diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a84a7c5..f73e12f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,12 +2,12 @@ ci:
     autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.6
+    rev: v21.1.2
     hooks:
     -   id: clang-format
         args: [--style=Google]
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v6.0.0
     hooks:
     -   id: check-added-large-files
     -   id: check-ast
@@ -24,12 +24,12 @@ repos:
     -   id: fix-byte-order-marker
     -   id: mixed-line-ending
     -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 23.3.0
+-   repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 25.9.0
     hooks:
     -   id: black
 -   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+    rev: 7.3.0
     hooks:
     -   id: flake8
 -   repo: https://github.com/cheshirekow/cmake-format-precommit
diff --git a/include/sot/dynamic-pinocchio/dynamic-pinocchio.h b/include/sot/dynamic-pinocchio/dynamic-pinocchio.h
index 6eb0130..4e4448c 100644
--- a/include/sot/dynamic-pinocchio/dynamic-pinocchio.h
+++ b/include/sot/dynamic-pinocchio/dynamic-pinocchio.h
@@ -66,9 +66,9 @@ namespace command {
 class SetFile;
 class CreateOpPoint;
 }  // namespace command
-   /* --------------------------------------------------------------------- */
-   /* --- CLASS ----------------------------------------------------------- */
-   /* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
 
 /*! @ingroup signals
   \brief This class provides an inverse dynamic model of the robot.
diff --git a/tests/test_djj.cpp b/tests/test_djj.cpp
index 6627221..577d27a 100644
--- a/tests/test_djj.cpp
+++ b/tests/test_djj.cpp
@@ -16,7 +16,7 @@ using namespace std;
 using namespace dynamicsJRLJapan;
 
 /* --- DISPLAY TREE --------------------------------------------------------- */
-void RecursiveDisplayOfJoints(const CjrlJoint *aJoint) {
+void RecursiveDisplayOfJoints(const CjrlJoint* aJoint) {
   if (aJoint == 0) return;
   int NbChildren = aJoint->countChildJoints();
   cout << " rank : " << aJoint->rankInConfiguration() << endl;
@@ -26,8 +26,8 @@ void RecursiveDisplayOfJoints(const CjrlJoint *aJoint) {
   }
 }
 
-void DisplayDynamicRobotInformation(CjrlDynamicRobot *aDynamicRobot) {
-  std::vector<CjrlJoint *> aVec = aDynamicRobot->jointVector();
+void DisplayDynamicRobotInformation(CjrlDynamicRobot* aDynamicRobot) {
+  std::vector<CjrlJoint*> aVec = aDynamicRobot->jointVector();
   int r = aVec.size();
   cout << "Number of joints :" << r << endl;
   for (int i = 0; i < r; i++) {
@@ -48,7 +48,7 @@ void DisplayMatrix(MAL_MATRIX(&aJ, double)) {
 }
 
 /* --- DISPLAY MASS PROPERTIES OF A CHAIN --- */
-void GoDownTree(const CjrlJoint *startJoint) {
+void GoDownTree(const CjrlJoint* startJoint) {
   cout << "Mass-inertie property of joint ranked :"
        << startJoint->rankInConfiguration() << endl;
   cout << "Mass of the body: " << startJoint->linkedBody()->mass() << endl;
@@ -57,7 +57,7 @@ void GoDownTree(const CjrlJoint *startJoint) {
   cout << startJoint->currentTransformation() << endl;
 
   if (startJoint->countChildJoints() != 0) {
-    const CjrlJoint *childJoint = startJoint->childJoint(0);
+    const CjrlJoint* childJoint = startJoint->childJoint(0);
     GoDownTree(childJoint);
   }
 }
@@ -65,7 +65,7 @@ void GoDownTree(const CjrlJoint *startJoint) {
 /* --- MAIN ----------------------------------------------------------------- */
 /* --- MAIN ----------------------------------------------------------------- */
 /* --- MAIN ----------------------------------------------------------------- */
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   if (argc != 4) {
     cerr << " This program takes 3 arguments: " << endl;
     cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE "
@@ -84,7 +84,7 @@ int main(int argc, char *argv[]) {
 
   /* ------------------------------------------------------------------------ */
   dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
-  CjrlHumanoidDynamicRobot *aHDR =
+  CjrlHumanoidDynamicRobot* aHDR =
       aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
 
   // DynamicMultiBody * aDMB
@@ -100,7 +100,7 @@ int main(int argc, char *argv[]) {
   /* ------------------------------------------------------------------------ */
 
   // Display tree of the joints.
-  CjrlJoint *rootJoint = aHDR->rootJoint();
+  CjrlJoint* rootJoint = aHDR->rootJoint();
   RecursiveDisplayOfJoints(rootJoint);
 
   // Test the computation of the jacobian.
@@ -151,8 +151,8 @@ int main(int argc, char *argv[]) {
   cout << "Rank of the left hand " << endl;
   cout << aHDR->leftWrist()->rankInConfiguration() << endl;
 
-  vector<CjrlJoint *> aVec = aHDR->jointVector();
-  CjrlJoint *aJoint = aVec[22];
+  vector<CjrlJoint*> aVec = aHDR->jointVector();
+  CjrlJoint* aJoint = aVec[22];
   aJoint->computeJacobianJointWrtConfig();
   MAL_MATRIX(aJ, double);
   aJ = aJoint->jacobianJointWrtConfig();
diff --git a/tests/test_results.cpp b/tests/test_results.cpp
index 3d0e7bf..7eda734 100644
--- a/tests/test_results.cpp
+++ b/tests/test_results.cpp
@@ -28,7 +28,7 @@ namespace djj = dynamicsJRLJapan;
 
 using namespace std;
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   if (argc != 6) {
     cerr << " This program takes 4 arguments: " << endl;
     cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE VRML_FILE_NAME "
@@ -45,14 +45,14 @@ int main(int argc, char *argv[]) {
   string aMapFromJointToRank = argv[4];
 
   dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
-  CjrlHumanoidDynamicRobot *aHDR =
+  CjrlHumanoidDynamicRobot* aHDR =
       aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
 
   string RobotFileName = aPath + aName;
   dynamicsJRLJapan::parseOpenHRPVRMLFile(
       *aHDR, RobotFileName, aMapFromJointToRank, aSpecificitiesFileName);
 
-  CjrlHumanoidDynamicRobot *aHDR2 =
+  CjrlHumanoidDynamicRobot* aHDR2 =
       aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
   //  cout << "aHDMB2 Finished the initialization"<< endl;
   dynamicsJRLJapan::parseOpenHRPVRMLFile(