[MISC] Using Ruff instead of Black and enable it in CI.

.github/workflows/format.yml

@@ -0,0 +1,26 @@
+name: Lint and Format
+
+on:
+  pull_request:
+    branches:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-24.04
+    name: ubuntu-24.04-3.12-examples
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11' # Update to your project's version
+
+      - name: Run pre-commit hooks
+        uses: pre-commit/[email protected]

.github/workflows/generic.yml

@@ -127,12 +127,6 @@ jobs:
           pip install --upgrade pip setuptools pkg-info wheel
           pip3 install torch --index-url https://download.pytorch.org/whl/cpu
 
-      - name: Black Format Check
-        if: ${{ matrix.OS == 'ubuntu-24.04' && matrix.PYTHON_VERSION == '3.12' && matrix.GS_BACKEND == 'cpu' && matrix.GS_ENABLE_NDARRAY == '1' }}
-        run: |
-          pip install black
-          black --line-length 120 --check .
-
       - name: Install Genesis
         shell: bash
         run: |

.pre-commit-config.yaml

@@ -1,5 +1,7 @@
 repos:
-  - repo: https://github.com/psf/black
-    rev: 25.1.0
-    hooks:
-      - id: black
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  # Ruff version.
+  rev: v0.14.11
+  hooks:
+    # Run the formatter.
+    - id: ruff-format

examples/IPC_Solver/genesis_ipc_motion_test.py

@@ -223,9 +223,9 @@ def compute_total_linear_momentum():
             rigid_v = np.asarray(rigid_v).flatten()
             fem_v = np.asarray(fem_v).flatten()
 
-            print(f"\n{'='*70}")
+            print(f"\n{'=' * 70}")
             print(f"Step {i_step:4d}: t = {i_step * dt:.3f}s")
-            print(f"{'-'*70}")
+            print(f"{'-' * 70}")
             print(f"Rigid  mass: {rigid_m:8.4f} kg")
             print(f"Rigid  vel:  [{rigid_v[0]:9.5f}, {rigid_v[1]:9.5f}, {rigid_v[2]:9.5f}] m/s")
             print(f"Rigid  mom:  [{rigid_p[0]:9.5f}, {rigid_p[1]:9.5f}, {rigid_p[2]:9.5f}] kg·m/s")
@@ -297,9 +297,9 @@ def compute_total_linear_momentum():
 
     plt.tight_layout()
     plt.savefig("momentum_conservation_test.png", dpi=150)
-    print(f"\n{'='*70}")
+    print(f"\n{'=' * 70}")
     print("Plot saved to: momentum_conservation_test.png")
-    print(f"{'='*70}")
+    print(f"{'=' * 70}")
     plt.show()
 
 

examples/IPC_Solver/ipc_twist_cloth_band.py

@@ -228,11 +228,12 @@ def main():
 
         # Progress reporting
         if frame % 100 == 0:
-            phase = (
-                "Gripping"
-                if total_t < grip_duration
-                else "Twisting" if total_t < twist_start_time + twist_duration else "Settling"
-            )
+            if total_t < grip_duration:
+                phase = "Gripping"
+            elif total_t < twist_start_time + twist_duration:
+                phase = "Twisting"
+            else:
+                phase = "Settling"
             print(f"  Frame {frame}/{total_frames} (t={total_t:.2f}s) - {phase}")
 
 

examples/rigid/diffik_controller.py

@@ -11,7 +11,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/rigid/gravity_compensation.py

@@ -4,7 +4,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/rigid/ik_duck.py

@@ -6,7 +6,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()

examples/rigid/ik_franka.py

@@ -6,7 +6,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()

examples/rigid/ik_franka_batched.py

@@ -6,7 +6,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()

examples/rigid/multi_gpu.py

@@ -8,7 +8,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()

examples/rigid/nonconvex_mesh.py

@@ -4,7 +4,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/rigid/single_franka.py

@@ -4,7 +4,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/rigid/suction_cup.py

@@ -4,7 +4,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/rigid/terrain_height_field.py

@@ -8,7 +8,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)

examples/smoke.py

@@ -131,7 +131,6 @@ def main():
     scene.build()
 
     for i in range(args.num_steps):
-
         scalars = scene.sim.solvers[-1].grid.q.to_numpy().astype(np.float32)  # (res, res, res, 3)
         scalars[scalars < 1e-4] = 0
         layer = scalars[:, res // 2, :]

genesis/__init__.py

@@ -108,9 +108,9 @@ def init(
     wave_width = max(0, min(38, wave_width))
     bar_width = wave_width * 2 + 9
     wave = ("┈┉" * wave_width)[:wave_width]
-    logger.info(f"~<╭{'─'*(bar_width)}╮>~")
+    logger.info(f"~<╭{'─' * (bar_width)}╮>~")
     logger.info(f"~<│{wave}>~ ~~~~<Genesis>~~~~ ~<{wave}│>~")
-    logger.info(f"~<╰{'─'*(bar_width)}╯>~")
+    logger.info(f"~<╰{'─' * (bar_width)}╯>~")
 
     # Get concrete device and backend
     global device

genesis/datatypes.py

@@ -46,10 +46,10 @@ def _repr_elem(self, elem, common_length=0):
     def _repr_elem_colorized(self, elem, common_length=0):
         content = self._repr_elem(elem, common_length)
         idx = content.find(">")
-        formatted_content = f"{colors.BLUE}{formats.ITALIC}{content[:idx + 1]}{formats.RESET}{content[idx + 1:]}"
+        formatted_content = f"{colors.BLUE}{formats.ITALIC}{content[: idx + 1]}{formats.RESET}{content[idx + 1 :]}"
         idx = formatted_content.find(":")
         if idx >= 0:
-            formatted_content = f"{formatted_content[:idx]}{colors.GRAY}:{colors.MINT}{formatted_content[idx + 1:]}"
+            formatted_content = f"{formatted_content[:idx]}{colors.GRAY}:{colors.MINT}{formatted_content[idx + 1 :]}"
         formatted_content += formats.RESET
         return formatted_content
 

genesis/engine/boundaries/boundaries.py

@@ -70,4 +70,4 @@ def impose_pos(self, pos):
         return pos
 
     def __repr__(self):
-        return f"{brief(self)}\n" f"height      : {brief(self.height)}\n" f"restitution : {brief(self.restitution)}"
+        return f"{brief(self)}\nheight      : {brief(self.height)}\nrestitution : {brief(self.restitution)}"

genesis/engine/couplers/ipc_coupler.py

@@ -603,7 +603,7 @@ def _scale_genesis_rigid_link_masses(self, link_geoms_dict):
             rigid_solver.links_info.inertial_i[link_idx] = original_inertia / 2.0
 
             gs.logger.debug(
-                f"  Link {link_idx}: mass {original_mass:.6f} -> {original_mass/2.0:.6f} kg, " f"inertia scaled by 0.5"
+                f"  Link {link_idx}: mass {original_mass:.6f} -> {original_mass / 2.0:.6f} kg, inertia scaled by 0.5"
             )
 
         # After scaling inertial_mass and inertial_i, we need to recompute derived quantities:

genesis/engine/couplers/legacy_coupler.py

@@ -822,7 +822,6 @@ def kernel_pbd_rigid_solve_animate_particles_by_link(self, clamped_inv_dt: ti.f3
         pdb = self.pbd_solver
         for i_p, i_env in ti.ndrange(pdb._n_particles, pdb._B):
             if self.particle_attach_info[i_p, i_env].link_idx >= 0:
-
                 # read link state
                 link_idx = self.particle_attach_info[i_p, i_env].link_idx
                 link_pos = links_state.pos[link_idx, i_env]
@@ -940,7 +939,6 @@ def preprocess(self, f):
     def couple(self, f):
         # MPM <-> all others
         if self.mpm_solver.is_active:
-
             self.mpm_grid_op(
                 f,
                 self.sim.cur_t,

genesis/engine/couplers/sap_coupler.py

@@ -213,8 +213,7 @@ def __init__(
             self._rigid_rigid_contact_type = RigidRigidContactType.NONE
         else:
             gs.raise_exception(
-                f"Invalid rigid-rigid contact type: {options.rigid_rigid_contact_type}. "
-                "Must be one of 'tet' or 'none'."
+                f"Invalid rigid-rigid contact type: {options.rigid_rigid_contact_type}. Must be one of 'tet' or 'none'."
             )
 
         self._rigid_compliant = False

genesis/engine/sensors/depth_camera.py

@@ -8,7 +8,6 @@
 
 @register_sensor(DepthCameraOptions, RaycasterSharedMetadata, RaycasterData)
 class DepthCameraSensor(RaycasterSensor):
-
     def build(self):
         super().build()
         batch_shape = (self._manager._sim._B,) if self._manager._sim.n_envs > 0 else ()

genesis/engine/sensors/raycaster.py

@@ -316,7 +316,6 @@ class RaycasterData(NamedTuple):
 @register_sensor(RaycasterOptions, RaycasterSharedMetadata, RaycasterData)
 @ti.data_oriented
 class RaycasterSensor(RigidSensorMixin, Sensor):
-
     def __init__(
         self,
         options: RaycasterOptions,

genesis/engine/simulator.py

@@ -283,7 +283,6 @@ def step(self, in_backward=False):
 
     def _step_grad(self):
         for _ in range(self._substeps - 1, -1, -1):
-
             if self.cur_substep_local == 0:
                 self.load_ckpt()
             self._cur_substep_global -= 1

genesis/engine/solvers/rigid/collider_decomp.py

@@ -861,7 +861,6 @@ def func_contact_edge_sdf(
     for i_e in range(geoms_info.edge_start[i_ga], geoms_info.edge_end[i_ga]):
         cur_length = edges_info.length[i_e]
         if cur_length > ga_sdf_cell_size:
-
             i_v0 = edges_info.v0[i_e]
             i_v1 = edges_info.v1[i_e]
 
@@ -891,10 +890,8 @@ def func_contact_edge_sdf(
             normal_edge_1 = sdf_grad_1_a - sdf_grad_1_a.dot(vec_01) * vec_01
 
             if normal_edge_0.dot(sdf_grad_0_b) < 0 or normal_edge_1.dot(sdf_grad_1_b) < 0:
-
                 # check if closest point is between the two points
                 if sdf_grad_0_b.dot(vec_01) < 0 and sdf_grad_1_b.dot(vec_01) > 0:
-
                     while cur_length > ga_sdf_cell_size:
                         p_mid = 0.5 * (p_0 + p_1)
                         if (

genesis/engine/solvers/rigid/constraint_solver_decomp.py

@@ -1412,7 +1412,6 @@ def func_ls_init(
     rigid_global_info: array_class.RigidGlobalInfo,
     static_rigid_sim_config: ti.template(),
 ):
-
     n_dofs = constraint_state.search.shape[0]
     n_entities = entities_info.dof_start.shape[0]
     # mv and jv

genesis/engine/solvers/rigid/constraint_solver_decomp_island.py

@@ -238,7 +238,6 @@ def add_collision_constraints_and_wakeup_entities(self, i_island: int, i_b: int)
     @ti.func
     def add_joint_limit_constraints(self, i_island: int, i_b: int):
         for i_island_entity in range(self.contact_island.island_entity[i_island, i_b].n):
-
             i_e_ = self.contact_island.island_entity[i_island, i_b].start + i_island_entity
             i_e = self.contact_island.entity_id[i_e_, i_b]
 
@@ -448,7 +447,6 @@ def _func_nt_chol_factor(self, island, i_b):
                     for j_d in range(
                         ti.max(i_d + 1, self.entities_info.dof_start[j_e]), self.entities_info.dof_end[j_e]
                     ):
-
                         dot = gs.ti_float(0.0)
 
                         for k_island_entity in range(i_island_entity + 1):
@@ -473,7 +471,6 @@ def _func_nt_chol_solve(self, island, i_b):
             i_e_ = self.contact_island.island_entity[island, i_b].start + i_island_entity
             i_e = self.contact_island.entity_id[i_e_, i_b]
             for i_d in range(self.entities_info.dof_start[i_e], self.entities_info.dof_end[i_e]):
-
                 for j_island_entity in range(i_island_entity + 1):
                     j_e_ = self.contact_island.island_entity[island, i_b].start + j_island_entity
                     j_e = self.contact_island.entity_id[j_e_, i_b]
@@ -715,7 +712,6 @@ def _func_linesearch(self, island, i_b):
                         done = True
                         break
                 if not done:
-
                     if self.ls_it[i_b] >= self.ls_iterations:
                         self.ls_result[i_b] = 3
                         ls_slope = ti.abs(p1_deriv_0) * slopescl
@@ -780,7 +776,6 @@ def _func_linesearch(self, island, i_b):
                                 res_alpha = self.candidates[4 * best_i + 0, i_b]
                                 done = True
                             else:
-
                                 (
                                     b1,
                                     p1_alpha,
@@ -816,7 +811,6 @@ def _func_linesearch(self, island, i_b):
                                     done = True
 
                         if not done:
-
                             if p1_cost <= p2_cost and p1_cost < p0_cost:
                                 self.ls_result[i_b] = 4
                                 ls_slope = ti.abs(p1_deriv_0) * slopescl
@@ -958,7 +952,6 @@ def _func_update_constraint(self, island, i_b, qacc, Ma, cost):
             i_e_ = self.contact_island.island_entity[island, i_b].start + i_island_entity
             i_e = self.contact_island.entity_id[i_e_, i_b]
             for i_d in range(self.entities_info.dof_start[i_e], self.entities_info.dof_end[i_e]):
-
                 v = (
                     0.5
                     * (Ma[i_d, i_b] - self._solver.dofs_state.force[i_d, i_b])