diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 48894770b154aa16bddb63a5926cc983d362b1ac..c6a9e29dca93c6d8bb8ba374043cb28e90a2e04a 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -42,7 +42,7 @@
 
   <!-- Arbitrary offsets for shoulder/elbow joints -->
   <property name="shoulder_offset" value="0.220941" />  <!-- measured from model -->
-  <property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->       
+  <property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
 
   <!-- link lengths used in model -->
   <property name="shoulder_height" value="${ur10_d1}" />
@@ -64,7 +64,7 @@
 
 
   <xacro:macro name="ur10_robot" params="prefix joint_limited">
-  
+
     <link name="${prefix}base_link" >
       <visual>
         <geometry>
@@ -97,7 +97,7 @@
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
-    
+
     <link name="${prefix}shoulder_link">
       <visual>
         <geometry>
@@ -120,7 +120,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
       <child link = "${prefix}upper_arm_link" />
-      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
+      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -281,7 +281,7 @@
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
-    
+
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
@@ -299,6 +299,6 @@
 
     <xacro:ur10_arm_transmission prefix="${prefix}" />
     <xacro:ur10_arm_gazebo prefix="${prefix}" />
-  
+
   </xacro:macro>
 </robot>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 7f474f11594d70065f77491016ac7b2e1ca90cc4..4ccf0b31c178e58f2142e595ef47ea259c1c4139 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -43,7 +43,7 @@
 
   <!-- Arbitrary offsets for shoulder/elbow joints -->
   <property name="shoulder_offset" value="0.13585" />  <!-- measured from model -->
-  <property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->       
+  <property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
 
   <!-- link lengths used in model -->
   <property name="shoulder_height" value="${ur5_d1}" />
@@ -52,7 +52,7 @@
   <property name="wrist_1_length" value="${ur5_d4 - elbow_offset - shoulder_offset}" />
   <property name="wrist_2_length" value="${ur5_d5}" />
   <property name="wrist_3_length" value="${ur5_d6}" />
-  <!--property name="shoulder_height" value="0.089159" /-->  
+  <!--property name="shoulder_height" value="0.089159" /-->
   <!--property name="shoulder_offset" value="0.13585" /-->  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
   <!--property name="upper_arm_length" value="0.42500" /-->
   <!--property name="elbow_offset" value="0.1197" /-->       <!-- CAD measured -->
@@ -112,7 +112,7 @@
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
-    
+
     <link name="${prefix}shoulder_link">
       <visual>
         <geometry>
@@ -135,7 +135,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
       <child link = "${prefix}upper_arm_link" />
-      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
+      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -296,7 +296,7 @@
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
-    
+
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />