diff --git a/src/isar_exr/api/energy_robotics_api.py b/src/isar_exr/api/energy_robotics_api.py
index eb55102..968578e 100644
--- a/src/isar_exr/api/energy_robotics_api.py
+++ b/src/isar_exr/api/energy_robotics_api.py
@@ -531,7 +531,7 @@ def get_battery_level(self, exr_robot_id: str) -> float:
         except Exception as e:
             message: str = "Could not check robot battery level"
             self.logger.error(message)
-            raise RobotMissionStatusException( #TODO: occurs after obstacle
+            raise RobotMissionStatusException(  # TODO: occurs after obstacle
                 error_description=message,
             )
 
diff --git a/src/isar_exr/robotinterface.py b/src/isar_exr/robotinterface.py
index c1f5db7..cfc50d2 100644
--- a/src/isar_exr/robotinterface.py
+++ b/src/isar_exr/robotinterface.py
@@ -95,8 +95,10 @@ def create_new_stage(self) -> str:
         stage_id: str = self.api.create_stage(site_id=settings.ROBOT_EXR_SITE_ID)
         return stage_id
 
-    def update_site_with_tasks(self, tasks: List[Task]) -> List[str]: # Returns a list of POI IDs
-        new_stage_id = None
+    def update_site_with_tasks(
+        self, tasks: List[Task]
+    ) -> List[str]:  # Returns a list of POI IDs
+        new_stage_id: str = None
         poi_ids: List[str] = []
         is_possible_return_to_home_mission = False
         steps_n = 0
@@ -119,48 +121,59 @@ def update_site_with_tasks(self, tasks: List[Task]) -> List[str]: # Returns a li
                         robot_pose: Pose = step.pose
                     if isinstance(step, InspectionStep):
                         customer_tag: str = task.tag_id + robot_pose.to_string()
-                        existing_poi_id = self.api.get_point_of_interest_by_customer_tag(
-                            customer_tag=customer_tag, site_id=settings.ROBOT_EXR_SITE_ID
+                        existing_poi_id = (
+                            self.api.get_point_of_interest_by_customer_tag(
+                                customer_tag=customer_tag,
+                                site_id=settings.ROBOT_EXR_SITE_ID,
+                            )
                         )
                         if existing_poi_id == None:
-                            new_stage_id: str = self.create_new_stage()
-                            poi_id: str = (
-                                self._create_and_add_poi(
-                                    task=task,
-                                    step=step,
-                                    robot_pose=robot_pose, # This pose is set by the previously received DriveToStep
-                                    stage_id=new_stage_id,
-                                    customer_tag=customer_tag,
-                                )
+                            new_stage_id = self.create_new_stage()
+                            poi_id: str = self._create_and_add_poi(
+                                task=task,
+                                step=step,
+                                robot_pose=robot_pose,  # This pose is set by the previously received DriveToStep
+                                stage_id=new_stage_id,
+                                customer_tag=customer_tag,
                             )
                             poi_ids.append(poi_id)
                         else:
                             poi_ids.append(existing_poi_id)
 
             if steps_n == 0 or (steps_n == 1 and is_possible_return_to_home_mission):
-                time.sleep(settings.API_SLEEP_TIME) # We need to sleep to allow events to reach flotilla in the right order
-                raise RobotMissionNotSupportedException("Robot does not support localisation or return to home mission")
+                time.sleep(
+                    settings.API_SLEEP_TIME
+                )  # We need to sleep to allow events to reach flotilla in the right order
+                raise RobotMissionNotSupportedException(
+                    "Robot does not support localisation or return to home mission"
+                )
 
             if new_stage_id is not None:
                 # We should only do the following if we changed the site
-                snapshot_id: str = self.api.commit_site_to_snapshot(stage_id=new_stage_id)
+                snapshot_id: str = self.api.commit_site_to_snapshot(
+                    stage_id=new_stage_id
+                )
 
                 self.api.set_snapshot_as_head(
                     snapshot_id=snapshot_id, site_id=settings.ROBOT_EXR_SITE_ID
                 )
         except Exception as e:
             if new_stage_id is not None:
-                self.api.discard_stage(stage_id=new_stage_id) # Discard stage if we did not manage to use it
+                self.api.discard_stage(
+                    stage_id=new_stage_id
+                )  # Discard stage if we did not manage to use it
             raise e
-        
-        if new_stage_id is not None: # Here we wait for the site update to complete
+
+        if new_stage_id is not None:  # Here we wait for the site update to complete
             while not self.api.is_pipeline_completed(
                 site_id=settings.ROBOT_EXR_SITE_ID
             ):
                 time.sleep(settings.API_SLEEP_TIME)
         return poi_ids
-    
-    def create_mission_definition(self, mission_name: str, tasks: List[Task], poi_ids: List[str]) -> str: # Returns a mission definition ID
+
+    def create_mission_definition(
+        self, mission_name: str, tasks: List[Task], poi_ids: List[str]
+    ) -> str:  # Returns a mission definition ID
         # Note that the POI IDs need to be in the same order as inspection steps in the provided mission
         mission_definition_id: str = self.api.create_mission_definition(
             site_id=settings.ROBOT_EXR_SITE_ID,
@@ -193,7 +206,9 @@ def initiate_mission(self, mission: Mission) -> None:
         except RobotMissionNotSupportedException:
             return
 
-        mission_definition_id: str = self.create_mission_definition(mission.id, mission.tasks, poi_ids)
+        mission_definition_id: str = self.create_mission_definition(
+            mission.id, mission.tasks, poi_ids
+        )
 
         self.api.start_mission_execution(
             mission_definition_id=mission_definition_id, robot_id=settings.ROBOT_EXR_ID