diff --git a/include/unitree_arm_sdk/control/ctrlComponents.h b/include/unitree_arm_sdk/control/ctrlComponents.h
index 5e1f273..555f413 100644
--- a/include/unitree_arm_sdk/control/ctrlComponents.h
+++ b/include/unitree_arm_sdk/control/ctrlComponents.h
@@ -13,6 +13,8 @@ struct CtrlComponents{
 public:
     CtrlComponents(double deltaT, bool hasUnitreeGripper);
     ~CtrlComponents();
+
+
 /*
  * Function: send udp message to z1_ctrl and receive udp message from it
  * Input:    None
@@ -21,6 +23,8 @@ public:
  *              and call udp->recv() to store datas from z1_ctrl into lowstate
  */
     void sendRecv();
+
+
 /*
  * Function: Set six joints commands to class lowcmd
  * Input:    q:  joint angle
@@ -29,6 +33,8 @@ public:
  * Output:   None
  */
     void armCtrl(Vec6 q, Vec6 qd, Vec6 tau);
+
+    
 /*
  * Function: Set gripper commands to class lowcmd
  * Input:    q:  joint angle
diff --git a/include/unitree_arm_sdk/control/unitreeArm.h b/include/unitree_arm_sdk/control/unitreeArm.h
index cf823f4..90eedc3 100644
--- a/include/unitree_arm_sdk/control/unitreeArm.h
+++ b/include/unitree_arm_sdk/control/unitreeArm.h
@@ -18,6 +18,7 @@ unitreeArm(bool hasUnitreeGripper);
  */
 bool setFsm(ArmFSMState fsm);
 
+
 /*
  * Function: Move arm to home position
  *           wait until arrival home position, and then switch to State_JointCtrl
@@ -26,6 +27,7 @@ bool setFsm(ArmFSMState fsm);
  */
 void backToStart();
 
+
 /*
  * Function: Move arm to label position
  *           wait until arrival label position, and then switch to State_JointCtrl
@@ -36,6 +38,7 @@ void backToStart();
  */
 void labelRun(std::string label);
 
+
 /*
  * Function: Save current position as a label to saveArmStates.csv
  *           Switch to State_JointCtrl when done
@@ -46,6 +49,7 @@ void labelRun(std::string label);
  */
 void labelSave(std::string label);
 
+
 /*
  * Function: Save current position as a label to saveArmStates.csv
  *           Switch to State_JointCtrl when done
@@ -56,6 +60,7 @@ void labelSave(std::string label);
  */
 void teach(std::string label);
 
+
 /*
  * Function: Switch to State_Teach
  * Input:    label
@@ -65,6 +70,7 @@ void teach(std::string label);
  */
 void teachRepeat(std::string label);
 
+
 /*
  * Function: Calibrate the motor, make current position as home position
  * Input:    None
@@ -72,6 +78,7 @@ void teachRepeat(std::string label);
  */
 void calibration();
 
+
 /*
  * Function: Move the robot in a joint path
  * Input:    posture: target position, (rx ry rz x y z), unit: meter
@@ -81,6 +88,7 @@ void calibration();
  */
 bool MoveJ(Vec6 posture, double maxSpeed);
 
+
 /*
  * Function: Move the robot in a joint path, and control the gripper at the same time
  * Input:    posture: target position, (rx ry rz x y z), unit: meter
@@ -94,6 +102,7 @@ bool MoveJ(Vec6 posture, double maxSpeed);
  */
 bool MoveJ(Vec6 posture, double gripperPos, double maxSpeed);
 
+
 /*
  * Function: Move the robot in a linear path
  * Input:    posture: target position, (rx ry rz x y z), unit: meter
@@ -102,6 +111,7 @@ bool MoveJ(Vec6 posture, double gripperPos, double maxSpeed);
  */
 bool MoveL(Vec6 posture, double maxSpeed);
 
+
 /*
  * Function: Move the robot in a linear path, and control the gripper at the same time
  * Input:    posture: target position, (rx ry rz x y z), unit: meter
@@ -112,6 +122,7 @@ bool MoveL(Vec6 posture, double maxSpeed);
  */
 bool MoveL(Vec6 posture, double gripperPos, double maxSpeed);
 
+
 /*
  * Function: Move the robot in a circular path
  * Input:    middle posture: determine the shape of the circular path
@@ -121,6 +132,7 @@ bool MoveL(Vec6 posture, double gripperPos, double maxSpeed);
  */
 bool MoveC(Vec6 middlePosutre, Vec6 endPosture, double maxSpeed);
 
+
 /*
  * Function: Move the robot in a circular path, and control the gripper at the same time
  * Input:    middle posture: determine the shape of the circular path
@@ -132,6 +144,7 @@ bool MoveC(Vec6 middlePosutre, Vec6 endPosture, double maxSpeed);
  */
 bool MoveC(Vec6 middlePosutre, Vec6 endPosture, double gripperPos, double maxSpeed);
 
+
 /*
  * Function: Control robot with q&qd command  in joint space or posture command in cartesian space
  * Input:    fsm: ArmFSMState::JOINTCTRL or ArmFSMState::CARTESIAN
@@ -152,6 +165,7 @@ bool MoveC(Vec6 middlePosutre, Vec6 endPosture, double gripperPos, double maxSpe
  */
 void startTrack(ArmFSMState fsm);
 
+
 /*
  * Function: send udp message to z1_ctrl and receive udp message from it
  * Input:    None
@@ -167,6 +181,7 @@ void startTrack(ArmFSMState fsm);
  */
 void sendRecv();
 
+
 /*
  * Function: whether to wait for the command to finish
  * Input:    true or false
@@ -185,6 +200,7 @@ void sendRecv();
  */
 void setWait(bool Y_N);
 
+
 /*
  * Function: set q & qd command automatically by input parameters
  * Input:    directions: movement directions [include gripper], range:[-1,-1]
@@ -200,6 +216,7 @@ void setWait(bool Y_N);
  */
 void jointCtrlCmd(Vec7 directions, double jointSpeed);
 
+
 /*
  * Function: set spatial velocity command automatically by input parameters
  * Input:    directions: movement directions [include gripper], range:[-1,-1]
@@ -222,6 +239,7 @@ void jointCtrlCmd(Vec7 directions, double jointSpeed);
  */
 void cartesianCtrlCmd(Vec7 directions, double oriSpeed, double posSpeed);
 
+
 //command parameters
 Vec6 q, qd, tau;
 Vec6 twist;//spatial velocity: [omega, v]'
diff --git a/include/unitree_arm_sdk/message/LowlevelCmd.h b/include/unitree_arm_sdk/message/LowlevelCmd.h
index 15a8d4e..ab9a431 100644
--- a/include/unitree_arm_sdk/message/LowlevelCmd.h
+++ b/include/unitree_arm_sdk/message/LowlevelCmd.h
@@ -20,30 +20,41 @@ public:
 
     LowlevelCmd();
     ~LowlevelCmd(){}
+
 /* dq = {0} */
 void setZeroDq();
+
 /* tau = {0} */
 void setZeroTau();
+
 /* kp = {0} */
 void setZeroKp();
+
 /* kd = {0} */
 void setZeroKd();
+
 /*
  * set default arm kp & kd (Only used in State_LOWCMD)
  * kp = [20, 30, 30, 20, 15, 10]
  * kd = [2000, 2000, 2000, 2000, 2000, 2000]
  */
 void setControlGain();
+
 /* kp = KP, kd = KW */
 void setControlGain(std::vector<double> KP, std::vector<double> KW);
+
 /* q = qInput */
 void setQ(std::vector<double> qInput);
+
 /* q = qInput */
 void setQ(VecX qInput);
+
 /* dq = qDInput */
 void setQd(VecX qDInput);
+
 /* tau = tauInput */
 void setTau(VecX tauInput);
+
 /*
  * setZeroDq()
  * setZeroTau()
@@ -51,19 +62,23 @@ void setTau(VecX tauInput);
  * kd = [10, 10, 10, 10, 10, 10]
  */
 void setPassive();
+
 /*
  * set default gripper kp & kd (Only used in State_LOWCMD)
  * kp.at(kp.size()-1) = 20
  * kd.at(kd.size()-1) = 2000
  */
 void setGripperGain();
+
 /*
  * kp.at(kp.size()-1) = KP
  * kd.at(kd.size()-1) = KW
  */
 void setGripperGain(double KP, double KW);
+
 /* set gripper kp&kd to zero */
 void setGripperZeroGain();
+
 /* q.at(q.size()-1) = qInput; */
 void setGripperQ(double qInput);
 double getGripperQ() {return q.at(q.size()-1);}
@@ -71,8 +86,10 @@ void setGripperQd(double qdInput) {dq.at(dq.size()-1) = qdInput;}
 double getGripperQd() {return dq.at(dq.size()-1);}
 void setGripperTau(double tauInput) {tau.at(tau.size()-1) = tauInput;}
 double getGripperTau() {return tau.at(tau.size()-1);}
+
 /* return Vec6 from std::vector<double> q, without gripper */
 Vec6 getQ();
+
 /* return Vec6 from std::vector<double> dq, without gripper */
 Vec6 getQd();
 };
diff --git a/include/unitree_arm_sdk/message/LowlevelState.h b/include/unitree_arm_sdk/message/LowlevelState.h
index 659f5b6..665564f 100644
--- a/include/unitree_arm_sdk/message/LowlevelState.h
+++ b/include/unitree_arm_sdk/message/LowlevelState.h
@@ -25,6 +25,7 @@ public:
     std::vector<double> tau;
 
     std::vector<int> temperature;
+
     /* 0x01 : phase current is too large
      * 0x02 : phase leakage
      * 0x04 : motor winding overheat or temperature is too large
@@ -32,6 +33,7 @@ public:
      * 0x40 : Ignore
      */
     std::vector<uint8_t> errorstate;
+    
     /*
      * 0: OK
      * 1: communication between lower computer and motor disconnect once
diff --git a/include/unitree_arm_sdk/model/ArmModel.h b/include/unitree_arm_sdk/model/ArmModel.h
index 9337bea..cd851d8 100644
--- a/include/unitree_arm_sdk/model/ArmModel.h
+++ b/include/unitree_arm_sdk/model/ArmModel.h
@@ -22,6 +22,8 @@ public:
  *				at the specified coordinates
  */
 HomoMat forwardKinematics(Vec6 q, int index = 6);
+
+
 /*
  * Function: Computes inverse kinematics in the space frame with the irerative approach
  * Inputs: TDes: The desired end-effector configuration
@@ -40,12 +42,16 @@ HomoMat forwardKinematics(Vec6 q, int index = 6);
  *          q_result: Joint angles that achieve T within the specified tolerances,
  */
 virtual bool inverseKinematics(HomoMat TDes, Vec6 qPast, Vec6& q_result, bool checkInWorkSpace = false);
+
+
 /*
  * Function: Gives the space Jacobian
  * Inputs: q: current joint angles
  * Returns: 6x6 Spatial Jacobian
  */
 Mat6 CalcJacobian(Vec6 q);
+
+
 /*
  * Function: This function uses forward-backward Newton-Euler iterations to caculate inverse dynamics
  * Inputs: q: joint angles
@@ -57,6 +63,8 @@ Mat6 CalcJacobian(Vec6 q);
 Vec6 inverseDynamics(Vec6 q, Vec6 qd, Vec6 qdd, Vec6 Ftip);
 virtual void solveQP(Vec6 twist, Vec6 qPast, Vec6& qd_result, double dt) = 0;
 virtual bool checkInSingularity(Vec6 q) = 0;
+
+
 /*
  * Function: Limit q & qd inputs to valid values
  * Inputs: q: set in range[_jointQMin, _jointQMax]
@@ -67,6 +75,8 @@ void jointProtect(Vec6& q, Vec6& qd);
 std::vector<double> getJointQMax() {return _jointQMax;}
 std::vector<double> getJointQMin() {return _jointQMin;}
 std::vector<double> getJointSpeedMax() {return _jointSpeedMax;}
+
+
 /*
  * Function: The load is applied to the end joint in equal proportion 
              and caculates the correspoding dynamic parameters
@@ -107,16 +117,18 @@ protected:
 
 class Z1Model : public ArmModel{
 public:
-    Z1Model(Vec3 endPosLocal = Vec3::Zero(), double endEffectorMass = 0.0,
-            Vec3 endEffectorCom = Vec3::Zero(), Mat3 endEffectorInertia = Mat3::Zero());
-    ~Z1Model(){};
+Z1Model(Vec3 endPosLocal = Vec3::Zero(), double endEffectorMass = 0.0,
+        Vec3 endEffectorCom = Vec3::Zero(), Mat3 endEffectorInertia = Mat3::Zero());
+~Z1Model(){};
 /*
  * Function: Check whether joint1 and joint5 is coaxial
  *           x5^2 + y5^2 < 0.1^2
  * Inputs: q: current joint variables
  * Returns: bool
  */
-    bool checkInSingularity(Vec6 q);
+bool checkInSingularity(Vec6 q);
+
+
 /*
  * Function: Computes inverse kinematics in the space frame with the analytical approach
  * Inputs: TDes: The desired end-effector configuration
@@ -134,7 +146,9 @@ public:
  *                   number of maximum iterations without finding a solution
  *          q_result: Joint angles that achieve T within the specified tolerances,
  */
-    bool inverseKinematics(HomoMat TDes, Vec6 qPast, Vec6& q_result, bool checkInWorkSpace = false);
+bool inverseKinematics(HomoMat TDes, Vec6 qPast, Vec6& q_result, bool checkInWorkSpace = false);
+
+
 /*
  * Function: The function use quadprog++ to slove equation: qd = J.inverse() * twist, even if J has no inverse 
  * Inputs: twist: spatial velocity [R_dot, p_dot]
@@ -142,7 +156,9 @@ public:
  *         dt : compute period
  * Returns: qd_result: joint velocity that are corresponding to twist
  */
-    void solveQP(Vec6 twist, Vec6 qPast, Vec6& qd_result, double dt);
+void solveQP(Vec6 twist, Vec6 qPast, Vec6& qd_result, double dt);
+
+
 private:
     void setParam_V3_6();
     double _theta2Bias;