diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
index 90f86dfc4..5cb12eb7d 100644
--- a/.github/workflows/style.yml
+++ b/.github/workflows/style.yml
@@ -17,10 +17,10 @@ jobs:
     steps:
 
       - name: "🔀 Checkout repository"
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: '🐍 Initialize Python'
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
           python-version: "3.8"
 
@@ -37,10 +37,10 @@ jobs:
     steps:
 
       - name: "🔀 Checkout repository"
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: '🐍 Initialize Python'
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
           python-version: "3.8"
 
@@ -51,3 +51,16 @@ jobs:
         uses: isort/isort-action@master
         with:
           configuration: --check --diff --color
+
+  ruff:
+
+    name: ruff
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - name: "🔀 Checkout repository"
+        uses: actions/checkout@v4
+
+      - name: "📝 Ruff"
+        uses: chartboost/ruff-action@v1
diff --git a/.gitignore b/.gitignore
index 707a422a0..cee7f19c9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -136,3 +136,6 @@ dmypy.json
 
 # setuptools_scm dynamic version
 src/jaxsim/_version.py
+
+# ruff
+.ruff_cache/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fc6f215ce..1ce3ee278 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,3 +19,8 @@ repos:
     hooks:
       - id: isort
         name: isort (python)
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.3.2
+    hooks:
+      - id: ruff
diff --git a/docs/conf.py b/docs/conf.py
index ba4604da5..7ba001bd5 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -1,6 +1,5 @@
 # Configuration file for the Sphinx documentation builder.
 import os
-import pathlib
 import sys
 
 from pkg_resources import get_distribution
@@ -23,8 +22,6 @@ def _recursive_add_annotations_import():
 if "READTHEDOCS" in os.environ:
     _recursive_add_annotations_import()
 
-import jaxsim
-
 # -- Version information
 
 sys.path.insert(0, os.path.abspath("."))
diff --git a/pyproject.toml b/pyproject.toml
index f44fd14b1..d3b070f38 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,9 +1,9 @@
 [build-system]
 build-backend = "setuptools.build_meta"
 requires = [
-    "wheel",
-    "setuptools>=64",
-    "setuptools_scm[toml]>=8",
+  "wheel",
+  "setuptools>=64",
+  "setuptools_scm[toml]>=8",
 ]
 
 [tool.setuptools_scm]
@@ -14,12 +14,55 @@ version_file = "src/jaxsim/_version.py"
 line-length = 88
 
 [tool.isort]
-profile = "black"
 multi_line_output = 3
+profile = "black"
 
 [tool.pytest.ini_options]
-minversion = "6.0"
 addopts = "-rsxX -v --strict-markers"
+minversion = "6.0"
+preview = true
 testpaths = [
-    "tests",
+  "tests",
 ]
+
+target-version = "py311"
+
+[tool.ruff]
+exclude = [
+  ".git",
+  ".pytest_cache",
+  ".ruff_cache",
+  ".vscode",
+  ".devcontainer",
+  "__pycache__",
+]
+preview = true
+
+[tool.ruff.lint]
+# https://docs.astral.sh/ruff/rules/
+ignore = [
+  "B008", # Function call in default argument
+  "B024", # Abstract base class without abstract methods
+  "B904", # Raise without from inside exception
+  "B905", # Zip without explicit strict
+  "E402", # Module level import not at top of file
+  "E501", # Line too long
+  "E731", # Do not assign a `lambda` expression, use a `def`
+  "E741", # Ambiguous variable name
+  "F841", # Local variable is assigned to but never used
+  "I001", # Import block is unsorted or unformatted
+]
+select = [
+  "B",
+  "E",
+  "F",
+  "I",
+  "W",
+  "YTT",
+]
+
+[tool.ruff.lint.per-file-ignores]
+# Ignore `E402` (import violations) in all `__init__.py` files
+"**/{tests,docs,tools}/*" = ["E402"]
+"**/{tests}/*" = ["B007"]
+"__init__.py" = ["F401"]
diff --git a/src/jaxsim/api/common.py b/src/jaxsim/api/common.py
index 2c1c12bc6..fe958156a 100644
--- a/src/jaxsim/api/common.py
+++ b/src/jaxsim/api/common.py
@@ -89,7 +89,7 @@ def inertial_to_other_representation(
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from inertial-fixed to another representation.
 
         Args:
@@ -155,7 +155,7 @@ def other_representation_to_inertial(
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from another representation to inertial-fixed.
 
         Args:
diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
index 13170cba3..7923cfb72 100644
--- a/src/jaxsim/api/data.py
+++ b/src/jaxsim/api/data.py
@@ -415,9 +415,9 @@ def base_velocity(self) -> jtp.Vector:
 
     @jax.jit
     def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
-        """
+        r"""
         Get the generalized position
-        :math:`\mathbf{q} = ({}^W \mathbf{H}_B, \mathbf{s}) \in \text{SO}(3) \times \mathbb{R}^n`.
+        :math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.
 
         Returns:
             A tuple containing the base transform and the joint positions.
@@ -427,9 +427,9 @@ def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
 
     @jax.jit
     def generalized_velocity(self) -> jtp.Vector:
-        """
+        r"""
         Get the generalized velocity
-        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\, \boldsymbol{\omega}_{W,B};\, \mathbf{s}) \in \mathbb{R}^{6+n}`
+        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`
 
         Returns:
             The generalized velocity in the active representation.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
index a6634cf5e..1d46272a2 100644
--- a/src/jaxsim/api/model.py
+++ b/src/jaxsim/api/model.py
@@ -937,7 +937,7 @@ def to_inertial(C_v̇_WB, W_H_C, C_v_WB, W_v_WC):
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
-    """
+    r"""
     Compute the free-floating gravity forces :math:`g(\mathbf{q})` of the model.
 
     Args:
@@ -987,7 +987,7 @@ def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
     """
-    Compute the free-floating bias forces :math:`h(\mathbf{q}, \boldsymbol{\nu})`
+    Compute the free-floating bias forces :math:`h(\\mathbf{q}, \boldsymbol{\nu})`
     of the model.
 
     Args:
diff --git a/src/jaxsim/api/ode.py b/src/jaxsim/api/ode.py
index f1aa82c4f..a2a98043e 100644
--- a/src/jaxsim/api/ode.py
+++ b/src/jaxsim/api/ode.py
@@ -8,7 +8,6 @@
 import jaxsim.typing as jtp
 from jaxsim.integrators import Time
 from jaxsim.math import Quaternion
-from jaxsim.utils import Mutability
 
 from .common import VelRepr
 from .ode_data import ODEState
diff --git a/src/jaxsim/integrators/common.py b/src/jaxsim/integrators/common.py
index e33eab5fd..26e9cb47a 100644
--- a/src/jaxsim/integrators/common.py
+++ b/src/jaxsim/integrators/common.py
@@ -324,7 +324,7 @@ def integrate_rk_stage(
     def post_process_state(
         cls, x0: State, t0: Time, xf: NextState, dt: TimeStep
     ) -> NextState:
-        """
+        r"""
         Post-process the integrated state at :math:`t_f = t_0 + \Delta t`.
 
         Args:
@@ -529,7 +529,7 @@ def butcher_tableau_supports_fsal(
         # Return the index of the row of A providing the fsal derivative (that is the
         # possibly intermediate kᵢ derivative).
         # Note that if multiple rows match (it should not), we return the first match.
-        return True, int(jnp.where(rows_of_A_with_fsal == True)[0].tolist()[0])
+        return True, int(jnp.where(rows_of_A_with_fsal)[0].tolist()[0])
 
 
 class ExplicitRungeKuttaSO3Mixin:
diff --git a/src/jaxsim/math/transform.py b/src/jaxsim/math/transform.py
index e7492545e..f7a5031dc 100644
--- a/src/jaxsim/math/transform.py
+++ b/src/jaxsim/math/transform.py
@@ -1,4 +1,3 @@
-import jax
 import jax.numpy as jnp
 import jaxlie
 
diff --git a/src/jaxsim/mujoco/loaders.py b/src/jaxsim/mujoco/loaders.py
index cf6cb17a5..2d26c9b13 100644
--- a/src/jaxsim/mujoco/loaders.py
+++ b/src/jaxsim/mujoco/loaders.py
@@ -102,7 +102,7 @@ def add_floating_joint(
 
         if root.find(f".//joint[@name='{floating_joint_name}']") is not None:
             msg = f"The URDF already has a floating joint '{floating_joint_name}'"
-            warnings.warn(msg)
+            warnings.warn(msg, stacklevel=2)
             return ET.tostring(root, pretty_print=True).decode()
 
         # Create the "world" link if it doesn't exist.
diff --git a/src/jaxsim/mujoco/model.py b/src/jaxsim/mujoco/model.py
index e24cb30a1..845f6bb90 100644
--- a/src/jaxsim/mujoco/model.py
+++ b/src/jaxsim/mujoco/model.py
@@ -7,6 +7,8 @@
 import numpy.typing as npt
 from scipy.spatial.transform import Rotation
 
+import jaxsim.typing as jtp
+
 HeightmapCallable = Callable[[jtp.FloatLike, jtp.FloatLike], jtp.FloatLike]
 
 
diff --git a/src/jaxsim/parsers/kinematic_graph.py b/src/jaxsim/parsers/kinematic_graph.py
index 7b3021f47..5841e35d8 100644
--- a/src/jaxsim/parsers/kinematic_graph.py
+++ b/src/jaxsim/parsers/kinematic_graph.py
@@ -268,7 +268,7 @@ def reduce(self, considered_joints: List[str]) -> "KinematicGraph":
 
         # Return early if there is no action to take
         if len(joint_names_to_remove) == 0:
-            logging.info(f"The kinematic graph doesn't need to be reduced")
+            logging.info("The kinematic graph doesn't need to be reduced")
             return copy.deepcopy(self)
 
         # Check if all considered joints are part of the full kinematic graph
diff --git a/src/jaxsim/utils/jaxsim_dataclass.py b/src/jaxsim/utils/jaxsim_dataclass.py
index 63eab70e3..2c760b0bc 100644
--- a/src/jaxsim/utils/jaxsim_dataclass.py
+++ b/src/jaxsim/utils/jaxsim_dataclass.py
@@ -1,6 +1,5 @@
 import abc
 import contextlib
-import copy
 import dataclasses
 import functools
 from collections.abc import Iterator
diff --git a/tests/conftest.py b/tests/conftest.py
index c2a10b141..20e75b987 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -2,7 +2,6 @@
 import pathlib
 
 import jax
-import jax.numpy as jnp
 import pytest
 import rod
 
@@ -176,14 +175,12 @@ def jaxsim_model_ergocub() -> js.model.JaxSimModel:
         The JaxSim model of the ErgoCub robot.
     """
 
-    os_environ_original = os.environ.copy()
-
     try:
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = "v0.7.1"
 
         import robot_descriptions.ergocub_description
     finally:
-        os.environ = os_environ_original
+        _ = os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
 
     model_urdf_path = pathlib.Path(
         robot_descriptions.ergocub_description.URDF_PATH.replace(
diff --git a/tests/test_pytree.py b/tests/test_pytree.py
index e3059203a..633872197 100644
--- a/tests/test_pytree.py
+++ b/tests/test_pytree.py
@@ -2,7 +2,6 @@
 from contextlib import redirect_stdout
 
 import jax
-import jax.numpy as jnp
 import rod.builder.primitives
 import rod.urdf.exporter