diff --git a/examples/notebooks/acrobot_urdf.ipynb b/examples/notebooks/acrobot_urdf.ipynb
index c68d84b19e..8b53215275 100644
--- a/examples/notebooks/acrobot_urdf.ipynb
+++ b/examples/notebooks/acrobot_urdf.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
diff --git a/examples/notebooks/arm_manipulation.ipynb b/examples/notebooks/arm_manipulation.ipynb
index e88c717151..e0d9e441d4 100644
--- a/examples/notebooks/arm_manipulation.ipynb
+++ b/examples/notebooks/arm_manipulation.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
diff --git a/examples/notebooks/bipedal_walking.ipynb b/examples/notebooks/bipedal_walking.ipynb
index 6bff3227aa..f8e6fae807 100644
--- a/examples/notebooks/bipedal_walking.ipynb
+++ b/examples/notebooks/bipedal_walking.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
diff --git a/examples/notebooks/cartpole_swing_up.ipynb b/examples/notebooks/cartpole_swing_up.ipynb
index 8a4fa599b5..8bb6a24a6f 100644
--- a/examples/notebooks/cartpole_swing_up.ipynb
+++ b/examples/notebooks/cartpole_swing_up.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "attachments": {
     "image.png": {
diff --git a/examples/notebooks/cartpole_swing_up_sol.ipynb b/examples/notebooks/cartpole_swing_up_sol.ipynb
index 12d9113bca..0ee4f243ae 100644
--- a/examples/notebooks/cartpole_swing_up_sol.ipynb
+++ b/examples/notebooks/cartpole_swing_up_sol.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "attachments": {
     "image.png": {
diff --git a/examples/notebooks/introduction_to_crocoddyl.ipynb b/examples/notebooks/introduction_to_crocoddyl.ipynb
index 1af45074d4..79a65c7547 100644
--- a/examples/notebooks/introduction_to_crocoddyl.ipynb
+++ b/examples/notebooks/introduction_to_crocoddyl.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
diff --git a/examples/notebooks/unicycle_towards_origin.ipynb b/examples/notebooks/unicycle_towards_origin.ipynb
index a2a6ae947a..2a2dc38613 100644
--- a/examples/notebooks/unicycle_towards_origin.ipynb
+++ b/examples/notebooks/unicycle_towards_origin.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "attachments": {
     "image.png": {
diff --git a/examples/notebooks/whole_body_manipulation.ipynb b/examples/notebooks/whole_body_manipulation.ipynb
index dfc89db59f..963111bcbe 100644
--- a/examples/notebooks/whole_body_manipulation.ipynb
+++ b/examples/notebooks/whole_body_manipulation.ipynb
@@ -1,5 +1,5 @@
 {
- "cells": [
+  "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
diff --git a/unittest/test_actuation.cpp b/unittest/test_actuation.cpp
index 452d2b029f..270dc10122 100644
--- a/unittest/test_actuation.cpp
+++ b/unittest/test_actuation.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, University of Edinburgh
+// Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -219,18 +219,21 @@ bool init_function() {
     register_actuation_model_unit_tests(ActuationModelTypes::ActuationModelFull,
                                         StateModelTypes::all[i]);
   }
+  for (size_t i = 0; i < StateModelTypes::all.size(); ++i) {
+    if (StateModelTypes::all[i] != StateModelTypes::StateVector &&
+        StateModelTypes::all[i] != StateModelTypes::StateMultibody_Hector) {
+      register_actuation_model_unit_tests(
+          ActuationModelTypes::ActuationModelFloatingBase,
+          StateModelTypes::all[i]);
+      register_actuation_model_unit_tests(
+          ActuationModelTypes::ActuationModelSquashingFull,
+          StateModelTypes::all[i]);
+    }
+  }
+
   register_actuation_model_unit_tests(
-      ActuationModelTypes::ActuationModelFloatingBase,
-      StateModelTypes::StateMultibody_HyQ);
-  register_actuation_model_unit_tests(
-      ActuationModelTypes::ActuationModelFloatingBase,
-      StateModelTypes::StateMultibody_Talos);
-  register_actuation_model_unit_tests(
-      ActuationModelTypes::ActuationModelFloatingBase,
-      StateModelTypes::StateMultibody_RandomHumanoid);
-  register_actuation_model_unit_tests(
-      ActuationModelTypes::ActuationModelSquashingFull,
-      StateModelTypes::StateMultibody_TalosArm);
+      ActuationModelTypes::ActuationModelMultiCopterBase,
+      StateModelTypes::StateMultibody_Hector);
   return true;
 }