diff --git a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
index 8d75d3da4f2..7854022874c 100644
--- a/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
+++ b/moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
@@ -96,8 +96,8 @@ class CollisionEnvBullet : public CollisionEnv
   void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
   /** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
-  void addAttachedOjects(const moveit::core::RobotState& state,
-                         std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
+  void addAttachedObjects(const moveit::core::RobotState& state,
+                          std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
 
   /** \brief Bundles the different checkSelfCollision functions into a single function */
   void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
diff --git a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
index 36c7894d277..ad1d8cf7d3a 100644
--- a/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
+++ b/moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
@@ -119,7 +119,7 @@ void CollisionEnvBullet::checkSelfCollisionHelper(const CollisionRequest& req, C
   std::lock_guard<std::mutex> guard(collision_env_mutex_);
 
   std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
-  addAttachedOjects(state, cows);
+  addAttachedObjects(state, cows);
 
   if (req.distance)
   {
@@ -187,7 +187,7 @@ void CollisionEnvBullet::checkRobotCollisionHelper(const CollisionRequest& req,
   }
 
   std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
-  addAttachedOjects(state, attached_cows);
+  addAttachedObjects(state, attached_cows);
   updateTransformsFromState(state, manager_);
 
   for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
@@ -213,7 +213,7 @@ void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& re
   std::lock_guard<std::mutex> guard(collision_env_mutex_);
 
   std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
-  addAttachedOjects(state1, attached_cows);
+  addAttachedObjects(state1, attached_cows);
 
   for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
   {
@@ -331,8 +331,8 @@ void CollisionEnvBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Ac
   }
 }
 
-void CollisionEnvBullet::addAttachedOjects(const moveit::core::RobotState& state,
-                                           std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
+void CollisionEnvBullet::addAttachedObjects(const moveit::core::RobotState& state,
+                                            std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
 {
   std::vector<const moveit::core::AttachedBody*> attached_bodies;
   state.getAttachedBodies(attached_bodies);
diff --git a/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp b/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
index 33397b15255..fc6eb6f314e 100644
--- a/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
+++ b/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
@@ -139,7 +139,7 @@ void init_robot_trajectory(py::module& m)
            py::arg("velocity_scaling_factor"), py::arg("acceleration_scaling_factor"), py::kw_only(),
            py::arg("path_tolerance") = 0.1, py::arg("resample_dt") = 0.1, py::arg("min_angle_change") = 0.001,
            R"(
-               Adds time parameterization to the trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.
+           Adds time parameterization to the trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
@@ -154,7 +154,7 @@ void init_robot_trajectory(py::module& m)
            py::arg("acceleration_scaling_factor"), py::kw_only(), py::arg("mitigate_overshoot") = false,
            py::arg("overshoot_threshold") = 0.01,
            R"(
-               Applies Ruckig smoothing to the trajectory.
+           Applies Ruckig smoothing to the trajectory.
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
@@ -168,8 +168,7 @@ void init_robot_trajectory(py::module& m)
            py::arg("joint_filter") = std::vector<std::string>(),
            R"(
            Get the trajectory as a moveit_msgs.msg.RobotTrajectory message.
-
-	   Returns:
+           Returns:
                moveit_msgs.msg.RobotTrajectory: A ROS robot trajectory message.
            )")
       .def("set_robot_trajectory_msg", &moveit_py::bind_robot_trajectory::set_robot_trajectory_msg,