diff --git a/pymapf/centralized/animator.py b/pymapf/centralized/animator.py
index 1552c1f..8846239 100644
--- a/pymapf/centralized/animator.py
+++ b/pymapf/centralized/animator.py
@@ -14,7 +14,8 @@
 from matplotlib import animation
 import math
 import logging
-logging.getLogger('matplotlib').setLevel(logging.WARNING)
+
+logging.getLogger("matplotlib").setLevel(logging.WARNING)
 
 Colors = ["skyblue", "blue", "orange"]
 
diff --git a/pymapf/centralized/cooperative_astar/agent.py b/pymapf/centralized/cooperative_astar/agent.py
index a4eb42a..118ef06 100644
--- a/pymapf/centralized/cooperative_astar/agent.py
+++ b/pymapf/centralized/cooperative_astar/agent.py
@@ -5,6 +5,7 @@
 
 import logging
 
+
 class Agent:
     def __init__(
         self, ident, init_pos, goal_pos, allow_diagonals=False, nodes_dict=None
@@ -25,7 +26,10 @@ def in_conflict(self, current_state, future_state, other_agents_paths):
 
             try:
                 if future_state.x == val[-1].x and future_state.y == val[-1].y:
-                    logging.debug("Found conflict between agent %s and agent %s" % (self.ident, key))
+                    logging.debug(
+                        "Found conflict between agent %s and agent %s"
+                        % (self.ident, key)
+                    )
                     return True
             except BaseException as e:
                 logging.debug("Agent %s path is empty: %s" % (key, str(e)))
@@ -43,7 +47,10 @@ def in_conflict(self, current_state, future_state, other_agents_paths):
 
             for c in conflicts:
                 if c in val:
-                    logging.warning("Found conflict between agent %s and agent %s" % (self.ident, key))
+                    logging.warning(
+                        "Found conflict between agent %s and agent %s"
+                        % (self.ident, key)
+                    )
                     self.conflicts_found += 1
                     return True
         return False
diff --git a/pymapf/centralized/cooperative_astar/astar.py b/pymapf/centralized/cooperative_astar/astar.py
index 9a94010..3fcda0f 100644
--- a/pymapf/centralized/cooperative_astar/astar.py
+++ b/pymapf/centralized/cooperative_astar/astar.py
@@ -117,8 +117,8 @@ def get_successors(self, parent: Node) -> List[Node]:
 
             if self.agent.in_conflict(
                 State(parent.pos_x, parent.pos_y, parent.t),
-                State(pos_x, pos_y, parent.t+1), 
-                self.global_paths
+                State(pos_x, pos_y, parent.t + 1),
+                self.global_paths,
             ):
                 continue
 
diff --git a/pymapf/centralized/cooperative_astar/cooperative_astar.py b/pymapf/centralized/cooperative_astar/cooperative_astar.py
index 82d401c..ac998a5 100644
--- a/pymapf/centralized/cooperative_astar/cooperative_astar.py
+++ b/pymapf/centralized/cooperative_astar/cooperative_astar.py
@@ -40,7 +40,7 @@ def run_simulation(self):
                 self.searches_sim_times.append(self.paths[agent.ident][-1].t)
             except BaseException as e:
                 logging.debug(e)
-            
+
         self.simulation_complete = True
 
     def visualize(self, save_file):
diff --git a/pymapf/decentralized/nmpc/nmpc.py b/pymapf/decentralized/nmpc/nmpc.py
index 7a8bad7..a6f8942 100644
--- a/pymapf/decentralized/nmpc/nmpc.py
+++ b/pymapf/decentralized/nmpc/nmpc.py
@@ -21,7 +21,8 @@
 
 # import threading
 import logging
-logging.getLogger('matplotlib').setLevel(logging.WARNING)
+
+logging.getLogger("matplotlib").setLevel(logging.WARNING)
 
 
 class MultiAgentNMPC:
diff --git a/pymapf/decentralized/velocity_obstacle/velocity_obstacle.py b/pymapf/decentralized/velocity_obstacle/velocity_obstacle.py
index e4f4c93..7abc721 100644
--- a/pymapf/decentralized/velocity_obstacle/velocity_obstacle.py
+++ b/pymapf/decentralized/velocity_obstacle/velocity_obstacle.py
@@ -21,7 +21,8 @@
 from matplotlib.patches import Circle
 import coloredlogs
 import logging
-logging.getLogger('matplotlib').setLevel(logging.WARNING)
+
+logging.getLogger("matplotlib").setLevel(logging.WARNING)
 
 
 class MultiAgentVelocityObstacle: