diff --git a/include/franka/errors.h b/include/franka/errors.h
index 852de6c2..742d9a7c 100644
--- a/include/franka/errors.h
+++ b/include/franka/errors.h
@@ -253,6 +253,6 @@ struct Errors {
  *
  * @return Ostream instance
  */
-  std::ostream& operator<<(std::ostream& ostream, const Errors& errors);
+std::ostream& operator<<(std::ostream& ostream, const Errors& errors);
 
 }  // namespace franka
diff --git a/src/robot_state.cpp b/src/robot_state.cpp
index 504716de..8f81ca39 100644
--- a/src/robot_state.cpp
+++ b/src/robot_state.cpp
@@ -75,8 +75,7 @@ std::ostream& operator<<(std::ostream& ostream, const franka::RobotState& robot_
           << ", \"O_F_ext_hat_K\": " << robot_state.O_F_ext_hat_K
           << ", \"K_F_ext_hat_K\": " << robot_state.K_F_ext_hat_K
           << ", \"O_dP_EE_d\": " << robot_state.O_dP_EE_d
-          << ", \"O_ddP_O\": " << robot_state.O_ddP_O
-          << ", \"O_T_EE_c\": " << robot_state.O_T_EE_c
+          << ", \"O_ddP_O\": " << robot_state.O_ddP_O << ", \"O_T_EE_c\": " << robot_state.O_T_EE_c
           << ", \"O_dP_EE_c\": " << robot_state.O_dP_EE_c
           << ", \"O_ddP_EE_c\": " << robot_state.O_ddP_EE_c << ", \"theta\": " << robot_state.theta
           << ", \"dtheta\": " << robot_state.dtheta
diff --git a/test/helpers.cpp b/test/helpers.cpp
index bd475063..e01ae518 100644
--- a/test/helpers.cpp
+++ b/test/helpers.cpp
@@ -718,7 +718,7 @@ bool operator==(const Errors& lhs, const Errors& rhs) {
          lhs.joint_via_motion_generator_planning_joint_limit_violation ==
              rhs.joint_via_motion_generator_planning_joint_limit_violation &&
          lhs.base_acceleration_initialization_timeout ==
-             rhs.base_acceleration_initialization_timeout && lhs.base_acceleration_invalid_reading ==
-             rhs.base_acceleration_invalid_reading;
+             rhs.base_acceleration_initialization_timeout &&
+         lhs.base_acceleration_invalid_reading == rhs.base_acceleration_invalid_reading;
 }
 }  // namespace franka