diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
new file mode 100644
index 0000000..0a70be7
--- /dev/null
+++ b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+      - uses: pre-commit/action@v3.0.1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..719bc88
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,30 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-toml
+      - id: check-ast
+      - id: check-added-large-files
+        args: ["--maxkb=2000"]
+      - id: check-merge-conflict
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.2
+    hooks:
+      - id: codespell
+        args:
+          - --skip=*.ipynb
+  - repo: https://github.com/google/yamlfmt
+    rev: v0.21.0
+    hooks:
+      - id: yamlfmt
diff --git a/panda/armer/docker-compose-sim.yaml b/panda/armer/docker-compose-sim.yaml
index e1dc411..2785ce5 100644
--- a/panda/armer/docker-compose-sim.yaml
+++ b/panda/armer/docker-compose-sim.yaml
@@ -13,4 +13,4 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
       bash -c "source /home/armer_ws/devel/setup.bash &&
-               roslaunch armer_panda robot_bringup.launch sim:=true"
\ No newline at end of file
+               roslaunch armer_panda robot_bringup.launch sim:=true"
diff --git a/panda/armer/docker-compose.yaml b/panda/armer/docker-compose.yaml
index 5b8385d..6cb960a 100644
--- a/panda/armer/docker-compose.yaml
+++ b/panda/armer/docker-compose.yaml
@@ -22,4 +22,4 @@ services:
 
     command: >
       bash -c "source /home/armer_ws/devel/setup.bash &&
-                roslaunch armer_panda robot_bringup.launch rviz:=true"
\ No newline at end of file
+                roslaunch armer_panda robot_bringup.launch rviz:=true"
diff --git a/panda/moveit/.env b/panda/moveit/.env
index 5f6d583..d87cbf7 100644
--- a/panda/moveit/.env
+++ b/panda/moveit/.env
@@ -1 +1 @@
-ROBOT_IP=172.16.0.2
\ No newline at end of file
+ROBOT_IP=172.16.0.2
diff --git a/panda/moveit/docker-compose-sim.yaml b/panda/moveit/docker-compose-sim.yaml
index 8b886fd..31e6639 100644
--- a/panda/moveit/docker-compose-sim.yaml
+++ b/panda/moveit/docker-compose-sim.yaml
@@ -11,4 +11,4 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
-      bash -c "source /home/moveit_ws/devel/setup.bash && roslaunch panda_moveit_config demo.launch"
\ No newline at end of file
+      bash -c "source /home/moveit_ws/devel/setup.bash && roslaunch panda_moveit_config demo.launch"
diff --git a/panda/moveit/docker-compose.yaml b/panda/moveit/docker-compose.yaml
index c594993..e0e8a53 100644
--- a/panda/moveit/docker-compose.yaml
+++ b/panda/moveit/docker-compose.yaml
@@ -21,5 +21,5 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
-      bash -c "source /home/moveit_ws/devel/setup.bash && 
-              roslaunch panda_moveit_config franka_control.launch robot_ip:=${ROBOT_IP}"
\ No newline at end of file
+      bash -c "source /home/moveit_ws/devel/setup.bash &&
+              roslaunch panda_moveit_config franka_control.launch robot_ip:=${ROBOT_IP}"
diff --git a/realsense/.env b/realsense/.env
index 48f9be1..fb5d9db 100644
--- a/realsense/.env
+++ b/realsense/.env
@@ -29,4 +29,4 @@ CAMERA1_MARKER_PREFIX=tr_
 # TF_NUM_SAMPLES=100
 
 # COMMENT THE CALIBRATION AND UNCOMMENT THE FOLLOWING TO HAVE FIXED TRANSFORAMTION
-EXTERNAL_CALIBRATION_LAUNCH=/calib/external_camera_tf.launch
\ No newline at end of file
+EXTERNAL_CALIBRATION_LAUNCH=/calib/external_camera_tf.launch
diff --git a/realsense/README.md b/realsense/README.md
index 899fda4..a1e746e 100644
--- a/realsense/README.md
+++ b/realsense/README.md
@@ -1,2 +1,2 @@
-1. Toggling and updating the `.env` file to get desireable effect
+1. Toggling and updating the `.env` file to get desirable effect
 2. Run the container with `docker compose up`
diff --git a/realsense/docker-compose.yaml b/realsense/docker-compose.yaml
index e639c9e..468cd74 100644
--- a/realsense/docker-compose.yaml
+++ b/realsense/docker-compose.yaml
@@ -4,7 +4,7 @@ services:
     network_mode: "host"
     privileged: true
     container_name: realsense
-    
+
     env_file:
       - .env
 
@@ -16,7 +16,7 @@ services:
       - /run/udev:/run/udev:ro
       - /dev:/dev
       - ./calib:/calib
-    
+
     command: >
       bash -c "source /home/realsense_ws/devel/setup.bash &&
-               roslaunch rv_panda_realsense monash_realsense.launch"
\ No newline at end of file
+               roslaunch rv_panda_realsense monash_realsense.launch"
diff --git a/yamlfmt.yml b/yamlfmt.yml
new file mode 100644
index 0000000..252d0ff
--- /dev/null
+++ b/yamlfmt.yml
@@ -0,0 +1,5 @@
+formatter:
+  type: basic
+  force_quote_style: double
+  retain_line_breaks: true
+  trim_trailing_whitespace: false