diff --git a/osi_common.proto b/osi_common.proto
index f1f5584e6..3262c71f2 100644
--- a/osi_common.proto
+++ b/osi_common.proto
@@ -1,9 +1,7 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
@@ -11,11 +9,11 @@ package osi;
  */
 message InterfaceVersion
 {
-    // The field containing the version number. Should be left on default, not to be modified by sender.
-    // Increments will happen as part of changes to the whole interface.
+    // The field containing the version number. Should be left on default, not to be modified by sender. Increments will
+    // happen as part of changes to the whole interface.
     optional uint32 major = 1 [default = 2];
-	optional uint32 minor = 2 [default = 0];
-	optional uint32 patch = 3 [default = 0];
+    optional uint32 minor = 2 [default = 0];
+    optional uint32 patch = 3 [default = 0];
 }
 
 /**
@@ -36,8 +34,8 @@ message Vector3d
 
 /**
  * A timestamp.
- * Names and types of fields chosen in accordance with google/protobuf/timestamp.proto to allow a possible switch
- * in the future. Definition of zero point in time differs and does not use Unix epoch.
+ * Names and types of fields chosen in accordance with google/protobuf/timestamp.proto to allow a possible switch in the
+ * future. Definition of zero point in time differs and does not use Unix epoch.
  */
 message Timestamp
 {
@@ -89,11 +87,10 @@ message Orientation3d
 
 /**
  * A common identifier.
- * Has to be unique among all simulated items at any given time.
- * For ground truth, the identifier of an item (object, lane, sign, etc.) must remain stable over its lifetime.
- * Identifier values might be only be reused if the available address space is exhausted and the specific values have
- * not been in use for several timesteps.
- * Sensor specific tracking ids have no restrictions and should behave according to the sensor specifications.
+ * Has to be unique among all simulated items at any given time. For ground truth, the identifier of an item (object,
+ * lane, sign, etc.) must remain stable over its lifetime. Identifier values might be only be reused if the available
+ * address space is exhausted and the specific values have not been in use for several timesteps. Sensor specific
+ * tracking ids have no restrictions and should behave according to the sensor specifications.
  */
 message Identifier
 {
@@ -115,9 +112,8 @@ message MountingPosition
 
 /**
  * A polar representation for a point / vector in 3D space used for low level representations of radar detections.
- * Units are [m] for radial distance and [rad] for azimuth and elevation angles.
- * If azimuth and elevation are zero, the referenced point is directly in front / vector is pointing
- * directly in the central viewing direction of the sensor.
+ * Units are [m] for radial distance and [rad] for azimuth and elevation angles. If azimuth and elevation are zero, the
+ * referenced point is directly in front / vector is pointing directly in the central viewing direction of the sensor.
  */
 message Polar3d
 {
diff --git a/osi_datarecording.proto b/osi_datarecording.proto
index a039202dd..09fc7ba89 100644
--- a/osi_datarecording.proto
+++ b/osi_datarecording.proto
@@ -1,12 +1,9 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_sensordata.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_detectedlandmark.proto b/osi_detectedlandmark.proto
index ac87ff174..c0f80836c 100644
--- a/osi_detectedlandmark.proto
+++ b/osi_detectedlandmark.proto
@@ -1,13 +1,10 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 import "osi_landmark.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_detectedlane.proto b/osi_detectedlane.proto
index 36079fe78..20d59fc7b 100644
--- a/osi_detectedlane.proto
+++ b/osi_detectedlane.proto
@@ -1,13 +1,10 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 import "osi_lane.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto
index 925e63129..f0a53b469 100644
--- a/osi_detectedobject.proto
+++ b/osi_detectedobject.proto
@@ -1,15 +1,12 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
-import "osi_object.proto";
 import "osi_modelinternal.proto";
+import "osi_object.proto";
 import "osi_sensorspecific.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_detectedoccupant.proto b/osi_detectedoccupant.proto
index 0984b5e6c..819dd1ade 100644
--- a/osi_detectedoccupant.proto
+++ b/osi_detectedoccupant.proto
@@ -1,13 +1,10 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 import "osi_occupant.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_environment.proto b/osi_environment.proto
index 070057e8e..1a927966a 100644
--- a/osi_environment.proto
+++ b/osi_environment.proto
@@ -1,9 +1,7 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_groundtruth.proto b/osi_groundtruth.proto
index 9a1ef1892..9e2c144db 100644
--- a/osi_groundtruth.proto
+++ b/osi_groundtruth.proto
@@ -1,26 +1,23 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
-import "osi_object.proto";
+import "osi_environment.proto";
 import "osi_landmark.proto";
 import "osi_lane.proto";
+import "osi_object.proto";
 import "osi_occupant.proto";
-import "osi_environment.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * The ground truth information from the simulation environment.
+ *
  * This ground truth information is supposed to describe the whole simulated environment around any simulated vehicle.
  * For each simulated ego vehicle (might only be one, but could also be multiple) define an area around the vehicle
- * which is greater than the combined field of views (FOV) of all sensors obstructed in the vehicle.
- * The ground truth data is supposed to describe the convex hull of all such areas w.r.t. a global simulation
- * coordinate system.
+ * which is greater than the combined field of views (FOV) of all sensors obstructed in the vehicle. The ground truth
+ * data is supposed to describe the convex hull of all such areas w.r.t. a global simulation coordinate system.
  *
  * The simulation coordinate system might change during the simulation if and only if, all coordinates w.r.t. this
  * coordinate system are also changed.
@@ -28,8 +25,8 @@ package osi;
  * The data has to be sent at a rate defined by the receiving partner. When sending, values with default values might be
  * left default in order to improve performance.
  *
- * To provide a complete interface, all fields of all messages have to be set, unless specifically stated in the
- * field's definition that the field may remain unset.
+ * To provide a complete interface, all fields of all messages have to be set, unless specifically stated in the field's
+ * definition that the field may remain unset.
  *
  * In enums (e.g. types) the unknown (first / default) value is not allowed to be used in the ground truth interface.
  */
diff --git a/osi_landmark.proto b/osi_landmark.proto
index 241b304b4..a83aa01ac 100644
--- a/osi_landmark.proto
+++ b/osi_landmark.proto
@@ -1,12 +1,9 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
@@ -24,8 +21,7 @@ message TrafficSign
     optional Type type = 3;
 
     // Additional value associated with the traffic sign, e.g. value of the speed limit.
-    // Field need not be set if traffic sign type does not require it.
-    // Speed (limits) should be given in km/h.
+    // Field need not be set if traffic sign type does not require it. Speed (limits) should be given in km/h.
     optional double value = 4;
 
     // Variability
@@ -320,9 +316,7 @@ message TrafficLight
 
     /**
      * Definition of light state for traffic lights.
-     *
-     * This containes the logical information about the
-     * traffic light and NOT a description of individual light bulbs.
+     * This containes the logical information about the traffic light and NOT a description of individual light bulbs.
      */
     message LightState
     {
diff --git a/osi_lane.proto b/osi_lane.proto
index 95a9a35e6..dff15f1a5 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -1,20 +1,20 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * A lane in the road network.
+ *
  * A lane is part of a road and mainly characterized by its center line. It also knows about any adjacent lanes,
- * antecessor and successor lanes. The following image will be referred to by later comments. We'll use the lane
- * with id 3 as reference if not mentioned otherwise.
+ * antecessor and successor lanes. The following image will be referred to by later comments. We'll use the lane with id
+ * 3 as reference if not mentioned otherwise.
+ *
  * \image html highway_exit.png
+ *
  * For lane a to be the antecessor of lane b, the last point of a's center line has to be identical to the first point
  * of b's center line (although both points might lie outside the simulated region, the relationship remains). Any lane
  * starts or ends at such a split/merge point. No lane can ever keep its id after such a split point, i.e. lane 4 has to
@@ -31,25 +31,28 @@ message Lane
     optional Type type = 2;
 
     // The lane's center line.
+    //
     // This is the line, that a typical vehicle is supposed to follow. Thus, if the road narrows (e.g. construction
-    // site) this line is supposed to describe the trajectory that the vehicle should follow.
-    // The intended direction of travel on the lane is given by the direction defined by the sequence of points forming
-    // the center line.
+    // site) this line is supposed to describe the trajectory that the vehicle should follow. The intended direction of
+    // travel on the lane is given by the direction defined by the sequence of points forming the center line.
     //
     // \attention The points might be set at arbitrary distances, but must not be further appart than 5m. When the
     // points are pairwise linearly connected, the lateral distance to the real ideal line (as used by the simulation
     // environment internally) must not exceed 5cm. As shown in the following image.
+    //
     // \image html line_approximation_error.png
     //
     // Example: The yellow dotted line right of the blue 3.
     repeated Vector3d center_line = 3;
 
     // The boundary of the lane.
+    //
     // The lane boundaries describe the lane markings or other boundaries delimiting the lane as well as free lines that
     // might be used e.g. in construction sites. The lane markings do not have to be parallel to the center_line, but
     // they are the basis for calculating the width of the lane at any given distance.
-    // Example: The double solid line above the 3, and the dashed line below the 3. (see reference picture)
-    // There might also be additional free lanes.
+    //
+    // Example: The double solid line above the 3, and the dashed line below the 3. (see reference picture) There might
+    // also be additional free lanes.
     repeated LaneBoundary lane_boundary = 4;
 
     // The lane's left adjacent lanes (w.r.t. intended driving direction).
@@ -123,6 +126,7 @@ message Lane
 message LaneBoundary
 {
     // The list of individual points defining the location of the lane boundary.
+    //
     // Since a BoundaryPoint is part of a sequence only the position attribute has to be set for each instance. All
     // other values will be reused from the previous BoundaryPoint in the sequence or set to default values if there is
     // none or it was never set. For dashed lines, one BoundaryPoint has to be at the start and another at the end of
diff --git a/osi_lowleveldata.proto b/osi_lowleveldata.proto
index 273daab2b..ce93618cc 100644
--- a/osi_lowleveldata.proto
+++ b/osi_lowleveldata.proto
@@ -1,20 +1,17 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * Interface for low level sensor data, in contrast to high level data after object hypothesis and tracking.
+ *
  * All information regarding the environment is given with respect to the sensor coordinate system specified in
- * LowLevelData::mounting_position.
- * When simulating multiple sensors, each sensor has an individual copy of LowLevelData in its own reference frame. This
- * allows an independent treatment of the sensors.
+ * LowLevelData::mounting_position. When simulating multiple sensors, each sensor has an individual copy of LowLevelData
+ * in its own reference frame. This allows an independent treatment of the sensors.
  */
  message LowLevelData
  {
@@ -25,8 +22,8 @@ package osi;
      // course of a simulation run. Recommended zero time is the starting time of the simulation.
      optional Timestamp timestamp = 2;
 
-     // Mounting position of the sensor (origin and orientation of the sensor coordinate system);
-     // given relative to the middle of the rear axis of the host vehicle.
+     // Mounting position of the sensor (origin and orientation of the sensor coordinate system); given relative to the
+     // middle of the rear axis of the host vehicle.
      optional MountingPosition mounting_position = 3;
 
      // Lidar point cloud.
diff --git a/osi_modelinternal.proto b/osi_modelinternal.proto
index 02f7f7ecd..765346926 100644
--- a/osi_modelinternal.proto
+++ b/osi_modelinternal.proto
@@ -1,17 +1,15 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
-import "osi_object.proto";
 import "osi_lowleveldata.proto";
+import "osi_object.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * Internal data and state flags for the sensor model, set and used during modification of the interface data.
+ *
  * Content of all ModelInternal* messages may be cleared at the end of the sensor model processing chain and not sent
  * with the final output of the sensor model. Receiving components must not expect values in ModelInternal* messages to
  * be set. In particular, the message structures defined in this file must not be used by receiving components outside
diff --git a/osi_object.proto b/osi_object.proto
index f6351c058..16f59618d 100644
--- a/osi_object.proto
+++ b/osi_object.proto
@@ -1,25 +1,21 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * A vehicle.
- * This is basically a BaseObject with additional attributes, such as type and lights.
  *
- * Note that, if this vehicle is a simulated ego vehicle (i.e. ego_vehicle is set to true), relative_ego_origin has
- * to be set, defining the offset from the ego vehicle's bounding box center to the center of the vehicle's rear axis.
- * This defines the origin of the ego vehicle's rear axis coordinate system and allows calculation of quantities
- * relative to this reference frame. The origin of the rear axis coordinate system in world coordinates is calculated
- * as (base.position + relative_ego_origin) for the ego vehicle.
- * For all vehicles, including ego vehicles, the position given in base.position points to the center of the vehicle's
- * bounding box.
+ * This is basically a BaseObject with additional attributes, such as type and lights. Note that, if this vehicle is a
+ * simulated ego vehicle (i.e. ego_vehicle is set to true), relative_ego_origin has to be set, defining the offset from
+ * the ego vehicle's bounding box center to the center of the vehicle's rear axis. This defines the origin of the ego
+ * vehicle's rear axis coordinate system and allows calculation of quantities relative to this reference frame. The
+ * origin of the rear axis coordinate system in world coordinates is calculated as (base.position + relative_ego_origin)
+ * for the ego vehicle. For all vehicles, including ego vehicles, the position given in base.position points to the
+ * center of the vehicle's bounding box.
  */
 message Vehicle
 {
diff --git a/osi_occupant.proto b/osi_occupant.proto
index 1938b169d..2d205143c 100644
--- a/osi_occupant.proto
+++ b/osi_occupant.proto
@@ -1,12 +1,9 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
diff --git a/osi_sensordata.proto b/osi_sensordata.proto
index c06e065be..fdcb287ff 100644
--- a/osi_sensordata.proto
+++ b/osi_sensordata.proto
@@ -1,28 +1,23 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// imports
 import "osi_common.proto";
-import "osi_groundtruth.proto";
-import "osi_detectedobject.proto";
 import "osi_detectedlandmark.proto";
 import "osi_detectedlane.proto";
+import "osi_detectedobject.proto";
 import "osi_detectedoccupant.proto";
+import "osi_groundtruth.proto";
 import "osi_modelinternal.proto";
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**
  * The virtual sensor information derived from osi::groundtruth and potentially processed by sensor-models.
- * The virtual sensor information is supposed to imitate the output of a real sensor.
- *
- * All information regarding the environment is given with respect to the sensor coordinate system specified in
- * SensorData::mounting_position.
  *
- * When simulating multiple sensors, each sensor has an individual copy of the SensorData interface. This allows an
+ * The virtual sensor information is supposed to imitate the output of a real sensor. All information regarding the
+ * environment is given with respect to the sensor coordinate system specified in SensorData::mounting_position.When
+ * simulating multiple sensors, each sensor has an individual copy of the SensorData interface. This allows an
  * independent treatment of the sensors.
  */
 message SensorData
diff --git a/osi_sensorspecific.proto b/osi_sensorspecific.proto
index db53b5f79..e3db3beb6 100644
--- a/osi_sensorspecific.proto
+++ b/osi_sensorspecific.proto
@@ -1,9 +1,7 @@
-// define the proto language version
 syntax = "proto2";
-// optimize for speed
+
 option optimize_for = SPEED;
 
-// OSI - Open Simulation Interface
 package osi;
 
 /**