diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a873326af451538cb45b688ca14afe7937f823d2..28d28817e5db072b95e09380e7c1e04981f11ae6 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -21,7 +21,7 @@ repos:
     hooks:
     - id: cmake-format
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.3
+    rev: v16.0.4
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
diff --git a/demo/demo_quadruped.py b/demo/demo_quadruped.py
index 411eb0ad85a1ffb6f9a237f0df276fe82e569e68..b708671f40f0360596b95c148d8a1735e617c7db 100644
--- a/demo/demo_quadruped.py
+++ b/demo/demo_quadruped.py
@@ -6,11 +6,10 @@ import time
 import gepetto.corbaserver
 import numpy as np
 import pinocchio as pin
+import tsid
 from numpy import nan
 from numpy.linalg import norm as norm
 
-import tsid
-
 sys.path += [os.getcwd() + "/../exercizes"]
 import matplotlib.pyplot as plt
 import plot_utils as plut
diff --git a/exercizes/ex_0_ur5_joint_space_control.py b/exercizes/ex_0_ur5_joint_space_control.py
index 290e60f7a3836a54ffc560286554b034fac2c51b..bee28a8e831436320aea7d5e292a8b3fdbbf799c 100644
--- a/exercizes/ex_0_ur5_joint_space_control.py
+++ b/exercizes/ex_0_ur5_joint_space_control.py
@@ -7,12 +7,11 @@ import matplotlib.pyplot as plt
 import numpy as np
 import pinocchio as pin
 import plot_utils as plut
+import tsid
 import ur5_conf as conf
 from numpy import nan
 from numpy.linalg import norm as norm
 
-import tsid
-
 print("".center(conf.LINE_WIDTH, "#"))
 print(" Joint Space Inverse Dynamics - Manipulator ".center(conf.LINE_WIDTH, "#"))
 print("".center(conf.LINE_WIDTH, "#"), "\n")
diff --git a/exercizes/ex_4_walking.py b/exercizes/ex_4_walking.py
index fceec37c8fea1fa5dd65223a0b7d187eda50e42f..18d0120c355bd973f4e555759d807f15490309aa 100644
--- a/exercizes/ex_4_walking.py
+++ b/exercizes/ex_4_walking.py
@@ -4,12 +4,11 @@ import ex_4_conf as conf
 import matplotlib.pyplot as plt
 import numpy as np
 import plot_utils as plut
+import tsid
 from numpy import nan
 from numpy.linalg import norm as norm
 from tsid_biped import TsidBiped
 
-import tsid
-
 print("".center(conf.LINE_WIDTH, "#"))
 print(" Test Walking ".center(conf.LINE_WIDTH, "#"))
 print("".center(conf.LINE_WIDTH, "#"), "\n")
diff --git a/exercizes/tsid_biped.py b/exercizes/tsid_biped.py
index d63d25ae19bfbeadebd5176f9bf5782d7481fc3a..58a229c6f76d51eb6df906472b2c841590cd8f67 100644
--- a/exercizes/tsid_biped.py
+++ b/exercizes/tsid_biped.py
@@ -4,7 +4,6 @@ import time
 
 import numpy as np
 import pinocchio as pin
-
 import tsid
 
 
diff --git a/exercizes/tsid_manipulator.py b/exercizes/tsid_manipulator.py
index 93a7bc83ed082c1765d775b6191075e9667a1542..c8001270496b26f460e183753344936a5c6e9b86 100644
--- a/exercizes/tsid_manipulator.py
+++ b/exercizes/tsid_manipulator.py
@@ -6,7 +6,6 @@ import gepetto.corbaserver
 import numpy as np
 import numpy.matlib as matlib
 import pinocchio as se3
-
 import tsid
 
 
diff --git a/tests/python/test_Constraint.py b/tests/python/test_Constraint.py
index 0f4cbae587c558370f6126188e70213b011eadac..7110b517cb90b4bcbb6355cd0b241ee2ed34ce88 100644
--- a/tests/python/test_Constraint.py
+++ b/tests/python/test_Constraint.py
@@ -1,6 +1,5 @@
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
diff --git a/tests/python/test_Contact.py b/tests/python/test_Contact.py
index 33381911f50fa3fbacc3184153ac8fb747104c73..4872e91950824414c9edcf2be2373b4250b39f38 100644
--- a/tests/python/test_Contact.py
+++ b/tests/python/test_Contact.py
@@ -2,7 +2,6 @@ import copy
 
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
diff --git a/tests/python/test_ContactPoint.py b/tests/python/test_ContactPoint.py
index cdf9e5050b45dcdf54873dddbca2464538ce19b2..00e5f24b4a3f8829d622aedaf6081adc228117e0 100644
--- a/tests/python/test_ContactPoint.py
+++ b/tests/python/test_ContactPoint.py
@@ -3,7 +3,6 @@ import os
 
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
diff --git a/tests/python/test_Deprecations.py b/tests/python/test_Deprecations.py
index 8e0bf828514b549876d5a02add83d876b557a064..588ce38284094c28a6e032f5eb252dfa0384dcb0 100644
--- a/tests/python/test_Deprecations.py
+++ b/tests/python/test_Deprecations.py
@@ -3,7 +3,6 @@ import unittest
 import warnings
 
 import numpy as np
-
 import tsid
 
 
diff --git a/tests/python/test_Formulation.py b/tests/python/test_Formulation.py
index 6d9933064f9f1ae6b874a05b14e10718d0456be2..07d3af0679074983aadf4ef74996463e12930dca 100644
--- a/tests/python/test_Formulation.py
+++ b/tests/python/test_Formulation.py
@@ -2,9 +2,8 @@ import os
 
 import numpy as np
 import pinocchio as se3
-from numpy.linalg import norm
-
 import tsid
+from numpy.linalg import norm
 
 print("")
 print("Test InvDyn")
diff --git a/tests/python/test_Gravity.py b/tests/python/test_Gravity.py
index 8407288550c62f52f12b84120151073fd35dedbc..c85d4fb863561d9d0b0e5983e2a1ee7e9789b39d 100644
--- a/tests/python/test_Gravity.py
+++ b/tests/python/test_Gravity.py
@@ -2,7 +2,6 @@ import os
 
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
diff --git a/tests/python/test_RobotWrapper.py b/tests/python/test_RobotWrapper.py
index 7fa1df85ce73e8a3bbf5d6a1bfd09a13ebea066a..6e7bb073b3e470b577975e10e82b82e2ddf14e3b 100644
--- a/tests/python/test_RobotWrapper.py
+++ b/tests/python/test_RobotWrapper.py
@@ -2,7 +2,6 @@ import os
 
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
diff --git a/tests/python/test_Solvers.py b/tests/python/test_Solvers.py
index 4f437d0e59d4c6186d8ab029cbab79d17517dd0a..eb8e28964cb62ebf9dd44c62afd169e33f225107 100644
--- a/tests/python/test_Solvers.py
+++ b/tests/python/test_Solvers.py
@@ -1,5 +1,4 @@
 import numpy as np
-
 import tsid
 
 print("")
diff --git a/tests/python/test_Tasks.py b/tests/python/test_Tasks.py
index cb98d577b4ae72e30be226f595108533a1ea5453..59711dc1f9c2f777a5fcd93f6f2b4c41670a8ee4 100644
--- a/tests/python/test_Tasks.py
+++ b/tests/python/test_Tasks.py
@@ -2,9 +2,8 @@ import os
 
 import numpy as np
 import pinocchio as pin
-from numpy.linalg import norm
-
 import tsid
+from numpy.linalg import norm
 
 print("")
 print("Test Task COM")
diff --git a/tests/python/test_Trajectories.py b/tests/python/test_Trajectories.py
index 0674e98931fc1b3cd182e580d8485df29c0b3740..8c0acdd581745c9c6765c87be064ce3c4c66877b 100644
--- a/tests/python/test_Trajectories.py
+++ b/tests/python/test_Trajectories.py
@@ -1,6 +1,5 @@
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")