diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 97b78835..8bf02d49 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -51,13 +51,14 @@ static void printArray(const char* str, int nr, int nc, const mjtNum* data, FILE
     return;
   }
   if (nr && nc) {
-    fprintf(fp, "%s\n  ", str);
+    fprintf(fp, "%s\n", str);
     for (int r=0; r<nr; r++) {
+      fprintf(fp, " ");
       for (int c=0; c<nc; c++) {
-        fprintf(fp, float_format, data[c + r*nc]);
         fprintf(fp, " ");
+        fprintf(fp, float_format, data[c + r*nc]);
       }
-      fprintf(fp, "\n  ");
+      fprintf(fp, "\n");
     }
     fprintf(fp, "\n");
   }
@@ -70,12 +71,14 @@ static void printArrayInt(const char* str, int nr, int nc, const int* data, FILE
     return;
   }
   if (nr && nc) {
-    fprintf(fp, "%s\n  ", str);
+    fprintf(fp, "%s\n", str);
     for (int r=0; r<nr; r++) {
+      fprintf(fp, " ");
       for (int c=0; c<nc; c++) {
-        fprintf(fp, "%d ", data[c + r*nc]);
+        fprintf(fp, " ");
+        fprintf(fp, "%d", data[c + r*nc]);
       }
-      fprintf(fp, "\n  ");
+      fprintf(fp, "\n");
     }
     fprintf(fp, "\n");
   }
@@ -90,15 +93,16 @@ static void printSparse(const char* str, const mjtNum* mat, int nr,
   if (!mat) {
     return;
   }
-  fprintf(fp, "%s\n  ", str);
+  fprintf(fp, "%s\n", str);
 
   for (int r=0; r<nr; r++) {
+    fprintf(fp, "  ");
     for (int adr=rowadr[r]; adr<rowadr[r]+rownnz[r]; adr++) {
+      fprintf(fp, "  ");
       fprintf(fp, "%d: ", colind[adr]);
       fprintf(fp, float_format, mat[adr]);
-      fprintf(fp, "  ");
     }
-    fprintf(fp, "\n  ");
+    fprintf(fp, "\n");
   }
   fprintf(fp, "\n");
 }
@@ -116,8 +120,8 @@ static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
 
   // print data
   for (int i=0; i<n; i++) {
-    fprintf(fp, float_format, data[i]);
     fprintf(fp, " ");
+    fprintf(fp, float_format, data[i]);
   }
   fprintf(fp, "\n");
 }
@@ -911,21 +915,21 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
   // D_rownnz
   fprintf(fp, NAME_FORMAT, "D_rownnz");
   for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, "%d ", d->D_rownnz[i]);
+    fprintf(fp, " %d", d->D_rownnz[i]);
   }
   fprintf(fp, "\n\n");
 
   // D_rowadr
   fprintf(fp, NAME_FORMAT, "D_rowadr");
   for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, "%d ", d->D_rowadr[i]);
+    fprintf(fp, " %d", d->D_rowadr[i]);
   }
   fprintf(fp, "\n\n");
 
   // D_colind
   fprintf(fp, NAME_FORMAT, "D_colind");
   for (int i = 0; i < m->nD; i++) {
-    fprintf(fp, "%d ", d->D_colind[i]);
+    fprintf(fp, " %d", d->D_colind[i]);
   }
   fprintf(fp, "\n\n");