diff --git a/docs/backends/ros/files/04_ik_allow_collision.py b/docs/backends/ros/files/04_ik_allow_collision.py
index dbd118e25..0430dff5f 100644
--- a/docs/backends/ros/files/04_ik_allow_collision.py
+++ b/docs/backends/ros/files/04_ik_allow_collision.py
@@ -1,3 +1,6 @@
+from typing import Any
+from typing import Dict
+
 from compas.geometry import Box
 from compas.geometry import Frame
 
@@ -25,15 +28,16 @@
     # Create a target frame with the ROBOT mode
     frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])
     target = FrameTarget(frame_WCF, TargetMode.ROBOT)
-    print("Target frame with Robot Mode: {}".format(target))
+    print(f"Target frame with Robot Mode: {target}")
 
     # Calculate inverse kinematics
-    def calculate(options):
+    def calculate(options: Dict[str, Any]) -> None:
+        """Helper function to solve IK for the target frame and print the outcome."""
         try:
             configuration = planner.inverse_kinematics(target, start_state, options=options)
-            print("   Found configuration: ", configuration)
+            print(f"    Found configuration: {configuration}")
         except InverseKinematicsError as e:
-            print("   Failed to find a configuration: ", e)
+            print(f"    Failed to find a configuration: {e}")
 
     print("Inverse kinematics with collision check enabled: (by default)")
     calculate({})
@@ -46,7 +50,7 @@ def calculate(options):
 Output:
 >>> Target frame with Robot Mode: FrameTarget(Frame(point=Point(x=0.300, y=0.100, z=0.500), xaxis=Vector(x=1.000, y=0.000, z=0.000), yaxis=Vector(x=0.000, y=1.000, z=0.000)), ROBOT)
 >>> Inverse kinematics with collision check enabled: (by default)
->>>    Failed to find a configuration:  No inverse kinematics solution found.
+>>>     Failed to find a configuration:  No inverse kinematics solution found.
 >>> Inverse kinematics with collision check disabled:
->>>    Found configuration:  Configuration((-0.031, -2.025, 2.161, 4.576, -4.712, -1.540), (0, 0, 0, 0, 0, 0), ('shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'))
+>>>     Found configuration:  Configuration((-0.031, -2.025, 2.161, 4.576, -4.712, -1.540), (0, 0, 0, 0, 0, 0), ('shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'))
 """