diff --git a/README.md b/README.md
index 8318bbb..f0bab86 100644
--- a/README.md
+++ b/README.md
@@ -92,7 +92,7 @@ Here an overview of the steps involved in training the policy.
 For more detailed instructions, please refer to [TRAINING.md](TRAINING.md).
 
 0. Training Data Generation <br>
-Training data is generated from the [Matterport 3D](https://github.com/niessner/Matterport), [Carla](https://carla.org/) and [NVIDIA Warehouse](https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_static_assets.html) using developed Isaac Sim Extension, the extensions are part of a new internal project (``isaac-nav-suite``) and will be open sourced with that project. In the case that you require an earlier access, please contact us via mail. 
+Training data is generated from the [Matterport 3D](https://github.com/niessner/Matterport), [Carla](https://carla.org/) and [NVIDIA Warehouse](https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_static_assets.html) using developed Isaac Sim Extension, the extensions are part of a new internal project (``isaac-nav-suite``) and will be open sourced with that project. In the case that you require an earlier access, please contact us via mail.
 
 1. Build Cost-Map <br>
 The first step in training the policy is to build a cost-map from the available depth and semantic data. A cost-map is a representation of the environment where each cell is assigned a cost value indicating its traversability. The cost-map guides the optimization, therefore, is required to be differentiable. Cost-maps are built using the [cost-builder](viplanner/cost_builder.py) with configs [here](viplanner/config/costmap_cfg.py), given a pointcloud of the environment with semantic information (either from simultion or real-world information).
diff --git a/omniverse/extension/omni.isaac.matterport/README.md b/omniverse/extension/omni.isaac.matterport/README.md
index 4efe049..8c10584 100644
--- a/omniverse/extension/omni.isaac.matterport/README.md
+++ b/omniverse/extension/omni.isaac.matterport/README.md
@@ -21,5 +21,5 @@ To enable your extension, follow these steps:
 
 To use it as part of an IsaacLab workflow, please refer to the [ViPlanner Demo](https://github.com/leggedrobotics/viplanner/tree/main/omniverse).
 
-**IMPORTANT**: The current GUI demo can only be used to import meshes. There are issues for displaying the images of the added cameras. 
-We are working on a fix. 
+**IMPORTANT**: The current GUI demo can only be used to import meshes. There are issues for displaying the images of the added cameras.
+We are working on a fix.
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
index 3573dc6..e0f1e0a 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
@@ -1,14 +1,18 @@
+# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab)
+# Author: Pascal Roth
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 from __future__ import annotations
 
-import torch
 from typing import TYPE_CHECKING
 
 import omni.isaac.core.utils.prims as prim_utils
-
+import torch
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import SceneEntityCfg
 
-
 if TYPE_CHECKING:
     from omni.isaac.lab.envs import ManagerBasedRLEnv