diff --git a/control_data_collecting_tool/scripts/courses/base_course.py b/control_data_collecting_tool/scripts/courses/base_course.py
index c741ba96..8246c76b 100644
--- a/control_data_collecting_tool/scripts/courses/base_course.py
+++ b/control_data_collecting_tool/scripts/courses/base_course.py
@@ -108,7 +108,7 @@ def get_target_velocity(
         mask_vel_steer,
     ):
         return None
-    
+
     def get_target_pedal_input(
         self,
         nearestIndex,
@@ -175,4 +175,4 @@ def update_trajectory_points(
         collected_data_counts_of_vel_acc,
         collected_data_counts_of_vel_steer,
     ):
-        return nearestIndex, *self.return_trajectory_points(yaw_offset, rectangle_center_position)
\ No newline at end of file
+        return nearestIndex, *self.return_trajectory_points(yaw_offset, rectangle_center_position)
diff --git a/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py b/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py
index 05c61346..29594441 100644
--- a/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py
+++ b/control_data_collecting_tool/scripts/courses/reversal_loop_circle.py
@@ -826,9 +826,9 @@ def __init__(self, step: float, param_dict):
             self.trajectory_nearly_straight_clock_wise[self.steer_list[i]] = trajectory
 
             # Generate and store counterclockwise trajectories by reversing the clockwise trajectory.
-            self.trajectory_nearly_straight_counter_clock_wise[
-                self.steer_list[i]
-            ] = reverse_trajectory_segment(trajectory)
+            self.trajectory_nearly_straight_counter_clock_wise[self.steer_list[i]] = (
+                reverse_trajectory_segment(trajectory)
+            )
 
         # Generate trajectories for changing directions (turning).
 
@@ -1198,16 +1198,22 @@ def get_target_pedal_input(
         if self.vehicle_phase == "acceleration":
             target_pedal_input = self.target_accel_pedal_input_on_segmentation + 0.05 * sine
             if current_time - self.acceleration_start_time > self.max_phase_time:
-                target_pedal_input = self.params.accel_pedal_input_max / 2 * sine + self.params.accel_pedal_input_max / 2
+                target_pedal_input = (
+                    self.params.accel_pedal_input_max / 2 * sine
+                    + self.params.accel_pedal_input_max / 2
+                )
             if current_vel > max_velocity:
                 self.vehicle_phase = "deceleration"
                 self.deceleration_start_time = current_time
 
         # Handle deceleration phase
         if self.vehicle_phase == "deceleration":
-            target_pedal_input = - self.target_brake_pedal_input_on_segmentation - 0.05 * sine
+            target_pedal_input = -self.target_brake_pedal_input_on_segmentation - 0.05 * sine
             if current_time - self.deceleration_start_time > self.max_phase_time:
-                target_pedal_input = - self.params.brake_pedal_input_max / 2 * sine - self.params.brake_pedal_input_max / 2
+                target_pedal_input = (
+                    -self.params.brake_pedal_input_max / 2 * sine
+                    - self.params.brake_pedal_input_max / 2
+                )
             if current_vel < 0.05:
                 self.updated_target_velocity = False
 
@@ -1306,4 +1312,4 @@ def get_boundary_points(self):
             boundary_points.append([point_x, point_y])
 
         # Store the boundary points as a numpy array
-        self.boundary_points = np.array(boundary_points)
\ No newline at end of file
+        self.boundary_points = np.array(boundary_points)
diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py
index bebb1a55..9e210083 100755
--- a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py
+++ b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py
@@ -568,7 +568,9 @@ def callback_trajectory_generator(self):
                     msg = Bool()
                     msg.data = True
                     self.pub_stop_request_.publish(msg)
-                    self.get_logger().error(f"Control mode {self.CONTROL_MODE} is not supported when the course is {self.COURSE_NAME}")
+                    self.get_logger().error(
+                        f"Control mode {self.CONTROL_MODE} is not supported when the course is {self.COURSE_NAME}"
+                    )
             elif (
                 self.CONTROL_MODE == "external_acceleration_cmd"
                 or self.CONTROL_MODE == "external_actuation_cmd"