diff --git a/remote_control/measurement_client.py b/remote_control/measurement_client.py
index 810fada..2965f13 100644
--- a/remote_control/measurement_client.py
+++ b/remote_control/measurement_client.py
@@ -10,4 +10,4 @@ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 sock.sendto(f"{robot_id}\n".encode(), (HOST, PORT))
 while True:
     received = str(sock.recv(1024), "utf-8")
-    print("Received: {}".format(received))
\ No newline at end of file
+    print("Received: {}".format(received))
diff --git a/remote_control/measurement_server.py b/remote_control/measurement_server.py
index d6a4cd1..9e1e959 100644
--- a/remote_control/measurement_server.py
+++ b/remote_control/measurement_server.py
@@ -4,6 +4,7 @@ import time
 
 from aruco_estimator import ArucoEstimator
 
+
 class MeasurementHandler(socketserver.BaseRequestHandler):
     def handle(self) -> None:
         data = self.request[0]
@@ -11,11 +12,12 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
         cur_thread = threading.current_thread()
         print(f"current thread {cur_thread}")
         try:
-            id = int(data)
-            if id in self.server.estimator.robot_marker_estimates:
+            marker_id = int(data)
+            if marker_id in self.server.estimator.robot_marker_estimates:
                 while True:
-                    socket.sendto(f"{self.server.estimator.robot_marker_estimates[id]}\n".encode(), self.client_address)
-                    time.sleep(1.0/self.server.max_measurements_per_second)
+                    socket.sendto(f"{self.server.estimator.robot_marker_estimates[marker_id]}\n".encode(),
+                                  self.client_address)
+                    time.sleep(1.0 / self.server.max_measurements_per_second)
             else:
                 socket.sendto("error: unknown robot marker id\n".encode(),
                               self.client_address)
@@ -24,18 +26,21 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
 
         return
 
+
 class MeasurementServer(socketserver.ThreadingMixIn, socketserver.UDPServer):
     def __init__(self, server_address, RequestHandlerClass, estimator, max_measurements_per_second=30):
         super().__init__(server_address, RequestHandlerClass)
         self.estimator = estimator
         self.max_measurements_per_second = max_measurements_per_second
 
+
 if __name__ == "__main__":
-    estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[15])
-    estimator_thread = threading.Thread(target=estimator.run_tracking)
+    aruco_estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[15])
+    estimator_thread = threading.Thread(target=aruco_estimator.run_tracking)
     estimator_thread.start()
 
-    with MeasurementServer(('127.0.0.1', 42424), MeasurementHandler, estimator, max_measurements_per_second=30) as measurement_server:
+    with MeasurementServer(('127.0.0.1', 42424), MeasurementHandler, aruco_estimator,
+                           max_measurements_per_second=30) as measurement_server:
         measurement_server.serve_forever()
 
-    # receive with: nc 127.0.0.1 42424 -u  -> 15 + Enter
\ No newline at end of file
+    # receive with: nc 127.0.0.1 42424 -u  -> 15 + Enter