diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7b987f2bfa041659dcd813b2d39b7cb3d86bd5f0
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,32 @@
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v13.0.1
+    hooks:
+    -   id: clang-format
+        args: [-i, --style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+    -   id: flake8
diff --git a/README.md b/README.md
index fe668cd0e07a00d74f39a53938f67438b9841822..1e6737d51b3e012ba53636b6332f1460f6d960ab 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,9 @@
 # anymal-rbprm
 
 [![Pipeline status](https://gitlab.laas.fr/humanoid-path-planner/anymal-rbprm/badges/master/pipeline.svg)](https://gitlab.laas.fr/humanoid-path-planner/anymal-rbprm/commits/master)
-[![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/anymal-rbprm/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/humanoid-path-planner/anymal-rbprm/master/coverage/)
+[![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/anymal-rbprm/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/humanoid-path-planner/anymal-rbprm/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/humanoid-path-planner/anymal-rbprm/master.svg)](https://results.pre-commit.ci/latest/github/humanoid-path-planner/anymal-rbprm)
 
 File database for anymal robot using the hpp-rbprm framework
 
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..7ad22b44c945457602878cb6d16e799856c6634f
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,2 @@
+[tool.black]
+exclude = "cmake"
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..98698ff08783653bbcff9a976fefd01934bb6de6
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[flake8]
+exclude = cmake
+max-line-length = 88
+ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203