diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 6bb5a200f463f890350cafce358a2f2c9bfba50d..21f655054ee0dffb62fc2583036e264d1f58309e 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/talos-data/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/talos-data/.gitlab-ci.yml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fe4d445c05de63eb56145db64214773d578c512c
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,38 @@
+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    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: 22.10.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+    -   id: flake8
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
diff --git a/README.md b/README.md
index 010538c64bc04ee9e6aecf7d1c3b73f58b0be472..88192d28509558285c0323938f9ff023892d42e4 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,9 @@
-Talos_data
-==========
+# Talos_data
+
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/talos_data/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/talos_data/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/stack-of-tasks/talos_data/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/talos_data)
 
 ## Introduction
 
@@ -15,7 +19,7 @@ Some dummy data were added (rotor inertia) to help the dynamic regularization.
 For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot
 repository.
 
-If you have problem in starting the robot in a specific position you should look at the 
+If you have problem in starting the robot in a specific position you should look at the
 [python section](#python)
 
 ## Fixed joint
@@ -105,8 +109,3 @@ In the directory scripts you can start a complete simulation by doing:
 ./start_talos_gazebo.py
 ```
 In this specific case it will start the robot with a wide base.
-
-
-
-
-