b/pyrobolearn/priorities/constraints/constraint_from_task.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Transform a given equality constraint into a task.
 
 An equality constraint specified by :math:`Fx = k` is transformed to a soft task :math:`||Ax - b||^2`, where
diff --git a/pyrobolearn/priorities/constraints/dynamic_constraints.py b/pyrobolearn/priorities/constraints/dynamic_constraints.py
index ce898fd..37daaa5 100644
--- a/pyrobolearn/priorities/constraints/dynamic_constraints.py
+++ b/pyrobolearn/priorities/constraints/dynamic_constraints.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various kinematic constraints used in QP.
 
 References:
diff --git a/pyrobolearn/priorities/constraints/force/contact.py b/pyrobolearn/priorities/constraints/force/contact.py
index 886c086..f821ab5 100644
--- a/pyrobolearn/priorities/constraints/force/contact.py
+++ b/pyrobolearn/priorities/constraints/force/contact.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the contact (force normal) constraint.
 
 The lower unilateral contact force constraint is given by :math:`0 \leq f^i_n` where :math:`f^i_n` is the normal
diff --git a/pyrobolearn/priorities/constraints/force/cop.py b/pyrobolearn/priorities/constraints/force/cop.py
index 282186d..6f95597 100644
--- a/pyrobolearn/priorities/constraints/force/cop.py
+++ b/pyrobolearn/priorities/constraints/force/cop.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the center of pressure constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/force/friction.py b/pyrobolearn/priorities/constraints/force/friction.py
index 93a464d..b8ef34b 100644
--- a/pyrobolearn/priorities/constraints/force/friction.py
+++ b/pyrobolearn/priorities/constraints/force/friction.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the friction cone (nonlinear) and pyramid (linear) constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/force/wrench_limits.py b/pyrobolearn/priorities/constraints/force/wrench_limits.py
index a1896d8..9285181 100644
--- a/pyrobolearn/priorities/constraints/force/wrench_limits.py
+++ b/pyrobolearn/priorities/constraints/force/wrench_limits.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the wrench limits constraint.
 
 This provides bounds/limits on the wrenches:
diff --git a/pyrobolearn/priorities/constraints/force/zmp.py b/pyrobolearn/priorities/constraints/force/zmp.py
index 819faf9..cdd02df 100644
--- a/pyrobolearn/priorities/constraints/force/zmp.py
+++ b/pyrobolearn/priorities/constraints/force/zmp.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Zero-Moment Point constraint.
 
 The ZMP constraints can be expressed as:
diff --git a/pyrobolearn/priorities/constraints/kinematic_constraints.py b/pyrobolearn/priorities/constraints/kinematic_constraints.py
index 8af7158..3f66b67 100644
--- a/pyrobolearn/priorities/constraints/kinematic_constraints.py
+++ b/pyrobolearn/priorities/constraints/kinematic_constraints.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various kinematic constraints used in QP.
 
 References:
diff --git a/pyrobolearn/priorities/constraints/torque/joint_limits.py b/pyrobolearn/priorities/constraints/torque/joint_limits.py
index 629ffb9..78050a8 100644
--- a/pyrobolearn/priorities/constraints/torque/joint_limits.py
+++ b/pyrobolearn/priorities/constraints/torque/joint_limits.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the joint limits constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/torque/torque_limits.py b/pyrobolearn/priorities/constraints/torque/torque_limits.py
index bfee993..296ee27 100644
--- a/pyrobolearn/priorities/constraints/torque/torque_limits.py
+++ b/pyrobolearn/priorities/constraints/torque/torque_limits.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the torque limits constraint.
 
 This provides bounds/limits on the joint torques:
diff --git a/pyrobolearn/priorities/constraints/velocity/capture_point.py b/pyrobolearn/priorities/constraints/velocity/capture_point.py
index 6532a47..3e7547f 100644
--- a/pyrobolearn/priorities/constraints/velocity/capture_point.py
+++ b/pyrobolearn/priorities/constraints/velocity/capture_point.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the capture point constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/velocity/cartesian_position.py b/pyrobolearn/priorities/constraints/velocity/cartesian_position.py
index 5bd82e0..6f5d5a0 100644
--- a/pyrobolearn/priorities/constraints/velocity/cartesian_position.py
+++ b/pyrobolearn/priorities/constraints/velocity/cartesian_position.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Cartesian Position constraint.
 
 The bilateral inequality cartesian position constraint is given by:
diff --git a/pyrobolearn/priorities/constraints/velocity/cartesian_velocity.py b/pyrobolearn/priorities/constraints/velocity/cartesian_velocity.py
index ae39dba..9e8f62b 100644
--- a/pyrobolearn/priorities/constraints/velocity/cartesian_velocity.py
+++ b/pyrobolearn/priorities/constraints/velocity/cartesian_velocity.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the cartesian velocity constraint.
 
 The bilateral inequality cartesian velocity constraint is given by:
diff --git a/pyrobolearn/priorities/constraints/velocity/com_velocity.py b/pyrobolearn/priorities/constraints/velocity/com_velocity.py
index ec5a9fc..6ebda2b 100644
--- a/pyrobolearn/priorities/constraints/velocity/com_velocity.py
+++ b/pyrobolearn/priorities/constraints/velocity/com_velocity.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Center of Mass velocity constraint.
 
 The bilateral inequality CoM velocity constraint is given by:
diff --git a/pyrobolearn/priorities/constraints/velocity/convex_hull.py b/pyrobolearn/priorities/constraints/velocity/convex_hull.py
index 3625c85..edcc508 100644
--- a/pyrobolearn/priorities/constraints/velocity/convex_hull.py
+++ b/pyrobolearn/priorities/constraints/velocity/convex_hull.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Convex Hull constraint.
 
 This convex hull constraints make sure that the projected CoM position (in the x-y directions) belongs to the
diff --git a/pyrobolearn/priorities/constraints/velocity/dynamics.py b/pyrobolearn/priorities/constraints/velocity/dynamics.py
index 841c74f..23b0999 100644
--- a/pyrobolearn/priorities/constraints/velocity/dynamics.py
+++ b/pyrobolearn/priorities/constraints/velocity/dynamics.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the dynamics constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/velocity/joint_limits.py b/pyrobolearn/priorities/constraints/velocity/joint_limits.py
index 0badaea..542e531 100644
--- a/pyrobolearn/priorities/constraints/velocity/joint_limits.py
+++ b/pyrobolearn/priorities/constraints/velocity/joint_limits.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the joint position limits constraint.
 
 This provides bounds/limits on the joint positions, which are given by:
diff --git a/pyrobolearn/priorities/constraints/velocity/joint_velocity.py b/pyrobolearn/priorities/constraints/velocity/joint_velocity.py
index 4df18ea..0bffe33 100644
--- a/pyrobolearn/priorities/constraints/velocity/joint_velocity.py
+++ b/pyrobolearn/priorities/constraints/velocity/joint_velocity.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the differential kinematics constraint.
 
 This provides the joint velocity constraints which is given by:
diff --git a/pyrobolearn/priorities/constraints/velocity/self_collision_avoidance.py b/pyrobolearn/priorities/constraints/velocity/self_collision_avoidance.py
index 7d0c030..e9af745 100644
--- a/pyrobolearn/priorities/constraints/velocity/self_collision_avoidance.py
+++ b/pyrobolearn/priorities/constraints/velocity/self_collision_avoidance.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the self collision avoidance constraint.
 
 
diff --git a/pyrobolearn/priorities/constraints/velocity/velocity_limits.py b/pyrobolearn/priorities/constraints/velocity/velocity_limits.py
index 3380ab0..d6a6d20 100644
--- a/pyrobolearn/priorities/constraints/velocity/velocity_limits.py
+++ b/pyrobolearn/priorities/constraints/velocity/velocity_limits.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the velocity limits constraint.
 
 This provides bounds/limits on the joint velocities
diff --git a/pyrobolearn/priorities/ik.py b/pyrobolearn/priorities/ik.py
index d4b6af8..e516b7a 100644
--- a/pyrobolearn/priorities/ik.py
+++ b/pyrobolearn/priorities/ik.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Inverse kinematics with the Kuka robot where the goal is to follow a moving sphere.
 
 The inverse kinematics is performed using priority tasks and constraints, which are optimized using Quadratic
diff --git a/pyrobolearn/priorities/models/model.py b/pyrobolearn/priorities/models/model.py
index c59138c..b296c69 100644
--- a/pyrobolearn/priorities/models/model.py
+++ b/pyrobolearn/priorities/models/model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Model interface used in priority tasks.
 
 A model interface is an abstraction layer that provides a common interface and remove the direct coupling between the
diff --git a/pyrobolearn/priorities/models/rbdl_model.py b/pyrobolearn/priorities/models/rbdl_model.py
index bc16cad..e08e6df 100644
--- a/pyrobolearn/priorities/models/rbdl_model.py
+++ b/pyrobolearn/priorities/models/rbdl_model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""RBDL model interface used in priority tasks.
 
 This is based on the implementation in `https://github.com/ADVRHumanoids/ModelInterfaceRBDL`, which is licensed under
diff --git a/pyrobolearn/priorities/models/robot_model.py b/pyrobolearn/priorities/models/robot_model.py
index e3023a0..0dd089c 100644
--- a/pyrobolearn/priorities/models/robot_model.py
+++ b/pyrobolearn/priorities/models/robot_model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Robot model interface used in priority tasks.
 
 References:
diff --git a/pyrobolearn/priorities/solvers/nlp_task_solver.py b/pyrobolearn/priorities/solvers/nlp_task_solver.py
index ea98273..16fb971 100644
--- a/pyrobolearn/priorities/solvers/nlp_task_solver.py
+++ b/pyrobolearn/priorities/solvers/nlp_task_solver.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the non-linear task solver.
 
 Warnings: This optimization process might take time to solve the task.
diff --git a/pyrobolearn/priorities/solvers/qp_task_solver.py b/pyrobolearn/priorities/solvers/qp_task_solver.py
index f3ddbd6..d058549 100644
--- a/pyrobolearn/priorities/solvers/qp_task_solver.py
+++ b/pyrobolearn/priorities/solvers/qp_task_solver.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the task solver that uses quadratic programming.
 
 A quadratic program (QP) is written in standard form [1]_ as:
diff --git a/pyrobolearn/priorities/solvers/task_solver.py b/pyrobolearn/priorities/solvers/task_solver.py
index fb17b73..e570da9 100644
--- a/pyrobolearn/priorities/solvers/task_solver.py
+++ b/pyrobolearn/priorities/solvers/task_solver.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the abstract task solver class from which all the other task solvers inherit from.
 
 A task solver accepts as inputs a task (or a stack of tasks) and an optimizer to use to solve the task.
diff --git a/pyrobolearn/priorities/tasks/acceleration/cartesian.py b/pyrobolearn/priorities/tasks/acceleration/cartesian.py
index 4f19c38..24b5a9c 100644
--- a/pyrobolearn/priorities/tasks/acceleration/cartesian.py
+++ b/pyrobolearn/priorities/tasks/acceleration/cartesian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Cartesian acceleration task.
 
 The Cartesian acceleration task tries to impose a desired pose, velocity and acceleration profiles for a distal
diff --git a/pyrobolearn/priorities/tasks/acceleration/com.py b/pyrobolearn/priorities/tasks/acceleration/com.py
index 978108e..48fe391 100644
--- a/pyrobolearn/priorities/tasks/acceleration/com.py
+++ b/pyrobolearn/priorities/tasks/acceleration/com.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the Cartesian CoM acceleration task.
 
 The CoM task tries to impose a desired position of the CoM with respect to the world frame.
diff --git a/pyrobolearn/priorities/tasks/acceleration/contact.py b/pyrobolearn/priorities/tasks/acceleration/contact.py
index 5d56ad3..888b9c9 100644
--- a/pyrobolearn/priorities/tasks/acceleration/contact.py
+++ b/pyrobolearn/priorities/tasks/acceleration/contact.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the contact acceleration task.
 
 The contact acceleration task tries to minimize the dynamic movement of a contact link:
diff --git a/pyrobolearn/priorities/tasks/acceleration/dynamic_feasibility.py b/pyrobolearn/priorities/tasks/acceleration/dynamic_feasibility.py
index 9300c46..02a8407 100644
--- a/pyrobolearn/priorities/tasks/acceleration/dynamic_feasibility.py
+++ b/pyrobolearn/priorities/tasks/acceleration/dynamic_feasibility.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the dynamic feasibility task (which is based on the dynamic feasibility constraint).
 
 The equality joint acceleration constraint is given by:
diff --git a/pyrobolearn/priorities/tasks/acceleration/postural.py b/pyrobolearn/priorities/tasks/acceleration/postural.py
index 3a0474e..e5373a0 100644
--- a/pyrobolearn/priorities/tasks/acceleration/postural.py
+++ b/pyrobolearn/priorities/tasks/acceleration/postural.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the postural acceleration task.
 
 The postural task tries to bring the robot to a reference posture; that is, it minimizes the joint accelerations
diff --git a/pyrobolearn/priorities/tasks/dynamic_tasks.py b/pyrobolearn/priorities/tasks/dynamic_tasks.py
index 9d1f4f0..9bf8f2f 100644
--- a/pyrobolearn/priorities/tasks/dynamic_tasks.py
+++ b/pyrobolearn/priorities/tasks/dynamic_tasks.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various dynamic tasks (i.e. objective functions) used in QP.
 
 DEPRECATED.
diff --git a/pyrobolearn/priorities/tasks/force/com.py b/pyrobolearn/priorities/tasks/force/com.py
index 5335856..045b0be 100644
--- a/pyrobolearn/priorities/tasks/force/com.py
+++ b/pyrobolearn/priorities/tasks/force/com.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the center of mass force task.
 
 From the documentation of the framework of [1]: "The CoM task computes the wrenches at the contact, in world frame,
diff --git a/pyrobolearn/priorities/tasks/force/floating_base.py b/pyrobolearn/priorities/tasks/force/floating_base.py
index 0beebd2..cea38c8 100644
--- a/pyrobolearn/priorities/tasks/force/floating_base.py
+++ b/pyrobolearn/priorities/tasks/force/floating_base.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the floating base force task.
 
 From [1]: "this implements a task which maps forces acting on the floating base virtual chain to contacts".
diff --git a/pyrobolearn/priorities/tasks/force/manipulability.py b/pyrobolearn/priorities/tasks/force/manipulability.py
index 8726e43..4488a67 100644
--- a/pyrobolearn/priorities/tasks/force/manipulability.py
+++ b/pyrobolearn/priorities/tasks/force/manipulability.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the force manipulability task.
 
  The manipulability task implements a tasks that tries to maximize the force manipulability measure given in [1]:
diff --git a/pyrobolearn/priorities/tasks/force/wrench.py b/pyrobolearn/priorities/tasks/force/wrench.py
index f721faa..bf5c00b 100644
--- a/pyrobolearn/priorities/tasks/force/wrench.py
+++ b/pyrobolearn/priorities/tasks/force/wrench.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the wrench task.
 
 The wrench task tries to generate a wrench near the desired one by minimizing:
diff --git a/pyrobolearn/priorities/tasks/kinematic_tasks.py b/pyrobolearn/priorities/tasks/kinematic_tasks.py
index 41e1b8d..5db1ed5 100644
--- a/pyrobolearn/priorities/tasks/kinematic_tasks.py
+++ b/pyrobolearn/priorities/tasks/kinematic_tasks.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various kinematic tasks (i.e. objective functions) used in QP.
 
 DEPRECATED.
diff --git a/pyrobolearn/priorities/tasks/task.py b/pyrobolearn/priorities/tasks/task.py
index 5750085..908392d 100644
--- a/pyrobolearn/priorities/tasks/task.py
+++ b/pyrobolearn/priorities/tasks/task.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the various tasks (i.e. objective functions) used in QP.
 
 The tasks presented here represents the quadratic objective functions used in quadratic programming (QP).
diff --git a/pyrobolearn/priorities/tasks/task_from_constraint.py b/pyrobolearn/priorities/tasks/task_from_constraint.py
index b0795e6..0c016b2 100644
--- a/pyrobolearn/priorities/tasks/task_from_constraint.py
+++ b/pyrobolearn/priorities/tasks/task_from_constraint.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Transform a given equality constraint into a task.
 
 An equality constraint specified by :math:`Fx = k` is transformed to a soft task :math:`||Ax - b||^2`, where
diff --git a/pyrobolearn/priorities/tasks/torque/cartesian_impedance_control.py b/pyrobolearn/priorities/tasks/torque/cartesian_impedance_control.py
index a1fd30e..0546372 100644
--- a/pyrobolearn/priorities/tasks/torque/cartesian_impedance_control.py
+++ b/pyrobolearn/priorities/tasks/torque/cartesian_impedance_control.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the cartesian impedance control task.
 
 The cartesian impedance control task optimizes the joint torques such that it applies the necessary torques to
diff --git a/pyrobolearn/priorities/tasks/torque/joint_impedance_control.py b/pyrobolearn/priorities/tasks/torque/joint_impedance_control.py
index 7dbc7e2..d08f8be 100644
--- a/pyrobolearn/priorities/tasks/torque/joint_impedance_control.py
+++ b/pyrobolearn/priorities/tasks/torque/joint_impedance_control.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the joint impedance control task.
 
 The joint impedance control task minimizes the specified torques given as a PD control from the desired joint
diff --git a/pyrobolearn/priorities/tasks/torque/minimum_torque.py b/pyrobolearn/priorities/tasks/torque/minimum_torque.py
index 05c3b7b..eb899f3 100644
--- a/pyrobolearn/priorities/tasks/torque/minimum_torque.py
+++ b/pyrobolearn/priorities/tasks/torque/minimum_torque.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the minimum torque task.
 
 The minimum torque task minimizes the joint torques, that is it minimizes:
diff --git a/pyrobolearn/priorities/tasks/velocity/angular_momentum.py b/pyrobolearn/priorities/tasks/velocity/angular_momentum.py
index 7db3c6e..75322e8 100644
--- a/pyrobolearn/priorities/tasks/velocity/angular_momentum.py
+++ b/pyrobolearn/priorities/tasks/velocity/angular_momentum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the angular momentum task.
 
 The is the angular part of the `CentroidalMomentumTask`. The centroidal momentum task tries to minimize the
diff --git a/pyrobolearn/priorities/tasks/velocity/cartesian.py b/pyrobolearn/priorities/tasks/velocity/cartesian.py
index 2491091..0f8b0fe 100644
--- a/pyrobolearn/priorities/tasks/velocity/cartesian.py
+++ b/pyrobolearn/priorities/tasks/velocity/cartesian.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the cartesian (velocity) task.
 
 The cartesian task tries to impose a desired pose (position and orientation) and velocity of a distal link with
diff --git a/pyrobolearn/priorities/tasks/velocity/com.py b/pyrobolearn/priorities/tasks/velocity/com.py
index 9f319e7..0195061 100644
--- a/pyrobolearn/priorities/tasks/velocity/com.py
+++ b/pyrobolearn/priorities/tasks/velocity/com.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the center of mass velocity task.
 
 The CoM task tries to impose a desired position and (linear) velocity of the CoM with respect to the world frame.
diff --git a/pyrobolearn/priorities/tasks/velocity/contact.py b/pyrobolearn/priorities/tasks/velocity/contact.py
index e30d4f7..4c76b93 100644
--- a/pyrobolearn/priorities/tasks/velocity/contact.py
+++ b/pyrobolearn/priorities/tasks/velocity/contact.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the contact task.
 
 The contact task tries to minimize the movement of a contact link:
diff --git a/pyrobolearn/priorities/tasks/velocity/gaze.py b/pyrobolearn/priorities/tasks/velocity/gaze.py
index 11cb4be..45d66c4 100644
--- a/pyrobolearn/priorities/tasks/velocity/gaze.py
+++ b/pyrobolearn/priorities/tasks/velocity/gaze.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the gaze task.
 
 
diff --git a/pyrobolearn/priorities/tasks/velocity/interaction.py b/pyrobolearn/priorities/tasks/velocity/interaction.py
index 9cc8317..51ac684 100644
--- a/pyrobolearn/priorities/tasks/velocity/interaction.py
+++ b/pyrobolearn/priorities/tasks/velocity/interaction.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the interaction task.
 
 
diff --git a/pyrobolearn/priorities/tasks/velocity/linear_momentum.py b/pyrobolearn/priorities/tasks/velocity/linear_momentum.py
index 799666e..1b0f037 100644
--- a/pyrobolearn/priorities/tasks/velocity/linear_momentum.py
+++ b/pyrobolearn/priorities/tasks/velocity/linear_momentum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the linear momentum task.
 
 The is the linear part of the `CentroidalMomentumTask`. The centroidal momentum task tries to minimize the
diff --git a/pyrobolearn/priorities/tasks/velocity/manipulability.py b/pyrobolearn/priorities/tasks/velocity/manipulability.py
index 69cb838..5348bd9 100644
--- a/pyrobolearn/priorities/tasks/velocity/manipulability.py
+++ b/pyrobolearn/priorities/tasks/velocity/manipulability.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the manipulability task.
 
 The manipulability task implements a task that tries to maximize the manipulability measure given in [1]:
diff --git a/pyrobolearn/priorities/tasks/velocity/minimum_acceleration.py b/pyrobolearn/priorities/tasks/velocity/minimum_acceleration.py
index 9c53b84..1527a12 100644
--- a/pyrobolearn/priorities/tasks/velocity/minimum_acceleration.py
+++ b/pyrobolearn/priorities/tasks/velocity/minimum_acceleration.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the minimum acceleration task.
 
 The minimum acceleration task tries to minimize the change in velocity, that is, it minimizes:
diff --git a/pyrobolearn/priorities/tasks/velocity/minimum_effort.py b/pyrobolearn/priorities/tasks/velocity/minimum_effort.py
index e2f63ec..327e187 100644
--- a/pyrobolearn/priorities/tasks/velocity/minimum_effort.py
+++ b/pyrobolearn/priorities/tasks/velocity/minimum_effort.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the minimum effort task.
 
 
diff --git a/pyrobolearn/priorities/tasks/velocity/minimum_velocity.py b/pyrobolearn/priorities/tasks/velocity/minimum_velocity.py
index 8a47b9a..394e92b 100644
--- a/pyrobolearn/priorities/tasks/velocity/minimum_velocity.py
+++ b/pyrobolearn/priorities/tasks/velocity/minimum_velocity.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the minimum velocity task.
 
 The minimum velocity task minimizes the joint velocities, that is it minimizes:
diff --git a/pyrobolearn/priorities/tasks/velocity/momentum.py b/pyrobolearn/priorities/tasks/velocity/momentum.py
index e333526..1dbecef 100644
--- a/pyrobolearn/priorities/tasks/velocity/momentum.py
+++ b/pyrobolearn/priorities/tasks/velocity/momentum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the CoM linear and angular momentum task.
 
 The centroidal momentum task tries to minimize the difference between the desired and current centroidal moment
diff --git a/pyrobolearn/priorities/tasks/velocity/postural.py b/pyrobolearn/priorities/tasks/velocity/postural.py
index 6714e82..ed032ed 100644
--- a/pyrobolearn/priorities/tasks/velocity/postural.py
+++ b/pyrobolearn/priorities/tasks/velocity/postural.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the postural (velocity) task.
 
 The postural task tries to bring the robot to a reference posture; that is, it minimizes the joint velocities such
diff --git a/pyrobolearn/priorities/tasks/velocity/pure_rolling.py b/pyrobolearn/priorities/tasks/velocity/pure_rolling.py
index 9a52aca..1d6a623 100644
--- a/pyrobolearn/priorities/tasks/velocity/pure_rolling.py
+++ b/pyrobolearn/priorities/tasks/velocity/pure_rolling.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the pure rolling (no sliding) task.
 
 
diff --git a/pyrobolearn/priorities/tasks/velocity/rigid_rotation.py b/pyrobolearn/priorities/tasks/velocity/rigid_rotation.py
index 83752d0..7214c06 100644
--- a/pyrobolearn/priorities/tasks/velocity/rigid_rotation.py
+++ b/pyrobolearn/priorities/tasks/velocity/rigid_rotation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the rigid rotation task.
 
 
diff --git a/pyrobolearn/priorities/tasks/velocity/unicycle.py b/pyrobolearn/priorities/tasks/velocity/unicycle.py
index 7fc9ad1..f40d2b6 100644
--- a/pyrobolearn/priorities/tasks/velocity/unicycle.py
+++ b/pyrobolearn/priorities/tasks/velocity/unicycle.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the unicycle task.
 
 
diff --git a/pyrobolearn/processors/basic_processors.py b/pyrobolearn/processors/basic_processors.py
index ba8e667..591f4ce 100644
--- a/pyrobolearn/processors/basic_processors.py
+++ b/pyrobolearn/processors/basic_processors.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide basic processor classes that center, normalize, or standardize the given input.
 
 Processors are functions that are applied to the inputs (respectively outputs) of an approximator/learning model
diff --git a/pyrobolearn/processors/linear_processor.py b/pyrobolearn/processors/linear_processor.py
index 4f5c910..0b25123 100644
--- a/pyrobolearn/processors/linear_processor.py
+++ b/pyrobolearn/processors/linear_processor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Linear Processor class.
 """
 
diff --git a/pyrobolearn/processors/processor.py b/pyrobolearn/processors/processor.py
index 6151bd5..cbb2716 100644
--- a/pyrobolearn/processors/processor.py
+++ b/pyrobolearn/processors/processor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Processor class.
 
 Processors are functions that are applied to the inputs (respectively outputs) of an approximator/learning model
diff --git a/pyrobolearn/recorders/recorder.py b/pyrobolearn/recorders/recorder.py
index c5cebce..92c5cff 100644
--- a/pyrobolearn/recorders/recorder.py
+++ b/pyrobolearn/recorders/recorder.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the recorder classes.
 
 The recorders allow to record the data from a source at a certain rate.
diff --git a/pyrobolearn/returns/estimators.py b/pyrobolearn/returns/estimators.py
index 1eab5c9..a97ed19 100644
--- a/pyrobolearn/returns/estimators.py
+++ b/pyrobolearn/returns/estimators.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Describes the various `Estimators` / `Returns` used in reinforcement learning.
 
 - Estimators are evaluated on trajectories and directly saved in the rollout storage unit (i.e. RolloutStorage).
diff --git a/pyrobolearn/returns/evaluators.py b/pyrobolearn/returns/evaluators.py
index 00b6c15..fd7052a 100644
--- a/pyrobolearn/returns/evaluators.py
+++ b/pyrobolearn/returns/evaluators.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Computes the various targets based on value function on batches of trajectories/transitions (used in RL).
 
 The approximators are evaluated in . targets that are evaluated are placed inside the given batch, which can then be accessed by other classes.
diff --git a/pyrobolearn/returns/returns.py b/pyrobolearn/returns/returns.py
index 50d3197..0e27718 100644
--- a/pyrobolearn/returns/returns.py
+++ b/pyrobolearn/returns/returns.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Computes the various returns evaluated on batches of transitions (used in RL).
 
 The returns that are evaluated are placed inside the given batch, which can then be accessed by other classes.
diff --git a/pyrobolearn/returns/targets.py b/pyrobolearn/returns/targets.py
index 7e6030f..0463398 100644
--- a/pyrobolearn/returns/targets.py
+++ b/pyrobolearn/returns/targets.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Computes the various targets based on value function on batches of trajectories/transitions (used in RL).
 
 The targets that are evaluated are placed inside the given batch, which can then be accessed by other classes.
diff --git a/pyrobolearn/rewards/action_cost.py b/pyrobolearn/rewards/action_cost.py
index a61d9ec..a3be487 100644
--- a/pyrobolearn/rewards/action_cost.py
+++ b/pyrobolearn/rewards/action_cost.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the costs used on actions.
 """
 
diff --git a/pyrobolearn/rewards/basic_rewards.py b/pyrobolearn/rewards/basic_rewards.py
index 2533e48..ed0fd7e 100644
--- a/pyrobolearn/rewards/basic_rewards.py
+++ b/pyrobolearn/rewards/basic_rewards.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some basic rewards used in reinforcement learning and optimization.
 
 Dependencies:
diff --git a/pyrobolearn/rewards/cost.py b/pyrobolearn/rewards/cost.py
index 4a31d44..7f4c88e 100644
--- a/pyrobolearn/rewards/cost.py
+++ b/pyrobolearn/rewards/cost.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define most common costs used in reinforcement learning, control, and optimization.
 
 A cost is defined as an objective that penalizes a certain behavior.
diff --git a/pyrobolearn/rewards/geometric_rewards.py b/pyrobolearn/rewards/geometric_rewards.py
index 46cd0b5..178b36f 100644
--- a/pyrobolearn/rewards/geometric_rewards.py
+++ b/pyrobolearn/rewards/geometric_rewards.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the costs used on link states / actions.
 """
 
diff --git a/pyrobolearn/rewards/gym_reward.py b/pyrobolearn/rewards/gym_reward.py
index ef5a7d3..33cc600 100644
--- a/pyrobolearn/rewards/gym_reward.py
+++ b/pyrobolearn/rewards/gym_reward.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Gym wrapper reward.
 """
 
diff --git a/pyrobolearn/rewards/joint_cost.py b/pyrobolearn/rewards/joint_cost.py
index a7e732c..66d797c 100644
--- a/pyrobolearn/rewards/joint_cost.py
+++ b/pyrobolearn/rewards/joint_cost.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the costs used on joint states / actions.
 """
 
diff --git a/pyrobolearn/rewards/link_cost.py b/pyrobolearn/rewards/link_cost.py
index 9a56243..13968ca 100644
--- a/pyrobolearn/rewards/link_cost.py
+++ b/pyrobolearn/rewards/link_cost.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the costs used on link states / actions.
 """
 
diff --git a/pyrobolearn/rewards/objective.py b/pyrobolearn/rewards/objective.py
index c5ae775..8ad5165 100644
--- a/pyrobolearn/rewards/objective.py
+++ b/pyrobolearn/rewards/objective.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # This file defines the main `Objective` class, which is inherited by the `Reward` and `Cost` classes, and
+# -*- coding: utf-8 -*-
 # all subsequent child classes which define common objective/reward/cost functions.
 # Objectives can be maximized or minimized, while rewards are maximized, and costs are minimized.
 # Allow to define objectives with different frameworks: numpy, pytorch, tensorflow, theano,...
diff --git a/pyrobolearn/rewards/processors/reward_processor.py b/pyrobolearn/rewards/processors/reward_processor.py
index 4843035..4d8523e 100644
--- a/pyrobolearn/rewards/processors/reward_processor.py
+++ b/pyrobolearn/rewards/processors/reward_processor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide some reward processors.
 
 It processes the rewards before returning them; this can be useful to standardize, normalize, center them for instance.
diff --git a/pyrobolearn/rewards/reward.py b/pyrobolearn/rewards/reward.py
index 63f5639..d052c9f 100644
--- a/pyrobolearn/rewards/reward.py
+++ b/pyrobolearn/rewards/reward.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define most common rewards used in reinforcement learning and optimization.
 
 A reward is defined as an objective that compliments/rewards a certain behavior.
diff --git a/pyrobolearn/rewards/robot_cost.py b/pyrobolearn/rewards/robot_cost.py
index b33964a..72e2cdc 100644
--- a/pyrobolearn/rewards/robot_cost.py
+++ b/pyrobolearn/rewards/robot_cost.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some basic robot costs used in reinforcement learning and optimization.
 
 Dependencies:
diff --git a/pyrobolearn/rewards/robot_reward.py b/pyrobolearn/rewards/robot_reward.py
index 5b1e089..89322eb 100644
--- a/pyrobolearn/rewards/robot_reward.py
+++ b/pyrobolearn/rewards/robot_reward.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some basic robot rewards used in reinforcement learning and optimization.
 
 Dependencies:
diff --git a/pyrobolearn/rewards/terminal_rewards.py b/pyrobolearn/rewards/terminal_rewards.py
index 0cd3539..7b43fdf 100644
--- a/pyrobolearn/rewards/terminal_rewards.py
+++ b/pyrobolearn/rewards/terminal_rewards.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define terminal rewards used in RL.
 """
 
diff --git a/pyrobolearn/robots/acrobot.py b/pyrobolearn/robots/acrobot.py
index c604008..1eac8d0 100644
--- a/pyrobolearn/robots/acrobot.py
+++ b/pyrobolearn/robots/acrobot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the acrobot robotic platform.
 """
 
diff --git a/pyrobolearn/robots/actuators/actuator.py b/pyrobolearn/robots/actuators/actuator.py
index 5733af4..2d74502 100644
--- a/pyrobolearn/robots/actuators/actuator.py
+++ b/pyrobolearn/robots/actuators/actuator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various actuators used in robotics.
 
 This is decoupled from the robots such that actuators can be defined outside the robot class and can be selected at
diff --git a/pyrobolearn/robots/actuators/joints.py b/pyrobolearn/robots/actuators/joints.py
index 7b7153f..aec0404 100644
--- a/pyrobolearn/robots/actuators/joints.py
+++ b/pyrobolearn/robots/actuators/joints.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various joint actuators used in robotics.
 """
 
diff --git a/pyrobolearn/robots/actuators/speaker.py b/pyrobolearn/robots/actuators/speaker.py
index 3bd6891..8fffe27 100644
--- a/pyrobolearn/robots/actuators/speaker.py
+++ b/pyrobolearn/robots/actuators/speaker.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various actuators used in robotics.
 
 This is decoupled from the robots such that actuators can be defined outside the robot class and can be selected at
diff --git a/pyrobolearn/robots/aibo.py b/pyrobolearn/robots/aibo.py
index 57f1251..205b478 100644
--- a/pyrobolearn/robots/aibo.py
+++ b/pyrobolearn/robots/aibo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Aibo robotic platform.
 """
 
diff --git a/pyrobolearn/robots/allegrohand.py b/pyrobolearn/robots/allegrohand.py
index 9fa23e5..e0cc025 100644
--- a/pyrobolearn/robots/allegrohand.py
+++ b/pyrobolearn/robots/allegrohand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Allegro hand robotic platform.
 """
 
diff --git a/pyrobolearn/robots/ant.py b/pyrobolearn/robots/ant.py
index c794439..32377c0 100644
--- a/pyrobolearn/robots/ant.py
+++ b/pyrobolearn/robots/ant.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Ant Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/anymal.py b/pyrobolearn/robots/anymal.py
index 28aaa31..58c1a56 100644
--- a/pyrobolearn/robots/anymal.py
+++ b/pyrobolearn/robots/anymal.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the ANYmal robotic platform.
 """
 
diff --git a/pyrobolearn/robots/atlas.py b/pyrobolearn/robots/atlas.py
index eeb0b1e..4902709 100644
--- a/pyrobolearn/robots/atlas.py
+++ b/pyrobolearn/robots/atlas.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Atlas robotic platform.
 """
 
diff --git a/pyrobolearn/robots/ballbot.py b/pyrobolearn/robots/ballbot.py
index 13fa9d6..7791c0e 100644
--- a/pyrobolearn/robots/ballbot.py
+++ b/pyrobolearn/robots/ballbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Ballbot robotic platform.
 """
 
diff --git a/pyrobolearn/robots/base.py b/pyrobolearn/robots/base.py
index a9b4207..92b51f9 100644
--- a/pyrobolearn/robots/base.py
+++ b/pyrobolearn/robots/base.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various basic bodies / objects that are present in the simulator / world.
 
 Dependencies:
diff --git a/pyrobolearn/robots/baxter.py b/pyrobolearn/robots/baxter.py
index 37dfe31..4a7a4a3 100644
--- a/pyrobolearn/robots/baxter.py
+++ b/pyrobolearn/robots/baxter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Baxter robotic platform.
 """
 
diff --git a/pyrobolearn/robots/bb8.py b/pyrobolearn/robots/bb8.py
index 87488fa..1bbf589 100644
--- a/pyrobolearn/robots/bb8.py
+++ b/pyrobolearn/robots/bb8.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the BB8 robotic platform.
 """
 
diff --git a/pyrobolearn/robots/blackbird.py b/pyrobolearn/robots/blackbird.py
index cde844d..01d510d 100644
--- a/pyrobolearn/robots/blackbird.py
+++ b/pyrobolearn/robots/blackbird.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Blackbird robotic platform.
 """
 
diff --git a/pyrobolearn/robots/cartpole.py b/pyrobolearn/robots/cartpole.py
index 4958593..20b207b 100644
--- a/pyrobolearn/robots/cartpole.py
+++ b/pyrobolearn/robots/cartpole.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cartpole robotic platform.
 """
 
diff --git a/pyrobolearn/robots/cassie.py b/pyrobolearn/robots/cassie.py
index c3c4262..3988963 100644
--- a/pyrobolearn/robots/cassie.py
+++ b/pyrobolearn/robots/cassie.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cassie robotic platform.
 """
 
diff --git a/pyrobolearn/robots/centauro.py b/pyrobolearn/robots/centauro.py
index 272b52a..b9dca1c 100644
--- a/pyrobolearn/robots/centauro.py
+++ b/pyrobolearn/robots/centauro.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Centauro robotic platform.
 """
 
diff --git a/pyrobolearn/robots/cogimon.py b/pyrobolearn/robots/cogimon.py
index eda646f..117d4a2 100644
--- a/pyrobolearn/robots/cogimon.py
+++ b/pyrobolearn/robots/cogimon.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cogimon robotic platform.
 """
 
diff --git a/pyrobolearn/robots/coman.py b/pyrobolearn/robots/coman.py
index f76c55f..e81cd97 100644
--- a/pyrobolearn/robots/coman.py
+++ b/pyrobolearn/robots/coman.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Coman robotic platform.
 """
 
diff --git a/pyrobolearn/robots/crab.py b/pyrobolearn/robots/crab.py
index 2680cfb..6028ec7 100644
--- a/pyrobolearn/robots/crab.py
+++ b/pyrobolearn/robots/crab.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Crab robotic platform.
 """
 
diff --git a/pyrobolearn/robots/cubli.py b/pyrobolearn/robots/cubli.py
index a893bb9..35de2aa 100644
--- a/pyrobolearn/robots/cubli.py
+++ b/pyrobolearn/robots/cubli.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Cubli robotic platform.
 """
 
diff --git a/pyrobolearn/robots/darwin.py b/pyrobolearn/robots/darwin.py
index addcdb0..92d9bf0 100644
--- a/pyrobolearn/robots/darwin.py
+++ b/pyrobolearn/robots/darwin.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Darwin robotic platform.
 """
 
diff --git a/pyrobolearn/robots/ecaa9.py b/pyrobolearn/robots/ecaa9.py
index a6882ac..719e7b4 100755
--- a/pyrobolearn/robots/ecaa9.py
+++ b/pyrobolearn/robots/ecaa9.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the ECA A9 autonomous underwater vehicle platform.
 """
 
diff --git a/pyrobolearn/robots/edo.py b/pyrobolearn/robots/edo.py
index 840f97b..b0ecd3d 100644
--- a/pyrobolearn/robots/edo.py
+++ b/pyrobolearn/robots/edo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the e.Do robotic platform.
 """
 
diff --git a/pyrobolearn/robots/epuck.py b/pyrobolearn/robots/epuck.py
index c657161..5065faa 100644
--- a/pyrobolearn/robots/epuck.py
+++ b/pyrobolearn/robots/epuck.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Epuck robotic platform.
 """
 
diff --git a/pyrobolearn/robots/f10_racecar.py b/pyrobolearn/robots/f10_racecar.py
index 2869a6c..bacc30e 100644
--- a/pyrobolearn/robots/f10_racecar.py
+++ b/pyrobolearn/robots/f10_racecar.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the F10 racecar robotic platform.
 """
 
diff --git a/pyrobolearn/robots/fetch.py b/pyrobolearn/robots/fetch.py
index 4765200..0967643 100644
--- a/pyrobolearn/robots/fetch.py
+++ b/pyrobolearn/robots/fetch.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Fetch robotic platform.
 """
 
diff --git a/pyrobolearn/robots/flappy.py b/pyrobolearn/robots/flappy.py
index ef527fd..f217466 100644
--- a/pyrobolearn/robots/flappy.py
+++ b/pyrobolearn/robots/flappy.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the techpod platform.
 """
 
diff --git a/pyrobolearn/robots/franka.py b/pyrobolearn/robots/franka.py
index d9dd89c..aca0ee4 100644
--- a/pyrobolearn/robots/franka.py
+++ b/pyrobolearn/robots/franka.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Franka Emika robotic platform.
 """
 
diff --git a/pyrobolearn/robots/gripper.py b/pyrobolearn/robots/gripper.py
index c2421b6..d8b7664 100644
--- a/pyrobolearn/robots/gripper.py
+++ b/pyrobolearn/robots/gripper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Gripper abstract classes.
 """
 
diff --git a/pyrobolearn/robots/half_cheetah.py b/pyrobolearn/robots/half_cheetah.py
index f212e08..efc61b0 100644
--- a/pyrobolearn/robots/half_cheetah.py
+++ b/pyrobolearn/robots/half_cheetah.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the HalfCheetah Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/hand.py b/pyrobolearn/robots/hand.py
index 5468c05..fcd06fd 100644
--- a/pyrobolearn/robots/hand.py
+++ b/pyrobolearn/robots/hand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Hand abstract classes.
 """
 
diff --git a/pyrobolearn/robots/hopper.py b/pyrobolearn/robots/hopper.py
index d5bfd29..0888efd 100644
--- a/pyrobolearn/robots/hopper.py
+++ b/pyrobolearn/robots/hopper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Hopper Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/hubo.py b/pyrobolearn/robots/hubo.py
index 14731e1..395b021 100644
--- a/pyrobolearn/robots/hubo.py
+++ b/pyrobolearn/robots/hubo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Hubo robotic platform.
 """
 
diff --git a/pyrobolearn/robots/humanoid.py b/pyrobolearn/robots/humanoid.py
index f6d1c1f..8ee61eb 100644
--- a/pyrobolearn/robots/humanoid.py
+++ b/pyrobolearn/robots/humanoid.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Humanoid Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/husky.py b/pyrobolearn/robots/husky.py
index 50b9223..643d41e 100644
--- a/pyrobolearn/robots/husky.py
+++ b/pyrobolearn/robots/husky.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Husky robotic platform.
 """
 
diff --git a/pyrobolearn/robots/hyq.py b/pyrobolearn/robots/hyq.py
index 38ee7c2..3f1c9d3 100644
--- a/pyrobolearn/robots/hyq.py
+++ b/pyrobolearn/robots/hyq.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the HyQ robotic platform.
 """
 
diff --git a/pyrobolearn/robots/hyq2max.py b/pyrobolearn/robots/hyq2max.py
index decac4b..4e0a2ce 100644
--- a/pyrobolearn/robots/hyq2max.py
+++ b/pyrobolearn/robots/hyq2max.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the HyQ2Max robotic platform.
 """
 
diff --git a/pyrobolearn/robots/icub.py b/pyrobolearn/robots/icub.py
index 832ae80..519c717 100644
--- a/pyrobolearn/robots/icub.py
+++ b/pyrobolearn/robots/icub.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the ICub robotic platform.
 """
 
diff --git a/pyrobolearn/robots/jaco.py b/pyrobolearn/robots/jaco.py
index 4e7d01d..534c29a 100644
--- a/pyrobolearn/robots/jaco.py
+++ b/pyrobolearn/robots/jaco.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Jaco robotic platform.
 """
 
diff --git a/pyrobolearn/robots/kilobot.py b/pyrobolearn/robots/kilobot.py
index 3164684..e022f75 100644
--- a/pyrobolearn/robots/kilobot.py
+++ b/pyrobolearn/robots/kilobot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kilobot robotic platform.
 """
 
diff --git a/pyrobolearn/robots/kr5.py b/pyrobolearn/robots/kr5.py
index a997256..681400a 100644
--- a/pyrobolearn/robots/kr5.py
+++ b/pyrobolearn/robots/kr5.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kuka KR5 robotic industrial platform.
 """
 
diff --git a/pyrobolearn/robots/kuka_iiwa.py b/pyrobolearn/robots/kuka_iiwa.py
index 759962c..140f83d 100644
--- a/pyrobolearn/robots/kuka_iiwa.py
+++ b/pyrobolearn/robots/kuka_iiwa.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kuka IIWA robotic platform.
 """
 
diff --git a/pyrobolearn/robots/kuka_lwr.py b/pyrobolearn/robots/kuka_lwr.py
index 738d9d6..3ba4c53 100644
--- a/pyrobolearn/robots/kuka_lwr.py
+++ b/pyrobolearn/robots/kuka_lwr.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kuka LWR robotic platform.
 """
 
diff --git a/pyrobolearn/robots/laikago.py b/pyrobolearn/robots/laikago.py
index 6e5a890..bae0bf1 100644
--- a/pyrobolearn/robots/laikago.py
+++ b/pyrobolearn/robots/laikago.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Laikago robotic platform.
 """
 
diff --git a/pyrobolearn/robots/legged_robot.py b/pyrobolearn/robots/legged_robot.py
index b772760..f2cfd3c 100644
--- a/pyrobolearn/robots/legged_robot.py
+++ b/pyrobolearn/robots/legged_robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Legged robot abstract classes.
 
 Classes that are defined here: LeggedRobot, BipedRobot, QuadrupedRobot, HexapodRobot.
diff --git a/pyrobolearn/robots/lipm.py b/pyrobolearn/robots/lipm.py
index 7541195..f8edd56 100644
--- a/pyrobolearn/robots/lipm.py
+++ b/pyrobolearn/robots/lipm.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various Linear Inverted Pendulum Models (LIPMs).
 
 This includes: LIPM2D, DualLIPM2D, LIPM3D, DualLIPM3D
diff --git a/pyrobolearn/robots/littledog.py b/pyrobolearn/robots/littledog.py
index a08cac8..520bda3 100644
--- a/pyrobolearn/robots/littledog.py
+++ b/pyrobolearn/robots/littledog.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Little Dog robotic platform.
 """
 
diff --git a/pyrobolearn/robots/manipulator.py b/pyrobolearn/robots/manipulator.py
index f1cc388..7c910c9 100644
--- a/pyrobolearn/robots/manipulator.py
+++ b/pyrobolearn/robots/manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the manipulator abstract classes.
 """
 
diff --git a/pyrobolearn/robots/manipulator2d.py b/pyrobolearn/robots/manipulator2d.py
index adb7e19..a7a0505 100644
--- a/pyrobolearn/robots/manipulator2d.py
+++ b/pyrobolearn/robots/manipulator2d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide 2d manipulators.
 """
 
diff --git a/pyrobolearn/robots/minitaur.py b/pyrobolearn/robots/minitaur.py
index d419c84..e3b7ae0 100644
--- a/pyrobolearn/robots/minitaur.py
+++ b/pyrobolearn/robots/minitaur.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Minitaur robotic platform.
 """
 
diff --git a/pyrobolearn/robots/mkz.py b/pyrobolearn/robots/mkz.py
index 9bd1b73..4a22991 100644
--- a/pyrobolearn/robots/mkz.py
+++ b/pyrobolearn/robots/mkz.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Lincoln MKZ car robotic platform.
 """
 
diff --git a/pyrobolearn/robots/morphex.py b/pyrobolearn/robots/morphex.py
index c6b57ac..54b7fff 100644
--- a/pyrobolearn/robots/morphex.py
+++ b/pyrobolearn/robots/morphex.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Morphex robotic platform.
 """
 
diff --git a/pyrobolearn/robots/nao.py b/pyrobolearn/robots/nao.py
index 0c09e12..0f7f095 100644
--- a/pyrobolearn/robots/nao.py
+++ b/pyrobolearn/robots/nao.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Nao robotic platform.
 """
 
diff --git a/pyrobolearn/robots/noise/gaussian_noise.py b/pyrobolearn/robots/noise/gaussian_noise.py
index 3a5bdf2..1c209e4 100644
--- a/pyrobolearn/robots/noise/gaussian_noise.py
+++ b/pyrobolearn/robots/noise/gaussian_noise.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Gaussian noise class.
 
 This noise can be applied notably on sensors and actuators.
diff --git a/pyrobolearn/robots/noise/noise.py b/pyrobolearn/robots/noise/noise.py
index 7132fa3..fb9a0ec 100644
--- a/pyrobolearn/robots/noise/noise.py
+++ b/pyrobolearn/robots/noise/noise.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract noise class from which all noises inherit from.
 
 The noise can be applied notably on sensors and actuators.
diff --git a/pyrobolearn/robots/noise/uniform_noise.py b/pyrobolearn/robots/noise/uniform_noise.py
index 43093e2..88057f9 100644
--- a/pyrobolearn/robots/noise/uniform_noise.py
+++ b/pyrobolearn/robots/noise/uniform_noise.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Uniform noise class.
 
 This noise can be applied notably on sensors and actuators.
diff --git a/pyrobolearn/robots/opendog.py b/pyrobolearn/robots/opendog.py
index 9f1d72c..e962959 100644
--- a/pyrobolearn/robots/opendog.py
+++ b/pyrobolearn/robots/opendog.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the OpenDog robotic platform.
 """
 
diff --git a/pyrobolearn/robots/pendulum.py b/pyrobolearn/robots/pendulum.py
index 3487b46..bf4eb9f 100644
--- a/pyrobolearn/robots/pendulum.py
+++ b/pyrobolearn/robots/pendulum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the pendulum robotic platform.
 """
 
diff --git a/pyrobolearn/robots/pepper.py b/pyrobolearn/robots/pepper.py
index e7bcefb..6b3b44b 100644
--- a/pyrobolearn/robots/pepper.py
+++ b/pyrobolearn/robots/pepper.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Pepper robotic platform.
 """
 
diff --git a/pyrobolearn/robots/phantomx.py b/pyrobolearn/robots/phantomx.py
index 3599956..83dc9bd 100644
--- a/pyrobolearn/robots/phantomx.py
+++ b/pyrobolearn/robots/phantomx.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Phantom X robotic platform.
 """
 
diff --git a/pyrobolearn/robots/pleurobot.py b/pyrobolearn/robots/pleurobot.py
index d56d21a..4fd1db8 100644
--- a/pyrobolearn/robots/pleurobot.py
+++ b/pyrobolearn/robots/pleurobot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Pleurobot robotic platform.
 """
 
diff --git a/pyrobolearn/robots/pr2.py b/pyrobolearn/robots/pr2.py
index 8b4d058..880c4b8 100644
--- a/pyrobolearn/robots/pr2.py
+++ b/pyrobolearn/robots/pr2.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the PR2 robotic platform.
 """
 
diff --git a/pyrobolearn/robots/quadcopter.py b/pyrobolearn/robots/quadcopter.py
index 1211863..a703334 100644
--- a/pyrobolearn/robots/quadcopter.py
+++ b/pyrobolearn/robots/quadcopter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Quadcopter robotic platform.
 """
 
diff --git a/pyrobolearn/robots/rhex.py b/pyrobolearn/robots/rhex.py
index 3f2efef..b324d32 100644
--- a/pyrobolearn/robots/rhex.py
+++ b/pyrobolearn/robots/rhex.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Rhex robotic platform.
 """
 
diff --git a/pyrobolearn/robots/robot.py b/pyrobolearn/robots/robot.py
index 7b1ff09..895c95d 100644
--- a/pyrobolearn/robots/robot.py
+++ b/pyrobolearn/robots/robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the robot class from which all the other robots inherit from.
 
 The robot can access to the simulator as the `World`. If the `Robot` class defined here is the first layer in
diff --git a/pyrobolearn/robots/ros/old/coman/publisher.py b/pyrobolearn/robots/ros/old/coman/publisher.py
index ceaa9c9..1b73a7b 100644
--- a/pyrobolearn/robots/ros/old/coman/publisher.py
+++ b/pyrobolearn/robots/ros/old/coman/publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 import rospy
+# -*- coding: utf-8 -*-
 from std_msgs import msg as stdMsg
 
 import sys
diff --git a/pyrobolearn/robots/ros/old/coman/subscriber.py b/pyrobolearn/robots/ros/old/coman/subscriber.py
index 7d8e199..d07cb72 100644
--- a/pyrobolearn/robots/ros/old/coman/subscriber.py
+++ b/pyrobolearn/robots/ros/old/coman/subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Coman subscriber.
 """
 
diff --git a/pyrobolearn/robots/ros/old/rrbot/publisher.py b/pyrobolearn/robots/ros/old/rrbot/publisher.py
index dc10d07..e8362fc 100644
--- a/pyrobolearn/robots/ros/old/rrbot/publisher.py
+++ b/pyrobolearn/robots/ros/old/rrbot/publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the RRBot publisher.
 """
 
diff --git a/pyrobolearn/robots/ros/old/rrbot/subscriber.py b/pyrobolearn/robots/ros/old/rrbot/subscriber.py
index fdb2a39..42008e8 100644
--- a/pyrobolearn/robots/ros/old/rrbot/subscriber.py
+++ b/pyrobolearn/robots/ros/old/rrbot/subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the RRBot subscriber.
 """
 
diff --git a/pyrobolearn/robots/ros/old/walkman/publisher.py b/pyrobolearn/robots/ros/old/walkman/publisher.py
index 7237936..a002165 100644
--- a/pyrobolearn/robots/ros/old/walkman/publisher.py
+++ b/pyrobolearn/robots/ros/old/walkman/publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 import rospy
+# -*- coding: utf-8 -*-
 from std_msgs import msg as stdMsg
 
 import sys
diff --git a/pyrobolearn/robots/ros/old/walkman/subscriber.py b/pyrobolearn/robots/ros/old/walkman/subscriber.py
index 745fe26..18a9a70 100644
--- a/pyrobolearn/robots/ros/old/walkman/subscriber.py
+++ b/pyrobolearn/robots/ros/old/walkman/subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 import rospy
+# -*- coding: utf-8 -*-
 #from std_msgs import msg as stdMsg
 from sensor_msgs import msg as senMsg
 from geometry_msgs import msg as geoMsg
diff --git a/pyrobolearn/robots/ros/publisher.py b/pyrobolearn/robots/ros/publisher.py
index c256398..68b7d72 100644
--- a/pyrobolearn/robots/ros/publisher.py
+++ b/pyrobolearn/robots/ros/publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract robot publisher.
 """
 
diff --git a/pyrobolearn/robots/ros/subscriber.py b/pyrobolearn/robots/ros/subscriber.py
index eb936c5..9f33ff2 100644
--- a/pyrobolearn/robots/ros/subscriber.py
+++ b/pyrobolearn/robots/ros/subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract robot subscriber.
 """
 
diff --git a/pyrobolearn/robots/rrbot.py b/pyrobolearn/robots/rrbot.py
index 49c8224..79789d2 100644
--- a/pyrobolearn/robots/rrbot.py
+++ b/pyrobolearn/robots/rrbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the RRBot robotic platform.
 """
 
diff --git a/pyrobolearn/robots/sawyer.py b/pyrobolearn/robots/sawyer.py
index 61d42ab..6c8448d 100644
--- a/pyrobolearn/robots/sawyer.py
+++ b/pyrobolearn/robots/sawyer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Sawyer robotic platform.
 """
 
diff --git a/pyrobolearn/robots/schunk_hand.py b/pyrobolearn/robots/schunk_hand.py
index 5ee3491..acd5e6d 100644
--- a/pyrobolearn/robots/schunk_hand.py
+++ b/pyrobolearn/robots/schunk_hand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Schunk hand robotic platform.
 """
 
diff --git a/pyrobolearn/robots/sea_hexapod.py b/pyrobolearn/robots/sea_hexapod.py
index 9e6c1ab..01d04d1 100644
--- a/pyrobolearn/robots/sea_hexapod.py
+++ b/pyrobolearn/robots/sea_hexapod.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the SEA Hexapod robotic platform.
 """
 
diff --git a/pyrobolearn/robots/sea_snake.py b/pyrobolearn/robots/sea_snake.py
index 8260667..303fc24 100644
--- a/pyrobolearn/robots/sea_snake.py
+++ b/pyrobolearn/robots/sea_snake.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the SEA Snake robotic platform.
 """
 
diff --git a/pyrobolearn/robots/sensors/altimeter.py b/pyrobolearn/robots/sensors/altimeter.py
index 6b8f6d5..e2ad032 100644
--- a/pyrobolearn/robots/sensors/altimeter.py
+++ b/pyrobolearn/robots/sensors/altimeter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the altimeter sensor which measures the altitude of an object.
 """
 
diff --git a/pyrobolearn/robots/sensors/camera.py b/pyrobolearn/robots/sensors/camera.py
index 97825b8..45b94f0 100644
--- a/pyrobolearn/robots/sensors/camera.py
+++ b/pyrobolearn/robots/sensors/camera.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the visual camera sensors.
 
 Cameras have one of the most richest sensory inputs (i.e. visual).
diff --git a/pyrobolearn/robots/sensors/contact.py b/pyrobolearn/robots/sensors/contact.py
index de1bc0a..98b50d2 100644
--- a/pyrobolearn/robots/sensors/contact.py
+++ b/pyrobolearn/robots/sensors/contact.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define contact sensors attached to a link.
 """
 
diff --git a/pyrobolearn/robots/sensors/force_torque.py b/pyrobolearn/robots/sensors/force_torque.py
index 244d4d7..8165ee3 100644
--- a/pyrobolearn/robots/sensors/force_torque.py
+++ b/pyrobolearn/robots/sensors/force_torque.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the force torque joint sensors used in robotics.
 """
 
diff --git a/pyrobolearn/robots/sensors/imu.py b/pyrobolearn/robots/sensors/imu.py
index f90533d..38f6d11 100644
--- a/pyrobolearn/robots/sensors/imu.py
+++ b/pyrobolearn/robots/sensors/imu.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the IMU sensor used in robotics.
 
 'An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force,
diff --git a/pyrobolearn/robots/sensors/joints.py b/pyrobolearn/robots/sensors/joints.py
index 2766d05..914a14e 100644
--- a/pyrobolearn/robots/sensors/joints.py
+++ b/pyrobolearn/robots/sensors/joints.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the joint sensors used in robotics.
 
 This mainly include encoders.
diff --git a/pyrobolearn/robots/sensors/light.py b/pyrobolearn/robots/sensors/light.py
index 2089f83..c79c7d3 100644
--- a/pyrobolearn/robots/sensors/light.py
+++ b/pyrobolearn/robots/sensors/light.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define light / laser sensors (except cameras).
 """
 
diff --git a/pyrobolearn/robots/sensors/links.py b/pyrobolearn/robots/sensors/links.py
index 2209e67..b386241 100644
--- a/pyrobolearn/robots/sensors/links.py
+++ b/pyrobolearn/robots/sensors/links.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the link sensors used in robotics.
 
 These include IMU, contact, Camera, and other sensors.
diff --git a/pyrobolearn/robots/sensors/misc.py b/pyrobolearn/robots/sensors/misc.py
index 5a1d046..871e519 100644
--- a/pyrobolearn/robots/sensors/misc.py
+++ b/pyrobolearn/robots/sensors/misc.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define miscellaneous sensors.
 """
 
diff --git a/pyrobolearn/robots/sensors/ray.py b/pyrobolearn/robots/sensors/ray.py
index ac27310..c61c935 100644
--- a/pyrobolearn/robots/sensors/ray.py
+++ b/pyrobolearn/robots/sensors/ray.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define ray sensors; sensors that cast rays into the world and return the range of the nearest object that were
 intersected with these ones.
 """
diff --git a/pyrobolearn/robots/sensors/sensor.py b/pyrobolearn/robots/sensors/sensor.py
index c7d8e07..7c8022e 100644
--- a/pyrobolearn/robots/sensors/sensor.py
+++ b/pyrobolearn/robots/sensors/sensor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various sensors used in robotics.
 
 This is decoupled from the robots such that sensors can be defined outside the robot class and can be selected at
diff --git a/pyrobolearn/robots/shadowhand.py b/pyrobolearn/robots/shadowhand.py
index dbd56a5..a30be0f 100644
--- a/pyrobolearn/robots/shadowhand.py
+++ b/pyrobolearn/robots/shadowhand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Shadow Hand robotic platform.
 """
 
diff --git a/pyrobolearn/robots/slip.py b/pyrobolearn/robots/slip.py
index 7a4bbd2..6885cee 100644
--- a/pyrobolearn/robots/slip.py
+++ b/pyrobolearn/robots/slip.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the various Spring-Loaded Inverted Pendulum (SLIP) models.
 
 This includes: SLIP2D, DualSLIP2D, SLIP3D, DualSLIP3D
diff --git a/pyrobolearn/robots/softhand.py b/pyrobolearn/robots/softhand.py
index 14a5bfa..12c5fd0 100644
--- a/pyrobolearn/robots/softhand.py
+++ b/pyrobolearn/robots/softhand.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Soft Hand robotic platform.
 """
 
diff --git a/pyrobolearn/robots/swimmer.py b/pyrobolearn/robots/swimmer.py
index 3eb4f53..654fb82 100644
--- a/pyrobolearn/robots/swimmer.py
+++ b/pyrobolearn/robots/swimmer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Swimmer Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/techpod.py b/pyrobolearn/robots/techpod.py
index 4302f85..32c1c89 100755
--- a/pyrobolearn/robots/techpod.py
+++ b/pyrobolearn/robots/techpod.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the techpod platform.
 """
 
diff --git a/pyrobolearn/robots/uav.py b/pyrobolearn/robots/uav.py
index ff07784..eae726c 100644
--- a/pyrobolearn/robots/uav.py
+++ b/pyrobolearn/robots/uav.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Unmanned Aerial Vehicle (UAV) robot abstract classes.
 """
 
diff --git a/pyrobolearn/robots/ur.py b/pyrobolearn/robots/ur.py
index d6e15b7..35987df 100644
--- a/pyrobolearn/robots/ur.py
+++ b/pyrobolearn/robots/ur.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the universal robot platforms.
 
 Specifically, it provides the classes for UR3, UR5, and UR10.
diff --git a/pyrobolearn/robots/usv.py b/pyrobolearn/robots/usv.py
index 9817e2a..287352e 100644
--- a/pyrobolearn/robots/usv.py
+++ b/pyrobolearn/robots/usv.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Unmanned Surface Vehicle (USV) robot abstract classes.
 """
 
diff --git a/pyrobolearn/robots/uuv.py b/pyrobolearn/robots/uuv.py
index b2dff7b..f4d47c1 100644
--- a/pyrobolearn/robots/uuv.py
+++ b/pyrobolearn/robots/uuv.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Unmanned Underwater Vehicle (UUV) robot abstract classes.
 """
 
diff --git a/pyrobolearn/robots/walker2d.py b/pyrobolearn/robots/walker2d.py
index 0c0d8d4..b5a353b 100644
--- a/pyrobolearn/robots/walker2d.py
+++ b/pyrobolearn/robots/walker2d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Walker2D Mujoco model.
 """
 
diff --git a/pyrobolearn/robots/walkman.py b/pyrobolearn/robots/walkman.py
index 1642f27..336a55f 100644
--- a/pyrobolearn/robots/walkman.py
+++ b/pyrobolearn/robots/walkman.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the WALK-MAN robotic platform.
 """
 
diff --git a/pyrobolearn/robots/wam.py b/pyrobolearn/robots/wam.py
index 1974f52..ea572e5 100644
--- a/pyrobolearn/robots/wam.py
+++ b/pyrobolearn/robots/wam.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the WAM robotic platform and the Barrett hand gripper.
 """
 
diff --git a/pyrobolearn/robots/wheeled_robot.py b/pyrobolearn/robots/wheeled_robot.py
index 2496033..9c5aaad 100644
--- a/pyrobolearn/robots/wheeled_robot.py
+++ b/pyrobolearn/robots/wheeled_robot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Wheeled robot abstract classes.
 """
 
diff --git a/pyrobolearn/robots/youbot.py b/pyrobolearn/robots/youbot.py
index 23d6249..47f8ab7 100644
--- a/pyrobolearn/robots/youbot.py
+++ b/pyrobolearn/robots/youbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Youbot robotic platforms.
 
 These include: YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm, YoubotGripper
diff --git a/pyrobolearn/samplers/sampler.py b/pyrobolearn/samplers/sampler.py
index c1949b4..73185fd 100644
--- a/pyrobolearn/samplers/sampler.py
+++ b/pyrobolearn/samplers/sampler.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Sampler class from which all sampling strategies inherit from.
 
 Sampling strategies can be classified into two categories: probability or deterministic sampling methods.
diff --git a/pyrobolearn/simulators/bullet.py b/pyrobolearn/simulators/bullet.py
index cd30079..1582409 100644
--- a/pyrobolearn/simulators/bullet.py
+++ b/pyrobolearn/simulators/bullet.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bullet Simulator API.
 
 This is the main interface that communicates with the PyBullet simulator [1]. By defining this interface, it allows to
diff --git a/pyrobolearn/simulators/bullet_ros.py b/pyrobolearn/simulators/bullet_ros.py
index 4d68817..38e228c 100644
--- a/pyrobolearn/simulators/bullet_ros.py
+++ b/pyrobolearn/simulators/bullet_ros.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bullet-ROS Simulator API.
 
 This is the main interface that communicates with the PyBullet simulator [1] and use ROS [3] to query the state of the
diff --git a/pyrobolearn/simulators/chrono.py b/pyrobolearn/simulators/chrono.py
index 8f577ad..25d1915 100644
--- a/pyrobolearn/simulators/chrono.py
+++ b/pyrobolearn/simulators/chrono.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Chrono Simulator API.
 
 Dependencies in PRL: None
diff --git a/pyrobolearn/simulators/dart.py b/pyrobolearn/simulators/dart.py
index 00abbca..8063d67 100644
--- a/pyrobolearn/simulators/dart.py
+++ b/pyrobolearn/simulators/dart.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the DART (Dynamic Animation and Robotics Toolkit) Simulator API.
 
 This is the main interface that communicates with the DART simulator [1, 2]. By defining this interface, it allows to
diff --git a/pyrobolearn/simulators/flex.py b/pyrobolearn/simulators/flex.py
index daeaca8..ae15df8 100644
--- a/pyrobolearn/simulators/flex.py
+++ b/pyrobolearn/simulators/flex.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Nvidia FleX Simulator API.
 
 DEPRECATED: See `isaac.py`.
diff --git a/pyrobolearn/simulators/gazebo.py b/pyrobolearn/simulators/gazebo.py
index f3a5993..fe6cf01 100644
--- a/pyrobolearn/simulators/gazebo.py
+++ b/pyrobolearn/simulators/gazebo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Gazebo Simulator API.
 
 This is the main interface that communicates with the Gazebo simulator [1]. By defining this interface, it allows to
diff --git a/pyrobolearn/simulators/gazebo_ros.py b/pyrobolearn/simulators/gazebo_ros.py
index f8a115f..efe25a1 100644
--- a/pyrobolearn/simulators/gazebo_ros.py
+++ b/pyrobolearn/simulators/gazebo_ros.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Gazebo ROS simulator
 
 This simulator uses Gazebo as the simulator, ROS to communicate with this simulator (to send and receive any
diff --git a/pyrobolearn/simulators/isaac.py b/pyrobolearn/simulators/isaac.py
index d22819f..8a40c07 100644
--- a/pyrobolearn/simulators/isaac.py
+++ b/pyrobolearn/simulators/isaac.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Isaac SDK simulator API.
 
 This is the main interface that communicates with the Isaac SDK/Gym simulator [1]. By defining this interface, it
diff --git a/pyrobolearn/simulators/middlewares/middleware.py b/pyrobolearn/simulators/middlewares/middleware.py
index 12dcc04..c164542 100644
--- a/pyrobolearn/simulators/middlewares/middleware.py
+++ b/pyrobolearn/simulators/middlewares/middleware.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract middleware API.
 
 Dependencies in PRL:
diff --git a/pyrobolearn/simulators/middlewares/robot_middleware.py b/pyrobolearn/simulators/middlewares/robot_middleware.py
index f525264..ea79bd6 100644
--- a/pyrobolearn/simulators/middlewares/robot_middleware.py
+++ b/pyrobolearn/simulators/middlewares/robot_middleware.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Robot middleware API.
 
 The robot middleware interface is an interface between a particular robot and the middleware. The middleware
diff --git a/pyrobolearn/simulators/middlewares/robots/franka.py b/pyrobolearn/simulators/middlewares/robots/franka.py
index 8a6baa5..a7e3a33 100644
--- a/pyrobolearn/simulators/middlewares/robots/franka.py
+++ b/pyrobolearn/simulators/middlewares/robots/franka.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Franka ROS Robot middleware API.
 
 This is robot middleware interface between the Franka robot and ROS. This file should be modified by the user!!
diff --git a/pyrobolearn/simulators/middlewares/robots/iiwa14.py b/pyrobolearn/simulators/middlewares/robots/iiwa14.py
index bde2a9f..64a7cbf 100644
--- a/pyrobolearn/simulators/middlewares/robots/iiwa14.py
+++ b/pyrobolearn/simulators/middlewares/robots/iiwa14.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Kuka IIWA ROS Robot middleware API.
 
 This is robot middleware interface between the Kuka IIWA robot and ROS. This file should be modified by the user!!
diff --git a/pyrobolearn/simulators/middlewares/robots/rrbot.py b/pyrobolearn/simulators/middlewares/robots/rrbot.py
index 471ec51..546d8fd 100644
--- a/pyrobolearn/simulators/middlewares/robots/rrbot.py
+++ b/pyrobolearn/simulators/middlewares/robots/rrbot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the RRBot ROS Robot middleware API.
 
 This is robot middleware interface between the RRBot robot and ROS. This file should be modified by the user!!
diff --git a/pyrobolearn/simulators/middlewares/robots/ur5.py b/pyrobolearn/simulators/middlewares/robots/ur5.py
index 969e28e..2c903e2 100644
--- a/pyrobolearn/simulators/middlewares/robots/ur5.py
+++ b/pyrobolearn/simulators/middlewares/robots/ur5.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the UR5 ROS Robot middleware API.
 
 This is robot middleware interface between the UR5 robot and ROS. This file should be modified by the user!!
diff --git a/pyrobolearn/simulators/middlewares/ros.py b/pyrobolearn/simulators/middlewares/ros.py
index c18a568..7e390b4 100644
--- a/pyrobolearn/simulators/middlewares/ros.py
+++ b/pyrobolearn/simulators/middlewares/ros.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the ROS middleware API.
 
 ROS (Robot Operating System) [1] is a robotics middleware which "provides libraries and tools to help software
diff --git a/pyrobolearn/simulators/middlewares/ros_publisher.py b/pyrobolearn/simulators/middlewares/ros_publisher.py
index 7c51b5e..64c2c8d 100644
--- a/pyrobolearn/simulators/middlewares/ros_publisher.py
+++ b/pyrobolearn/simulators/middlewares/ros_publisher.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract robot publisher.
 """
 
diff --git a/pyrobolearn/simulators/middlewares/ros_service.py b/pyrobolearn/simulators/middlewares/ros_service.py
index 8a2a9ae..aba091f 100644
--- a/pyrobolearn/simulators/middlewares/ros_service.py
+++ b/pyrobolearn/simulators/middlewares/ros_service.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract ROS service.
 """
 
diff --git a/pyrobolearn/simulators/middlewares/ros_subscriber.py b/pyrobolearn/simulators/middlewares/ros_subscriber.py
index 3058b62..0cdf9fa 100644
--- a/pyrobolearn/simulators/middlewares/ros_subscriber.py
+++ b/pyrobolearn/simulators/middlewares/ros_subscriber.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract robot subscriber.
 """
 
diff --git a/pyrobolearn/simulators/middlewares/yarp_.py b/pyrobolearn/simulators/middlewares/yarp_.py
index da9b8c7..d7baa6e 100644
--- a/pyrobolearn/simulators/middlewares/yarp_.py
+++ b/pyrobolearn/simulators/middlewares/yarp_.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the YARP middleware API.
 
 Dependencies in PRL:
diff --git a/pyrobolearn/simulators/mujoco.py b/pyrobolearn/simulators/mujoco.py
index 48fc2f9..b97c6ee 100644
--- a/pyrobolearn/simulators/mujoco.py
+++ b/pyrobolearn/simulators/mujoco.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the MuJoCo Simulator API.
 
 This is the main interface that communicates with the MuJoCo simulator [1]. By defining this interface, it allows to
diff --git a/pyrobolearn/simulators/opensim.py b/pyrobolearn/simulators/opensim.py
index bfb948e..00c4b93 100644
--- a/pyrobolearn/simulators/opensim.py
+++ b/pyrobolearn/simulators/opensim.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the OpenSim Simulator API.
 
 This is the main interface that communicates with the OpenSim simulator [1]. By defining this interface, it allows to
diff --git a/pyrobolearn/simulators/raisim.py b/pyrobolearn/simulators/raisim.py
index 1cc3224..df793a8 100644
--- a/pyrobolearn/simulators/raisim.py
+++ b/pyrobolearn/simulators/raisim.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the RaiSim Simulator API.
 
 This is the main interface that communicates with the RaiSim simulator [1-5]. By defining this interface, it
diff --git a/pyrobolearn/simulators/rbdl_.py b/pyrobolearn/simulators/rbdl_.py
index 1c66277..91bd1ed 100644
--- a/pyrobolearn/simulators/rbdl_.py
+++ b/pyrobolearn/simulators/rbdl_.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Python wrapper around RBDL
 
 The signature of each method defined here are inspired by the `Robot` class in PyRoboLearn and [1] but in accordance
diff --git a/pyrobolearn/simulators/rbdl_ros.py b/pyrobolearn/simulators/rbdl_ros.py
index abc6f92..61c4a4d 100644
--- a/pyrobolearn/simulators/rbdl_ros.py
+++ b/pyrobolearn/simulators/rbdl_ros.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """ROS-RBDL simulator
 
 This 'simulator' is not per se a simulator, it communicates with the real robots in the real world using ROS [1], and
diff --git a/pyrobolearn/simulators/ros.py b/pyrobolearn/simulators/ros.py
index 92361cc..d286968 100644
--- a/pyrobolearn/simulators/ros.py
+++ b/pyrobolearn/simulators/ros.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the ROS API.
 
 Dependencies in PRL:
diff --git a/pyrobolearn/simulators/simulator.py b/pyrobolearn/simulators/simulator.py
index 4160831..0f3f9b5 100644
--- a/pyrobolearn/simulators/simulator.py
+++ b/pyrobolearn/simulators/simulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Simulator API.
 
 All the simulators inherit from the interface defined here. This acts as a bridge between the simulator and
diff --git a/pyrobolearn/simulators/test_mujoco.py b/pyrobolearn/simulators/test_mujoco.py
index 6bcac26..1560930 100644
--- a/pyrobolearn/simulators/test_mujoco.py
+++ b/pyrobolearn/simulators/test_mujoco.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Test with MuJoCo.
 """
 
diff --git a/pyrobolearn/simulators/test_simulators.py b/pyrobolearn/simulators/test_simulators.py
index bd32b05..1875912 100644
--- a/pyrobolearn/simulators/test_simulators.py
+++ b/pyrobolearn/simulators/test_simulators.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Simulator tests.
 
 Tests with the simulators.
diff --git a/pyrobolearn/simulators/vrep.py b/pyrobolearn/simulators/vrep.py
index 0cf480f..f56a03e 100644
--- a/pyrobolearn/simulators/vrep.py
+++ b/pyrobolearn/simulators/vrep.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the V-REP Simulator API (using PyRep).
 
 This is the main interface that communicates with the V-REP simulator [1] through its Python wrapper PyRep [2].
diff --git a/pyrobolearn/states/basic_states.py b/pyrobolearn/states/basic_states.py
index 9905e18..dcddb6c 100644
--- a/pyrobolearn/states/basic_states.py
+++ b/pyrobolearn/states/basic_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define basic states
 
 This includes notably the fixed, functional, and counter states.
diff --git a/pyrobolearn/states/body_states.py b/pyrobolearn/states/body_states.py
index ff2f60c..87ebbc0 100644
--- a/pyrobolearn/states/body_states.py
+++ b/pyrobolearn/states/body_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various joint states
 
 This includes notably the joint positions, velocities, and force/torque states.
diff --git a/pyrobolearn/states/generators/state_generator.py b/pyrobolearn/states/generators/state_generator.py
index cba20d7..d708a5f 100644
--- a/pyrobolearn/states/generators/state_generator.py
+++ b/pyrobolearn/states/generators/state_generator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define various initial state generators.
 
 The initial state generator generates the initial state which is returned by the environment when calling
diff --git a/pyrobolearn/states/gym_states.py b/pyrobolearn/states/gym_states.py
index 229cfbf..8116c5b 100644
--- a/pyrobolearn/states/gym_states.py
+++ b/pyrobolearn/states/gym_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the OpenAI Gym State
 
 This defines the OpenAI Gym state such that it is compatible with the pyrobolearn framework. It notably decouples
diff --git a/pyrobolearn/states/interfaces/interface_state.py b/pyrobolearn/states/interfaces/interface_state.py
index 05d1058..29f7961 100644
--- a/pyrobolearn/states/interfaces/interface_state.py
+++ b/pyrobolearn/states/interfaces/interface_state.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract interface state class.
 
 The interface state allows to get the state information about input interfaces defined in
diff --git a/pyrobolearn/states/interfaces/joystick_states.py b/pyrobolearn/states/interfaces/joystick_states.py
index 6cbbe8e..25988bf 100644
--- a/pyrobolearn/states/interfaces/joystick_states.py
+++ b/pyrobolearn/states/interfaces/joystick_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the joystick interface states.
 """
 
diff --git a/pyrobolearn/states/interfaces/mouse_keyboard_state.py b/pyrobolearn/states/interfaces/mouse_keyboard_state.py
index 2f1b523..5a072d6 100644
--- a/pyrobolearn/states/interfaces/mouse_keyboard_state.py
+++ b/pyrobolearn/states/interfaces/mouse_keyboard_state.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the mouse keyboard interface states.
 """
 
diff --git a/pyrobolearn/states/interfaces/webcam_state.py b/pyrobolearn/states/interfaces/webcam_state.py
index 446d6d4..e2ffe01 100644
--- a/pyrobolearn/states/interfaces/webcam_state.py
+++ b/pyrobolearn/states/interfaces/webcam_state.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the webcam interface states.
 """
 
diff --git a/pyrobolearn/states/merged_space.py b/pyrobolearn/states/merged_space.py
index b4a55a6..202835f 100644
--- a/pyrobolearn/states/merged_space.py
+++ b/pyrobolearn/states/merged_space.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the merged space.
 
 This is a space that merges the various spaces together based on each dimension.
diff --git a/pyrobolearn/states/processors/state_processor.py b/pyrobolearn/states/processors/state_processor.py
index e505f68..bcf518d 100644
--- a/pyrobolearn/states/processors/state_processor.py
+++ b/pyrobolearn/states/processors/state_processor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide state processors
 
 The various state processors defined here allow to process the data after being read. In contrast, to process the
diff --git a/pyrobolearn/states/robot_states/joint_states.py b/pyrobolearn/states/robot_states/joint_states.py
index c300453..77bfb80 100644
--- a/pyrobolearn/states/robot_states/joint_states.py
+++ b/pyrobolearn/states/robot_states/joint_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various joint states
 
 This includes notably the joint positions, velocities, and force/torque states.
diff --git a/pyrobolearn/states/robot_states/link_states.py b/pyrobolearn/states/robot_states/link_states.py
index bd3ceac..fd16020 100644
--- a/pyrobolearn/states/robot_states/link_states.py
+++ b/pyrobolearn/states/robot_states/link_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various link states
 
 This includes notably the link positions and velocities.
diff --git a/pyrobolearn/states/robot_states/robot_states.py b/pyrobolearn/states/robot_states/robot_states.py
index 2264871..2af6d2b 100644
--- a/pyrobolearn/states/robot_states/robot_states.py
+++ b/pyrobolearn/states/robot_states/robot_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the basic robot states
 
 Check also the joint, link, and sensor states.
diff --git a/pyrobolearn/states/robot_states/sensor_states.py b/pyrobolearn/states/robot_states/sensor_states.py
index d6f685a..bc9ddd1 100644
--- a/pyrobolearn/states/robot_states/sensor_states.py
+++ b/pyrobolearn/states/robot_states/sensor_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various sensor states
 
 This includes notably the camera, contact, IMU, force/torque sensors and others.
diff --git a/pyrobolearn/states/state.py b/pyrobolearn/states/state.py
index 3089901..0091937 100644
--- a/pyrobolearn/states/state.py
+++ b/pyrobolearn/states/state.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the State class.
 
 This file defines the `State` class, which is returned by the environment, and given as an input to several
diff --git a/pyrobolearn/states/time_states.py b/pyrobolearn/states/time_states.py
index 6c49ef3..639a3ce 100644
--- a/pyrobolearn/states/time_states.py
+++ b/pyrobolearn/states/time_states.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various time states
 
 This includes notably the absolute, relative, and cumulative time states.
diff --git a/pyrobolearn/storages/er.py b/pyrobolearn/storages/er.py
index aaf67bc..8fb56db 100644
--- a/pyrobolearn/storages/er.py
+++ b/pyrobolearn/storages/er.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the experience replay (ER) storage.
 
 References:
diff --git a/pyrobolearn/storages/her.py b/pyrobolearn/storages/her.py
index 5130370..6f1851f 100644
--- a/pyrobolearn/storages/her.py
+++ b/pyrobolearn/storages/her.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the hindsight experience replay (HER) storage.
 
 References:
diff --git a/pyrobolearn/storages/per.py b/pyrobolearn/storages/per.py
index b4a25ac..5b61d55 100644
--- a/pyrobolearn/storages/per.py
+++ b/pyrobolearn/storages/per.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the prioritized experience replay (PER) storage.
 
 The PER works by prioritizing transitions based on the magnitude of their TD error. In order to overcome over-fitting
diff --git a/pyrobolearn/storages/storage.py b/pyrobolearn/storages/storage.py
index f3a50f1..86d7b99 100644
--- a/pyrobolearn/storages/storage.py
+++ b/pyrobolearn/storages/storage.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the replay memories which stores transitions (states, actions, next_states, rewards) at each time step,
 when running a policy in the environment.
 
diff --git a/pyrobolearn/tasks/active.py b/pyrobolearn/tasks/active.py
index aad169e..6831b08 100644
--- a/pyrobolearn/tasks/active.py
+++ b/pyrobolearn/tasks/active.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the active learning task.
 """
 
diff --git a/pyrobolearn/tasks/curriculum.py b/pyrobolearn/tasks/curriculum.py
index 6163d90..e99db05 100644
--- a/pyrobolearn/tasks/curriculum.py
+++ b/pyrobolearn/tasks/curriculum.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the curriculum learning task.
 
 This type of tasks starts by training agents on simple tasks/environments first and then increase the difficulty
diff --git a/pyrobolearn/tasks/distillation.py b/pyrobolearn/tasks/distillation.py
index ce514f6..0d2c8b2 100644
--- a/pyrobolearn/tasks/distillation.py
+++ b/pyrobolearn/tasks/distillation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the knowledge distillation task.
 
 This type of tasks takes one or multiple models that have been trained on one or several tasks, and use them to train
diff --git a/pyrobolearn/tasks/imitation.py b/pyrobolearn/tasks/imitation.py
index 9b73aa3..ccbccca 100644
--- a/pyrobolearn/tasks/imitation.py
+++ b/pyrobolearn/tasks/imitation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the imitation learning task.
 
 Dependencies:
diff --git a/pyrobolearn/tasks/inverse_reinforcement.py b/pyrobolearn/tasks/inverse_reinforcement.py
index 4c8e197..78e0f26 100644
--- a/pyrobolearn/tasks/inverse_reinforcement.py
+++ b/pyrobolearn/tasks/inverse_reinforcement.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the inverse reinforcement learning task.
 """
 
diff --git a/pyrobolearn/tasks/misc.py b/pyrobolearn/tasks/misc.py
index 5d78c9d..86ba501 100644
--- a/pyrobolearn/tasks/misc.py
+++ b/pyrobolearn/tasks/misc.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the miscellaneous tasks.
 """
 
diff --git a/pyrobolearn/tasks/reinforcement.py b/pyrobolearn/tasks/reinforcement.py
index 5093413..3fd7083 100644
--- a/pyrobolearn/tasks/reinforcement.py
+++ b/pyrobolearn/tasks/reinforcement.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the reinforcement learning task.
 """
 
diff --git a/pyrobolearn/tasks/scheduler.py b/pyrobolearn/tasks/scheduler.py
index 4c8a330..e039cea 100644
--- a/pyrobolearn/tasks/scheduler.py
+++ b/pyrobolearn/tasks/scheduler.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `Scheduler` class which deals on how to run multiple tasks in a sequential or parallel way.
 
 A user can create its own task/scenario independently of the rest. Once a task is done, which is known when
diff --git a/pyrobolearn/tasks/task.py b/pyrobolearn/tasks/task.py
index b1de5b2..a9a9ef9 100644
--- a/pyrobolearn/tasks/task.py
+++ b/pyrobolearn/tasks/task.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract 'Task'/'Scenario' class.
 
 A task represents a certain learning paradigm, and use specific metrics with respect to that paradigm.
diff --git a/pyrobolearn/tasks/transfer.py b/pyrobolearn/tasks/transfer.py
index 0558ef1..4e9a86c 100644
--- a/pyrobolearn/tasks/transfer.py
+++ b/pyrobolearn/tasks/transfer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the transfer learning task.
 """
 
diff --git a/pyrobolearn/template_models/lip.py b/pyrobolearn/template_models/lip.py
index 3f3d080..968c457 100644
--- a/pyrobolearn/template_models/lip.py
+++ b/pyrobolearn/template_models/lip.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Soft-Actor Critic algorithm.
 
 Define the SAC reinforcement learning algorithm. This is a model-free, off-policy, actor-critic method.
diff --git a/pyrobolearn/template_models/slip2d.py b/pyrobolearn/template_models/slip2d.py
index f12598b..d8e6458 100644
--- a/pyrobolearn/template_models/slip2d.py
+++ b/pyrobolearn/template_models/slip2d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the 2D Spring Loaded Inverted Pendulum (SLIP) model.
 """
 
diff --git a/pyrobolearn/template_models/slip3d.py b/pyrobolearn/template_models/slip3d.py
index d1c53f9..982d810 100644
--- a/pyrobolearn/template_models/slip3d.py
+++ b/pyrobolearn/template_models/slip3d.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the 3D Spring Loaded Inverted Pendulum (SLIP) model.
 """
 
diff --git a/pyrobolearn/terminal_conditions/basic_conditions.py b/pyrobolearn/terminal_conditions/basic_conditions.py
index 39be0dd..26bc411 100644
--- a/pyrobolearn/terminal_conditions/basic_conditions.py
+++ b/pyrobolearn/terminal_conditions/basic_conditions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some common terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/terminal_conditions/body_conditions.py b/pyrobolearn/terminal_conditions/body_conditions.py
index 7185aa6..1f9032a 100644
--- a/pyrobolearn/terminal_conditions/body_conditions.py
+++ b/pyrobolearn/terminal_conditions/body_conditions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some body terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/terminal_conditions/joint_conditions.py b/pyrobolearn/terminal_conditions/joint_conditions.py
index 41be1f9..2690d45 100644
--- a/pyrobolearn/terminal_conditions/joint_conditions.py
+++ b/pyrobolearn/terminal_conditions/joint_conditions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some joint terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/terminal_conditions/link_conditions.py b/pyrobolearn/terminal_conditions/link_conditions.py
index 3c780d2..ca38c24 100644
--- a/pyrobolearn/terminal_conditions/link_conditions.py
+++ b/pyrobolearn/terminal_conditions/link_conditions.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some link terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/terminal_conditions/robot_condition.py b/pyrobolearn/terminal_conditions/robot_condition.py
index 18d115a..bd3f421 100644
--- a/pyrobolearn/terminal_conditions/robot_condition.py
+++ b/pyrobolearn/terminal_conditions/robot_condition.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some robot terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/terminal_conditions/terminal_condition.py b/pyrobolearn/terminal_conditions/terminal_condition.py
index 5882cea..18f061c 100644
--- a/pyrobolearn/terminal_conditions/terminal_condition.py
+++ b/pyrobolearn/terminal_conditions/terminal_condition.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define some common terminal conditions for the environment.
 """
 
diff --git a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_quadcopter.py b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_quadcopter.py
index e1e117f..9dd11c8 100644
--- a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_quadcopter.py
+++ b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_quadcopter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Bridges between speech interface and quadcopter
 """
 
diff --git a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
index 43526dc..af1673f 100644
--- a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
+++ b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Bridges between speech interface and wheeled robots
 """
 
diff --git a/pyrobolearn/tools/bridges/bridge.py b/pyrobolearn/tools/bridges/bridge.py
index 2bdb91f..fc3856c 100644
--- a/pyrobolearn/tools/bridges/bridge.py
+++ b/pyrobolearn/tools/bridges/bridge.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge class.
 
 The Bridge class links an interface with something else. This can be the world (such as a robot, a camera,
diff --git a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_manipulator.py b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_manipulator.py
index bc495c7..eb8f72b 100644
--- a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_manipulator.py
+++ b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # !/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the bridge between the game controller interface and a manipulator's end-effector. Note that this uses a QP 
 controller behind the scene to move the robot. You can use position or impedance control.
 """
diff --git a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_quadcopter.py b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_quadcopter.py
index 5b5cc77..b8fd6d4 100644
--- a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_quadcopter.py
+++ b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_quadcopter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge between the game controller interface and the world.
 
 Dependencies:
diff --git a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
index 58512c3..418b152 100644
--- a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
+++ b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Bridges between controller interface and wheeled robots
 """
 
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
index 8776614..6af5a82 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge between the mouse-keyboard interface and the world.
 
 Dependencies:
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_manipulator.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_manipulator.py
index d4a0322..94bda6c 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_manipulator.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # !/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the bridge between the mouse+keyboard interface and a manipulator's end-effector. Note that this uses a QP
 controller behind the scene to move the robot. You can use position or impedance control.
 """
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_quadcopter.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_quadcopter.py
index 0fd47b9..27336df 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_quadcopter.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_quadcopter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge between the mouse-keyboard interface and the world.
 
 Dependencies:
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_wheeled.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_wheeled.py
index ffacba8..508fdff 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_wheeled.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_wheeled.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge between the mouse-keyboard interface and the world.
 
 Dependencies:
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
index cdf00c4..6536533 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Bridge between the mouse-keyboard interface and the world.
 
 Dependencies:
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_spacemouse_manipulator.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_spacemouse_manipulator.py
index 3376cab..c09277e 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_spacemouse_manipulator.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_spacemouse_manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # !/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the bridge between the SpaceMouse interface and a manipulator's end-effector. Note that this uses a QP 
 controller behind the scene to move the robot. You can use position or impedance control.
 """
diff --git a/pyrobolearn/tools/bridges/sensors/bridge_leapmotion_manipulator.py b/pyrobolearn/tools/bridges/sensors/bridge_leapmotion_manipulator.py
index dd9afe0..7db6add 100644
--- a/pyrobolearn/tools/bridges/sensors/bridge_leapmotion_manipulator.py
+++ b/pyrobolearn/tools/bridges/sensors/bridge_leapmotion_manipulator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the bridge between the LeapMotion and a manipulator's end-effector. Note that this uses a QP controller
 behind the scene to move the robot. You can use position or impedance control.
 """
diff --git a/pyrobolearn/tools/interfaces/audio/alexa.py b/pyrobolearn/tools/interfaces/audio/alexa.py
index 56b0246..bcf1c4e 100644
--- a/pyrobolearn/tools/interfaces/audio/alexa.py
+++ b/pyrobolearn/tools/interfaces/audio/alexa.py
@@ -1,3 +1,3 @@
-# -*- coding: utf-8 -*-
 # TODO
+# -*- coding: utf-8 -*-
 # Ref: https://developer.amazon.com/en-US/alexa/alexa-skills-kit/alexa-skill-python-tutorial
diff --git a/pyrobolearn/tools/interfaces/audio/audio.py b/pyrobolearn/tools/interfaces/audio/audio.py
index 5d92d94..d44d3a2 100644
--- a/pyrobolearn/tools/interfaces/audio/audio.py
+++ b/pyrobolearn/tools/interfaces/audio/audio.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the main basic audio interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/audio/google_assistant.py b/pyrobolearn/tools/interfaces/audio/google_assistant.py
index ddbd3e7..f3ba929 100644
--- a/pyrobolearn/tools/interfaces/audio/google_assistant.py
+++ b/pyrobolearn/tools/interfaces/audio/google_assistant.py
@@ -1,3 +1,3 @@
-# -*- coding: utf-8 -*-
 # TODO
+# -*- coding: utf-8 -*-
 # Ref: https://developers.google.com/assistant/sdk/overview
diff --git a/pyrobolearn/tools/interfaces/audio/microphone.py b/pyrobolearn/tools/interfaces/audio/microphone.py
index 22489d5..61a5ada 100644
--- a/pyrobolearn/tools/interfaces/audio/microphone.py
+++ b/pyrobolearn/tools/interfaces/audio/microphone.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 from pyrobolearn.tools.interfaces.audio import InputAudioInterface
 
 
diff --git a/pyrobolearn/tools/interfaces/audio/speaker.py b/pyrobolearn/tools/interfaces/audio/speaker.py
index d0e907d..924a844 100644
--- a/pyrobolearn/tools/interfaces/audio/speaker.py
+++ b/pyrobolearn/tools/interfaces/audio/speaker.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the speaker audio interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/audio/speech.py b/pyrobolearn/tools/interfaces/audio/speech.py
index b2e6472..c325a4e 100644
--- a/pyrobolearn/tools/interfaces/audio/speech.py
+++ b/pyrobolearn/tools/interfaces/audio/speech.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various speech interfaces allowing to perform speech recognition, translation, and synthesization.
 """
 # TODO: chatbox, google assistant, alexa
diff --git a/pyrobolearn/tools/interfaces/bci/bci.py b/pyrobolearn/tools/interfaces/bci/bci.py
index e93abc1..bd2a59b 100644
--- a/pyrobolearn/tools/interfaces/bci/bci.py
+++ b/pyrobolearn/tools/interfaces/bci/bci.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 from pyrobolearn.tools.interfaces.interface import InputInterface
 
 
diff --git a/pyrobolearn/tools/interfaces/camera/asus_xtion.py b/pyrobolearn/tools/interfaces/camera/asus_xtion.py
index aab4797..d60637f 100644
--- a/pyrobolearn/tools/interfaces/camera/asus_xtion.py
+++ b/pyrobolearn/tools/interfaces/camera/asus_xtion.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Asus Xtion input interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/camera/camera.py b/pyrobolearn/tools/interfaces/camera/camera.py
index 58a07c9..6406659 100644
--- a/pyrobolearn/tools/interfaces/camera/camera.py
+++ b/pyrobolearn/tools/interfaces/camera/camera.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the main basic Camera interface
 
 This defines the main basic camera interface from which all other interfaces which uses a camera inherit from.
diff --git a/pyrobolearn/tools/interfaces/camera/fer.py b/pyrobolearn/tools/interfaces/camera/fer.py
index c871754..a173e3b 100644
--- a/pyrobolearn/tools/interfaces/camera/fer.py
+++ b/pyrobolearn/tools/interfaces/camera/fer.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Facial Expression Recognition Interface
 """
 # TODO
diff --git a/pyrobolearn/tools/interfaces/camera/kinect.py b/pyrobolearn/tools/interfaces/camera/kinect.py
index d347a70..5a277aa 100644
--- a/pyrobolearn/tools/interfaces/camera/kinect.py
+++ b/pyrobolearn/tools/interfaces/camera/kinect.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Kinect input interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/camera/openpose.py b/pyrobolearn/tools/interfaces/camera/openpose.py
index 509f561..5f321b1 100644
--- a/pyrobolearn/tools/interfaces/camera/openpose.py
+++ b/pyrobolearn/tools/interfaces/camera/openpose.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Openpose Interface
 
 This extracts the human skeleton from an image or stream of images (from a webcam for instance) using the openpose
diff --git a/pyrobolearn/tools/interfaces/camera/realsense.py b/pyrobolearn/tools/interfaces/camera/realsense.py
index de11f2d..c01e51a 100644
--- a/pyrobolearn/tools/interfaces/camera/realsense.py
+++ b/pyrobolearn/tools/interfaces/camera/realsense.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the RealSense depth camera input interface.
 
 References:
diff --git a/pyrobolearn/tools/interfaces/camera/webcam.py b/pyrobolearn/tools/interfaces/camera/webcam.py
index 4175de0..b50c78f 100644
--- a/pyrobolearn/tools/interfaces/camera/webcam.py
+++ b/pyrobolearn/tools/interfaces/camera/webcam.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Webcam Interface
 
 This provides the main interface to get pictures from the specified webcam.
diff --git a/pyrobolearn/tools/interfaces/controllers/controller.py b/pyrobolearn/tools/interfaces/controllers/controller.py
index 90c9e19..3b28a45 100644
--- a/pyrobolearn/tools/interfaces/controllers/controller.py
+++ b/pyrobolearn/tools/interfaces/controllers/controller.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the abstract game controller interface class.
 
 All the game controller interfaces inherit from the `GameControllerInterface` class defined here.
diff --git a/pyrobolearn/tools/interfaces/controllers/playstation.py b/pyrobolearn/tools/interfaces/controllers/playstation.py
index ca7aa9f..d7f3bf2 100755
--- a/pyrobolearn/tools/interfaces/controllers/playstation.py
+++ b/pyrobolearn/tools/interfaces/controllers/playstation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the PlayStation controller interfaces.
 
 This provides the interfaces for the PlayStation controllers (PS3 and PS4) using the `inputs` library.
diff --git a/pyrobolearn/tools/interfaces/controllers/xbox.py b/pyrobolearn/tools/interfaces/controllers/xbox.py
index b4f1014..cd54562 100644
--- a/pyrobolearn/tools/interfaces/controllers/xbox.py
+++ b/pyrobolearn/tools/interfaces/controllers/xbox.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the Xbox controller interfaces.
 
 This provides the interfaces for the Xbox controllers (Xbox 360 and Xbox One) using the `inputs` library.
diff --git a/pyrobolearn/tools/interfaces/haptic/h3d_haptic.py b/pyrobolearn/tools/interfaces/haptic/h3d_haptic.py
index 8422e89..9aa286a 100644
--- a/pyrobolearn/tools/interfaces/haptic/h3d_haptic.py
+++ b/pyrobolearn/tools/interfaces/haptic/h3d_haptic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 # To run the code `H3DLoad
+# -*- coding: utf-8 -*-
 
 import H3DInterface as h3d
 
diff --git a/pyrobolearn/tools/interfaces/haptic/haptic.py b/pyrobolearn/tools/interfaces/haptic/haptic.py
index af256f4..20e4e81 100644
--- a/pyrobolearn/tools/interfaces/haptic/haptic.py
+++ b/pyrobolearn/tools/interfaces/haptic/haptic.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the haptic interface.
 
 Prerequisites:
diff --git a/pyrobolearn/tools/interfaces/interface.py b/pyrobolearn/tools/interfaces/interface.py
index d15cf22..0e0be2e 100644
--- a/pyrobolearn/tools/interfaces/interface.py
+++ b/pyrobolearn/tools/interfaces/interface.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract interfaces
 
 This defines the Input/Output abstract interfaces. They allowed to get information from input systems (such as
diff --git a/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py b/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
index 8ca41fd..438b859 100644
--- a/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
+++ b/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the mouse-keyboard interface.
 
 Dependencies:
diff --git a/pyrobolearn/tools/interfaces/mouse_keyboard/spacemouse.py b/pyrobolearn/tools/interfaces/mouse_keyboard/spacemouse.py
index fd5b3e3..2a47e49 100644
--- a/pyrobolearn/tools/interfaces/mouse_keyboard/spacemouse.py
+++ b/pyrobolearn/tools/interfaces/mouse_keyboard/spacemouse.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the space mouse (from 3D connexion) interface.
 
 Prerequisites:
diff --git a/pyrobolearn/tools/interfaces/phones/android.py b/pyrobolearn/tools/interfaces/phones/android.py
index 22e46b6..2ad105b 100644
--- a/pyrobolearn/tools/interfaces/phones/android.py
+++ b/pyrobolearn/tools/interfaces/phones/android.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the android interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/phones/iphone.py b/pyrobolearn/tools/interfaces/phones/iphone.py
index 030ff75..755f6f5 100644
--- a/pyrobolearn/tools/interfaces/phones/iphone.py
+++ b/pyrobolearn/tools/interfaces/phones/iphone.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the iPhone interface.
 """
 
diff --git a/pyrobolearn/tools/interfaces/phones/phone.py b/pyrobolearn/tools/interfaces/phones/phone.py
index 3101ed4..7e3270b 100644
--- a/pyrobolearn/tools/interfaces/phones/phone.py
+++ b/pyrobolearn/tools/interfaces/phones/phone.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the smartphone and tablet interface.
 
 These interfaces allows you to get sensor values sent with your phone or tablet, and values returned by the
diff --git a/pyrobolearn/tools/interfaces/robots/robot.py b/pyrobolearn/tools/interfaces/robots/robot.py
index a69d861..61078f9 100644
--- a/pyrobolearn/tools/interfaces/robots/robot.py
+++ b/pyrobolearn/tools/interfaces/robots/robot.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 # Import general interface
diff --git a/pyrobolearn/tools/interfaces/sensors/emg.py b/pyrobolearn/tools/interfaces/sensors/emg.py
index 6ed5723..fdb0599 100644
--- a/pyrobolearn/tools/interfaces/sensors/emg.py
+++ b/pyrobolearn/tools/interfaces/sensors/emg.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 from pyrobolearn.tools.interfaces.sensors import BioSensorInterface
diff --git a/pyrobolearn/tools/interfaces/sensors/leapmotion.py b/pyrobolearn/tools/interfaces/sensors/leapmotion.py
index 75c8791..ee44417 100644
--- a/pyrobolearn/tools/interfaces/sensors/leapmotion.py
+++ b/pyrobolearn/tools/interfaces/sensors/leapmotion.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Leap Motion hand tracking sensor input interface.
 
 You can run the Leap control panel by typing in the terminal:
diff --git a/pyrobolearn/tools/interfaces/sensors/myo/PyoConnectLib.py b/pyrobolearn/tools/interfaces/sensors/myo/PyoConnectLib.py
index af71611..e41da3d 100644
--- a/pyrobolearn/tools/interfaces/sensors/myo/PyoConnectLib.py
+++ b/pyrobolearn/tools/interfaces/sensors/myo/PyoConnectLib.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # uncompyle6 version 3.3.5
 # Python bytecode 2.7 (62211)
diff --git a/pyrobolearn/tools/interfaces/sensors/myo/common.py b/pyrobolearn/tools/interfaces/sensors/myo/common.py
index 7b296b2..2c4b286 100644
--- a/pyrobolearn/tools/interfaces/sensors/myo/common.py
+++ b/pyrobolearn/tools/interfaces/sensors/myo/common.py
@@ -1,6 +1,9 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import struct
 
+
 def pack(fmt, *args):
     return struct.pack('<' + fmt, *args)
 
diff --git a/pyrobolearn/tools/interfaces/sensors/myo/myo_raw.py b/pyrobolearn/tools/interfaces/sensors/myo/myo_raw.py
index 076d279..f4547cc 100644
--- a/pyrobolearn/tools/interfaces/sensors/myo/myo_raw.py
+++ b/pyrobolearn/tools/interfaces/sensors/myo/myo_raw.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """
 Original by dzhu: https://github.com/dzhu/myo-raw
 
diff --git a/pyrobolearn/tools/interfaces/sensors/myo_armband.py b/pyrobolearn/tools/interfaces/sensors/myo_armband.py
index 1bf52ff..ae2ed9b 100644
--- a/pyrobolearn/tools/interfaces/sensors/myo_armband.py
+++ b/pyrobolearn/tools/interfaces/sensors/myo_armband.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Myo armband sensor input interface.
 
 Warnings: "Myo production has officially ended as of Oct 12, 2018 and is no longer available for purchase".
diff --git a/pyrobolearn/tools/interfaces/sensors/sensor.py b/pyrobolearn/tools/interfaces/sensors/sensor.py
index 61b2fa5..5a06897 100644
--- a/pyrobolearn/tools/interfaces/sensors/sensor.py
+++ b/pyrobolearn/tools/interfaces/sensors/sensor.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 from pyrobolearn.tools.interfaces import InputInterface
diff --git a/pyrobolearn/tools/interfaces/suits/suit.py b/pyrobolearn/tools/interfaces/suits/suit.py
index 212b295..c97d847 100644
--- a/pyrobolearn/tools/interfaces/suits/suit.py
+++ b/pyrobolearn/tools/interfaces/suits/suit.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 from pyrobolearn.tools.interfaces import InputInterface
diff --git a/pyrobolearn/tools/interfaces/suits/xsens.py b/pyrobolearn/tools/interfaces/suits/xsens.py
index b30ed04..5df755d 100644
--- a/pyrobolearn/tools/interfaces/suits/xsens.py
+++ b/pyrobolearn/tools/interfaces/suits/xsens.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 from pyrobolearn.tools.interfaces.suits import SuitInterface
diff --git a/pyrobolearn/tools/interfaces/telegram/telegram.py b/pyrobolearn/tools/interfaces/telegram/telegram.py
index ef59959..d6d0d83 100644
--- a/pyrobolearn/tools/interfaces/telegram/telegram.py
+++ b/pyrobolearn/tools/interfaces/telegram/telegram.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # TELEGRAM:
 # - https://telegram.org/
diff --git a/pyrobolearn/tools/interfaces/vr/htc.py b/pyrobolearn/tools/interfaces/vr/htc.py
index 6271f50..fe3e10d 100644
--- a/pyrobolearn/tools/interfaces/vr/htc.py
+++ b/pyrobolearn/tools/interfaces/vr/htc.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
 from pyrobolearn.tools.interfaces.vr import VRInterface
diff --git a/pyrobolearn/tools/interfaces/vr/oculus.py b/pyrobolearn/tools/interfaces/vr/oculus.py
index e0c649f..ff28ab6 100644
--- a/pyrobolearn/tools/interfaces/vr/oculus.py
+++ b/pyrobolearn/tools/interfaces/vr/oculus.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the OculusTouch class which communicates with Unity (on Windows) using TCP.
 
 Currently, Oculus has only support for Windows systems. However, several libraries such as ROS only runs on
diff --git a/pyrobolearn/tools/interfaces/vr/vr.py b/pyrobolearn/tools/interfaces/vr/vr.py
index 4ffdad8..d9302d7 100644
--- a/pyrobolearn/tools/interfaces/vr/vr.py
+++ b/pyrobolearn/tools/interfaces/vr/vr.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the main Virtual Reality (VR) interface class.
 
 References:
diff --git a/pyrobolearn/trajectory_optimization/cio.py b/pyrobolearn/trajectory_optimization/cio.py
index e38cc34..8dcfb0c 100644
--- a/pyrobolearn/trajectory_optimization/cio.py
+++ b/pyrobolearn/trajectory_optimization/cio.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """This file implements the 'Contact Invariant Optimization' framework developed by Igor Mordatch.
 
 References:
diff --git a/pyrobolearn/utils/bullet_utils.py b/pyrobolearn/utils/bullet_utils.py
index 8f649bf..a47ac86 100644
--- a/pyrobolearn/utils/bullet_utils.py
+++ b/pyrobolearn/utils/bullet_utils.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file provides some utilities with the pybullet interface.
 
diff --git a/pyrobolearn/utils/converter.py b/pyrobolearn/utils/converter.py
index 4604093..e297a6d 100644
--- a/pyrobolearn/utils/converter.py
+++ b/pyrobolearn/utils/converter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide converter classes which allows to convert from one certain data type to another.
 """
 
diff --git a/pyrobolearn/utils/data_structures/graph.py b/pyrobolearn/utils/data_structures/graph.py
index 007dd84..6c13599 100644
--- a/pyrobolearn/utils/data_structures/graph.py
+++ b/pyrobolearn/utils/data_structures/graph.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 
+# -*- coding: utf-8 -*-
 
 class Graph(object):
     r"""Graph.
diff --git a/pyrobolearn/utils/data_structures/orderedset.py b/pyrobolearn/utils/data_structures/orderedset.py
index 4ecca8a..b1ae6f6 100644
--- a/pyrobolearn/utils/data_structures/orderedset.py
+++ b/pyrobolearn/utils/data_structures/orderedset.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the OrderedSet data structure class.
 """
 
diff --git a/pyrobolearn/utils/data_structures/queues.py b/pyrobolearn/utils/data_structures/queues.py
index cccc347..b3ac62e 100644
--- a/pyrobolearn/utils/data_structures/queues.py
+++ b/pyrobolearn/utils/data_structures/queues.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the queue data structures.
 
 These inherit from the various queues in the `queue` Python library, to which we provide few more functionalities.
diff --git a/pyrobolearn/utils/decorator.py b/pyrobolearn/utils/decorator.py
index 66abf2c..7b1e936 100644
--- a/pyrobolearn/utils/decorator.py
+++ b/pyrobolearn/utils/decorator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the various decorators used in this framework.
 """
 
diff --git a/pyrobolearn/utils/distributions.py b/pyrobolearn/utils/distributions.py
index fe660d5..0b99b8f 100644
--- a/pyrobolearn/utils/distributions.py
+++ b/pyrobolearn/utils/distributions.py
@@ -1,10 +1,12 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
-# This file provides the most common probability distributions
+"""This file provides the most common probability distributions
 
-# References:
-# [1] pyrobolearn/models/gaussian
-# [2] Distributions in pytorch: https://pytorch.org/docs/stable/distributions.html
-# [3] https://github.com/ikostrikov/pytorch-a2c-ppo-acktr/blob/master/distributions.py
+References:
+    - [1] pyrobolearn/models/gaussian
+    - [2] Distributions in pytorch: https://pytorch.org/docs/stable/distributions.html
+    - [3] https://github.com/ikostrikov/pytorch-a2c-ppo-acktr/blob/master/distributions.py
+"""
 
 import torch
 import torch.nn as nn
diff --git a/pyrobolearn/utils/feedback.py b/pyrobolearn/utils/feedback.py
index 7472a36..1f5dbaf 100644
--- a/pyrobolearn/utils/feedback.py
+++ b/pyrobolearn/utils/feedback.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide feedback laws used in control.
 
 References:
diff --git a/pyrobolearn/utils/filters.py b/pyrobolearn/utils/filters.py
index 4bf3339..5a5cf9d 100644
--- a/pyrobolearn/utils/filters.py
+++ b/pyrobolearn/utils/filters.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define several filters such as moving average and 1euro filters.
 """
 
diff --git a/pyrobolearn/utils/gazebo-ros/spawn_model.py b/pyrobolearn/utils/gazebo-ros/spawn_model.py
index 43ed93c..6e1f6ba 100755
--- a/pyrobolearn/utils/gazebo-ros/spawn_model.py
+++ b/pyrobolearn/utils/gazebo-ros/spawn_model.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 #
 # Copyright 2013 Open Source Robotics Foundation
 #
diff --git a/pyrobolearn/utils/human_kinematic.py b/pyrobolearn/utils/human_kinematic.py
index beee2ef..61672f9 100644
--- a/pyrobolearn/utils/human_kinematic.py
+++ b/pyrobolearn/utils/human_kinematic.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # This file contains a description of the kinematics of a human being
 # You can get link positions/orientations wrt to the world or any links,
diff --git a/pyrobolearn/utils/inertia.py b/pyrobolearn/utils/inertia.py
index 191a210..4a06462 100644
--- a/pyrobolearn/utils/inertia.py
+++ b/pyrobolearn/utils/inertia.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide functions to process inertia matrices and moments of inertia.
 
 References:
diff --git a/pyrobolearn/utils/interpolator.py b/pyrobolearn/utils/interpolator.py
index f4ff146..3acd7f0 100644
--- a/pyrobolearn/utils/interpolator.py
+++ b/pyrobolearn/utils/interpolator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide some other interpolators that are not in `scipy`.
 """
 
diff --git a/pyrobolearn/utils/manifold_utils.py b/pyrobolearn/utils/manifold_utils.py
index 7182e2c..0bade40 100644
--- a/pyrobolearn/utils/manifold_utils.py
+++ b/pyrobolearn/utils/manifold_utils.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Util methods for operations on manifolds (e.g. Riemannian manifolds)
 """
 
diff --git a/pyrobolearn/utils/math_utils.py b/pyrobolearn/utils/math_utils.py
index 13e74fa..d1612ab 100644
--- a/pyrobolearn/utils/math_utils.py
+++ b/pyrobolearn/utils/math_utils.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Defines mathematical operations.
 """
 
diff --git a/pyrobolearn/utils/mesh.py b/pyrobolearn/utils/mesh.py
index 09dd4aa..2265527 100644
--- a/pyrobolearn/utils/mesh.py
+++ b/pyrobolearn/utils/mesh.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide functions to create, convert, and get information from meshes, using the `trimesh` and `pyassimp` libraries.
 
 Note that some methods just wrap the methods / attributes provided by the `trimesh` library.
diff --git a/pyrobolearn/utils/mesh_old.py b/pyrobolearn/utils/mesh_old.py
index 4c86a02..3961829 100644
--- a/pyrobolearn/utils/mesh_old.py
+++ b/pyrobolearn/utils/mesh_old.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the code to create meshes using the `Mayavi` library.
 
 Most of the meshes in the world such as the `cone`, `ellipsoid`, and others were created using the hereby code.
diff --git a/pyrobolearn/utils/mocap_parser.py b/pyrobolearn/utils/mocap_parser.py
index 2ca2686..23bf46b 100644
--- a/pyrobolearn/utils/mocap_parser.py
+++ b/pyrobolearn/utils/mocap_parser.py
@@ -1,8 +1,11 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 import numpy as np
 from scipy.interpolate import CubicSpline
 import matplotlib.pyplot as plt
 
+
 class MocapParser(object):
 
     def __init__(self, filename):
diff --git a/pyrobolearn/utils/multiprocessing_utils.py b/pyrobolearn/utils/multiprocessing_utils.py
index e008418..752810e 100644
--- a/pyrobolearn/utils/multiprocessing_utils.py
+++ b/pyrobolearn/utils/multiprocessing_utils.py
@@ -1,3 +1,3 @@
-# -*- coding: utf-8 -*-
 # pathos
+# -*- coding: utf-8 -*-
 # openmpi
diff --git a/pyrobolearn/utils/parsers/datasets/3d/mocap_parser.py b/pyrobolearn/utils/parsers/datasets/3d/mocap_parser.py
index 2ca2686..9daeff8 100644
--- a/pyrobolearn/utils/parsers/datasets/3d/mocap_parser.py
+++ b/pyrobolearn/utils/parsers/datasets/3d/mocap_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 import numpy as np
+# -*- coding: utf-8 -*-
 from scipy.interpolate import CubicSpline
 import matplotlib.pyplot as plt
 
diff --git a/pyrobolearn/utils/parsers/robots/converter.py b/pyrobolearn/utils/parsers/robots/converter.py
index bb508e0..e32750e 100644
--- a/pyrobolearn/utils/parsers/robots/converter.py
+++ b/pyrobolearn/utils/parsers/robots/converter.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Converter class which allows to convert from one type of file (urdf, sdf, mjcf, and others) to another
 format.
 """
diff --git a/pyrobolearn/utils/parsers/robots/data_structures.py b/pyrobolearn/utils/parsers/robots/data_structures.py
index dd45c86..e9d248f 100644
--- a/pyrobolearn/utils/parsers/robots/data_structures.py
+++ b/pyrobolearn/utils/parsers/robots/data_structures.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the common data structures that are shared among the various parsers, generators, and converters.
 """
 
diff --git a/pyrobolearn/utils/parsers/robots/mujoco_parser.py b/pyrobolearn/utils/parsers/robots/mujoco_parser.py
index 5fa5079..23ac808 100644
--- a/pyrobolearn/utils/parsers/robots/mujoco_parser.py
+++ b/pyrobolearn/utils/parsers/robots/mujoco_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the MuJoCo parser/generator.
 
 Notes:
diff --git a/pyrobolearn/utils/parsers/robots/proto_parser.py b/pyrobolearn/utils/parsers/robots/proto_parser.py
index 6500df3..5e79043 100644
--- a/pyrobolearn/utils/parsers/robots/proto_parser.py
+++ b/pyrobolearn/utils/parsers/robots/proto_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Proto parser/generator.
 
 Proto files are notably used in Webots.
diff --git a/pyrobolearn/utils/parsers/robots/robot_parser.py b/pyrobolearn/utils/parsers/robots/robot_parser.py
index ddc1316..4857327 100644
--- a/pyrobolearn/utils/parsers/robots/robot_parser.py
+++ b/pyrobolearn/utils/parsers/robots/robot_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract Robot parser.
 """
 
diff --git a/pyrobolearn/utils/parsers/robots/sdf_parser.py b/pyrobolearn/utils/parsers/robots/sdf_parser.py
index de82d75..11ec813 100644
--- a/pyrobolearn/utils/parsers/robots/sdf_parser.py
+++ b/pyrobolearn/utils/parsers/robots/sdf_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the SDF parser/generator.
 
 SDF files are notably used in Gazebo, and Bullet.
diff --git a/pyrobolearn/utils/parsers/robots/skel_parser.py b/pyrobolearn/utils/parsers/robots/skel_parser.py
index b22489a..5479643 100644
--- a/pyrobolearn/utils/parsers/robots/skel_parser.py
+++ b/pyrobolearn/utils/parsers/robots/skel_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Skel parser/generator.
 
 Skel files are notably used in Dart.
diff --git a/pyrobolearn/utils/parsers/robots/srdf_parser.py b/pyrobolearn/utils/parsers/robots/srdf_parser.py
index cbb7fbd..d9fe719 100644
--- a/pyrobolearn/utils/parsers/robots/srdf_parser.py
+++ b/pyrobolearn/utils/parsers/robots/srdf_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the SRDF parser.
 
 The Semantic Robot Description Format (SRDF) format allows to represent semantic information about the robot
diff --git a/pyrobolearn/utils/parsers/robots/urdf_parser.py b/pyrobolearn/utils/parsers/robots/urdf_parser.py
index 2f087e3..665d23b 100644
--- a/pyrobolearn/utils/parsers/robots/urdf_parser.py
+++ b/pyrobolearn/utils/parsers/robots/urdf_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the URDF parser/generator.
 
 URDF files are notably used in ROS, Gazebo, Bullet, Dart, and MuJoCo.
diff --git a/pyrobolearn/utils/parsers/robots/world_parser.py b/pyrobolearn/utils/parsers/robots/world_parser.py
index 2445ad2..1de54bf 100644
--- a/pyrobolearn/utils/parsers/robots/world_parser.py
+++ b/pyrobolearn/utils/parsers/robots/world_parser.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the abstract world parser.
 """
 
diff --git a/pyrobolearn/utils/plot.py b/pyrobolearn/utils/plot.py
index 53fdfa9..2e381aa 100644
--- a/pyrobolearn/utils/plot.py
+++ b/pyrobolearn/utils/plot.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 # Matplotlib
 # Check also Visdom: https://github.com/facebookresearch/visdom
 
diff --git a/pyrobolearn/utils/plotting/frame_plot.py b/pyrobolearn/utils/plotting/frame_plot.py
index 1a18a39..15eff22 100644
--- a/pyrobolearn/utils/plotting/frame_plot.py
+++ b/pyrobolearn/utils/plotting/frame_plot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the link frame real-time plotting class.
 
 Warnings: DON'T FORGET TO CLOSE FIRST THE FIGURE THEN THE SIMULATOR OTHERWISE YOU WILL HAVE THE PLOTTING PROCESS STILL
diff --git a/pyrobolearn/utils/plotting/joint_plot.py b/pyrobolearn/utils/plotting/joint_plot.py
index 4152ce1..d5c3317 100644
--- a/pyrobolearn/utils/plotting/joint_plot.py
+++ b/pyrobolearn/utils/plotting/joint_plot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the joint real-time plotting class.
 
 Warnings: DON'T FORGET TO CLOSE FIRST THE FIGURE THEN THE SIMULATOR OTHERWISE YOU WILL HAVE THE PLOTTING PROCESS STILL
diff --git a/pyrobolearn/utils/plotting/plot.py b/pyrobolearn/utils/plotting/plot.py
index cabb7d5..33a7e8a 100644
--- a/pyrobolearn/utils/plotting/plot.py
+++ b/pyrobolearn/utils/plotting/plot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the Plot class.
 
 Warnings: THIS IS EXPERIMENTAL.
diff --git a/pyrobolearn/utils/pose_generator.py b/pyrobolearn/utils/pose_generator.py
index f4170a2..e1e2ebe 100644
--- a/pyrobolearn/utils/pose_generator.py
+++ b/pyrobolearn/utils/pose_generator.py
@@ -1,4 +1,6 @@
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
+
 # This file defines the `PoseGenerator` class which generates possible or plausible poses for a robot.
 # A pose is defined as:
 # - the link positions/orientations, and the base position/orientation.
diff --git a/pyrobolearn/utils/torch_utils.py b/pyrobolearn/utils/torch_utils.py
index 361a82f..e6f66a8 100644
--- a/pyrobolearn/utils/torch_utils.py
+++ b/pyrobolearn/utils/torch_utils.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide few PyTorch utils methods.
 
 For instance, it can evaluate the Hessian matrix of a scalar function.
diff --git a/pyrobolearn/utils/transformation.py b/pyrobolearn/utils/transformation.py
index fb9379d..8e43383 100644
--- a/pyrobolearn/utils/transformation.py
+++ b/pyrobolearn/utils/transformation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide utils code to transform orientation expressed in different forms
 
 This includes rotation matrices, euler angles (RPY), axis-angle, and quaternions.
diff --git a/pyrobolearn/utils/units.py b/pyrobolearn/utils/units.py
index 60bef5d..b2b7e9c 100644
--- a/pyrobolearn/utils/units.py
+++ b/pyrobolearn/utils/units.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Convert units from one system to another one.
 """
 
diff --git a/pyrobolearn/values/basic_value.py b/pyrobolearn/values/basic_value.py
index 24f3fc2..a832c50 100644
--- a/pyrobolearn/values/basic_value.py
+++ b/pyrobolearn/values/basic_value.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the various basic value function approximators (e.g. table and linear value approximators)
 """
 
diff --git a/pyrobolearn/values/nn_value.py b/pyrobolearn/values/nn_value.py
index 21c5738..bdf67da 100644
--- a/pyrobolearn/values/nn_value.py
+++ b/pyrobolearn/values/nn_value.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides value function approximators based on neural networks.
 
 For instance, a value network is a function represented by a neural network that maps a state to a value (real number).
diff --git a/pyrobolearn/values/polynomial.py b/pyrobolearn/values/polynomial.py
index 7eee30b..12d8ad5 100644
--- a/pyrobolearn/values/polynomial.py
+++ b/pyrobolearn/values/polynomial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the polynomial value function approximator.
 """
 
diff --git a/pyrobolearn/values/value.py b/pyrobolearn/values/value.py
index 64f3529..69eba7b 100644
--- a/pyrobolearn/values/value.py
+++ b/pyrobolearn/values/value.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provides the various abstract value function approximators.
 
 It can use learning models as most of these models learn a function (that is how to map inputs to outputs).
diff --git a/pyrobolearn/worlds/samples/manipulation/flip_pancake.py b/pyrobolearn/worlds/samples/manipulation/flip_pancake.py
index dad1ab0..6c36faf 100644
--- a/pyrobolearn/worlds/samples/manipulation/flip_pancake.py
+++ b/pyrobolearn/worlds/samples/manipulation/flip_pancake.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the flip pancake world.
 """
 
diff --git a/pyrobolearn/worlds/samples/manipulation/pouring.py b/pyrobolearn/worlds/samples/manipulation/pouring.py
index 1701a01..911c65d 100644
--- a/pyrobolearn/worlds/samples/manipulation/pouring.py
+++ b/pyrobolearn/worlds/samples/manipulation/pouring.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the pouring world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/baseball.py b/pyrobolearn/worlds/samples/sports/baseball.py
index 466e4ba..4ad8088 100644
--- a/pyrobolearn/worlds/samples/sports/baseball.py
+++ b/pyrobolearn/worlds/samples/sports/baseball.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the baseball world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/basketball.py b/pyrobolearn/worlds/samples/sports/basketball.py
index 106fb7d..22c5c6d 100644
--- a/pyrobolearn/worlds/samples/sports/basketball.py
+++ b/pyrobolearn/worlds/samples/sports/basketball.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the basketball world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/billiard.py b/pyrobolearn/worlds/samples/sports/billiard.py
index 5c79c6d..36d044d 100644
--- a/pyrobolearn/worlds/samples/sports/billiard.py
+++ b/pyrobolearn/worlds/samples/sports/billiard.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the billiard world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/darts.py b/pyrobolearn/worlds/samples/sports/darts.py
index 60f093b..91f1bed 100644
--- a/pyrobolearn/worlds/samples/sports/darts.py
+++ b/pyrobolearn/worlds/samples/sports/darts.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the darts world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/football.py b/pyrobolearn/worlds/samples/sports/football.py
index bcf9e21..9b5c6a3 100644
--- a/pyrobolearn/worlds/samples/sports/football.py
+++ b/pyrobolearn/worlds/samples/sports/football.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the football/soccer world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/kendo.py b/pyrobolearn/worlds/samples/sports/kendo.py
index a5b5d72..1b0141c 100644
--- a/pyrobolearn/worlds/samples/sports/kendo.py
+++ b/pyrobolearn/worlds/samples/sports/kendo.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the kendo world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/ping_pong.py b/pyrobolearn/worlds/samples/sports/ping_pong.py
index 92b16eb..d791092 100644
--- a/pyrobolearn/worlds/samples/sports/ping_pong.py
+++ b/pyrobolearn/worlds/samples/sports/ping_pong.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the ping pong (table tennis) world.
 """
 
diff --git a/pyrobolearn/worlds/samples/sports/tennis.py b/pyrobolearn/worlds/samples/sports/tennis.py
index 35ba6b0..b720c33 100644
--- a/pyrobolearn/worlds/samples/sports/tennis.py
+++ b/pyrobolearn/worlds/samples/sports/tennis.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the tennis world.
 """
 
diff --git a/pyrobolearn/worlds/samples/warehouse/conveyor.py b/pyrobolearn/worlds/samples/warehouse/conveyor.py
index 68c2c8a..ccd5f38 100644
--- a/pyrobolearn/worlds/samples/warehouse/conveyor.py
+++ b/pyrobolearn/worlds/samples/warehouse/conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the conveyor world.
 
 This is used by other worlds in the `warehouse` folder.
diff --git a/pyrobolearn/worlds/samples/warehouse/move_on_conveyor.py b/pyrobolearn/worlds/samples/warehouse/move_on_conveyor.py
index 68cccd8..5e71469 100644
--- a/pyrobolearn/worlds/samples/warehouse/move_on_conveyor.py
+++ b/pyrobolearn/worlds/samples/warehouse/move_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Move boxes from one conveyor belt to another one.
 """
 
diff --git a/pyrobolearn/worlds/samples/warehouse/regroup_on_conveyor.py b/pyrobolearn/worlds/samples/warehouse/regroup_on_conveyor.py
index c90ba72..12b2923 100644
--- a/pyrobolearn/worlds/samples/warehouse/regroup_on_conveyor.py
+++ b/pyrobolearn/worlds/samples/warehouse/regroup_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Regroup small boxes that are on a conveyor.
 """
 
diff --git a/pyrobolearn/worlds/samples/warehouse/rotate_on_conveyor.py b/pyrobolearn/worlds/samples/warehouse/rotate_on_conveyor.py
index a25a0e1..1fb5610 100644
--- a/pyrobolearn/worlds/samples/warehouse/rotate_on_conveyor.py
+++ b/pyrobolearn/worlds/samples/warehouse/rotate_on_conveyor.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Regroup small boxes that are on a conveyor.
 """
 
diff --git a/pyrobolearn/worlds/utils/heightmaps/diamond_square.py b/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
index f2e66fc..2423157 100644
--- a/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
+++ b/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the diamond-square heightmap generator.
 
 Generate the heightmap using the diamond-square algorithm [1].
diff --git a/pyrobolearn/worlds/utils/heightmaps/equation.py b/pyrobolearn/worlds/utils/heightmaps/equation.py
index 46bc108..c89fff1 100644
--- a/pyrobolearn/worlds/utils/heightmaps/equation.py
+++ b/pyrobolearn/worlds/utils/heightmaps/equation.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 r"""Provide the equation heightmap generator.
 
 Generate a heightmap from a 3D equation :math:`z = f(x, y)`.
diff --git a/pyrobolearn/worlds/utils/heightmaps/geospatial.py b/pyrobolearn/worlds/utils/heightmaps/geospatial.py
index 1165666..e86e8b3 100644
--- a/pyrobolearn/worlds/utils/heightmaps/geospatial.py
+++ b/pyrobolearn/worlds/utils/heightmaps/geospatial.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide heightmap generators.
 
 The various functions defined here generate
diff --git a/pyrobolearn/worlds/utils/heightmaps/gpr.py b/pyrobolearn/worlds/utils/heightmaps/gpr.py
index 0469598..f35cd90 100644
--- a/pyrobolearn/worlds/utils/heightmaps/gpr.py
+++ b/pyrobolearn/worlds/utils/heightmaps/gpr.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the gaussian process regression heightmap generator.
 
 Generate a heightmap using gaussian process regression.
diff --git a/pyrobolearn/worlds/utils/heightmaps/plot.py b/pyrobolearn/worlds/utils/heightmaps/plot.py
index 8e36e64..45f402d 100644
--- a/pyrobolearn/worlds/utils/heightmaps/plot.py
+++ b/pyrobolearn/worlds/utils/heightmaps/plot.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Plot 2D and 3D heightmap.
 """
 
diff --git a/pyrobolearn/worlds/utils/heightmaps/rbf.py b/pyrobolearn/worlds/utils/heightmaps/rbf.py
index ae2f655..0878363 100644
--- a/pyrobolearn/worlds/utils/heightmaps/rbf.py
+++ b/pyrobolearn/worlds/utils/heightmaps/rbf.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Provide the radial-basis function heightmap generator.
 
 Generate a heightmap by interpolating the given initial points using RBF functions.
diff --git a/pyrobolearn/worlds/utils/obj_generator.py b/pyrobolearn/worlds/utils/obj_generator.py
index 34f9692..a4b8f92 100644
--- a/pyrobolearn/worlds/utils/obj_generator.py
+++ b/pyrobolearn/worlds/utils/obj_generator.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """OBJ generator.
 
 Create an OBJ file from a heightmap (2D np.array).
diff --git a/pyrobolearn/worlds/world.py b/pyrobolearn/worlds/world.py
index e5e4f5f..e4341fa 100644
--- a/pyrobolearn/worlds/world.py
+++ b/pyrobolearn/worlds/world.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the `World` class which allows to specify what constitutes the world (i.e. what elements are in the world).
 
 Dependencies:
diff --git a/pyrobolearn/worlds/world_camera.py b/pyrobolearn/worlds/world_camera.py
index 574d7a0..4e8f5b3 100644
--- a/pyrobolearn/worlds/world_camera.py
+++ b/pyrobolearn/worlds/world_camera.py
@@ -1,5 +1,5 @@
-# -*- coding: utf-8 -*-
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 """Define the the `WorldCamera` class.
 
 Get the camera that looks at the world (only available in the simulator).