diff --git a/.github/workflows/black.yml b/.github/workflows/black.yml
index 8ba32be4..41be665b 100644
--- a/.github/workflows/black.yml
+++ b/.github/workflows/black.yml
@@ -1,6 +1,7 @@
 name: Black action
 
 on:
+  pull_request:
   push:
     branches:
       - main
@@ -9,11 +10,11 @@ jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: black
-        uses: lgeiger/black-action@v1.0.1
+        uses: psf/black@stable
         with:
-          args: .
+          options: "--check --verbose"
       - name: Check for modified files
         id: git-check
         run: echo ::set-output name=modified::$(if git diff-index --quiet HEAD --; then echo "false"; else echo "true"; fi)
diff --git a/src/adam/model/std_factories/std_model.py b/src/adam/model/std_factories/std_model.py
index 41d8af69..ffeff713 100644
--- a/src/adam/model/std_factories/std_model.py
+++ b/src/adam/model/std_factories/std_model.py
@@ -7,11 +7,12 @@
 from adam.core.spatial_math import SpatialMath
 from adam.model import ModelFactory, StdJoint, StdLink
 
+
 def urdf_remove_sensors_tags(xml_string):
     # Parse the XML string
     root = ET.fromstring(xml_string)
 
-    # Find and remove all tags named "sensor" that are child of 
+    # Find and remove all tags named "sensor" that are child of
     # root node (i.e. robot)
     for sensors_tag in root.findall("sensor"):
         root.remove(sensors_tag)
@@ -21,6 +22,7 @@ def urdf_remove_sensors_tags(xml_string):
 
     return modified_xml_string
 
+
 class URDFModelFactory(ModelFactory):
     """This factory generates robot elements from urdf_parser_py
 
@@ -36,17 +38,19 @@ def __init__(self, path: str, math: SpatialMath):
             raise FileExistsError(path)
 
         # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
-        # sensor tags are valid elements of URDF (see ), 
+        # sensor tags are valid elements of URDF (see ),
         # but they are ignored by urdf_parser_py, that complains every time it sees one.
         # As there is nothing to be fixed in the used models, and it is not useful
         # to have a useless and noisy warning, let's remove before hands all the sensor elements,
         # that anyhow are not parser by urdf_parser_py or adam
         # See https://github.com/ami-iit/ADAM/issues/59
-        xml_file = open(path, 'r')
+        xml_file = open(path, "r")
         xml_string = xml_file.read()
         xml_file.close()
         xml_string_without_sensors_tags = urdf_remove_sensors_tags(xml_string)
-        self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_string(xml_string_without_sensors_tags)
+        self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_string(
+            xml_string_without_sensors_tags
+        )
         self.name = self.urdf_desc.name
 
     def get_joints(self) -> List[StdJoint]: