diff --git a/.github/workflows/flake8-problem-matcher.json b/.github/workflows/flake8-problem-matcher.json
deleted file mode 100644
index fa7c7d1..0000000
--- a/.github/workflows/flake8-problem-matcher.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-    "problemMatcher": [
-        {
-            "owner": "flake8",
-            "pattern": [
-                {
-                    "regexp": "^(.*?):(\\d+):(\\d+):\\s*(.*?)$",
-                    "file": 1,
-                    "line": 2,
-                    "column": 3,
-                    "message": 4
-                }
-            ]
-        }
-    ]
-}
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 2738852..f1480b6 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -20,7 +20,7 @@ jobs:
         run: |
           python3 -m mypy --exclude=build .
 
-  flake8:
+  ruff-check:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -29,13 +29,10 @@ jobs:
           python-version: '3.10'
       - name: Install
         run: |
-          python3 -m pip install flake8
-      - name: Add matcher
-        run: |
-          echo "::add-matcher::.github/workflows/flake8-problem-matcher.json"
-      - name: Lint with flake8
-        run: |
-          python3 -m flake8 .
+          python3 -m pip install ruff
+
+      - name: Run ruff check
+        run: ruff check --output-format=github .
 
   black:
     runs-on: ubuntu-latest
diff --git a/pyproject.toml b/pyproject.toml
index f222ddd..b5c2ea1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,8 +4,12 @@ requires = ["setuptools>=42", "wheel"]
 [tool.black]
 line-length = 79
 
-[tool.pylint.messages_control]
-disable = "C0330, C0326"
+[tool.ruff]
+lint.select = [
+    "E",
+    "F",
+    #"B",  # bugbear
+]
 
 [tool.mypy]
 ignore_missing_imports = true
diff --git a/trifinger_simulation/real_finger.py b/trifinger_simulation/real_finger.py
index 8e306b9..a56e5ba 100644
--- a/trifinger_simulation/real_finger.py
+++ b/trifinger_simulation/real_finger.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
-# -------------------------------------------------------------------------------------------------
+# --------------------------------------------------------------------------------------
 # The documentation in this code is heavily derived from the official
 # documentation of PyBullet at
 # https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
 # among other scattered sources.
-# -------------------------------------------------------------------------------------------------
+# --------------------------------------------------------------------------------------
 import os
 from ament_index_python.packages import get_package_share_directory
 
diff --git a/trifinger_simulation/tasks/rearrange_dice/__init__.py b/trifinger_simulation/tasks/rearrange_dice/__init__.py
index a52c1f4..b2b0d47 100644
--- a/trifinger_simulation/tasks/rearrange_dice/__init__.py
+++ b/trifinger_simulation/tasks/rearrange_dice/__init__.py
@@ -142,7 +142,7 @@ def _get_cell_corners_3d(
 
     # order of the corners is the same as in the cube model of the
     # trifinger_object_tracking package
-    # people.tue.mpg.de/mpi-is-software/robotfingers/docs/trifinger_object_tracking/doc/cube_model.html
+    # https://open-dynamic-robot-initiative.github.io/trifinger_object_tracking/doc/a2_cube_model.html
     return np.array(
         (
             nppos + (d, -d, d),