diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8138c09e7515..0e8962656feb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,9 +12,48 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 * Replaced use of `Rhino.Geometry.VertexColors.SetColors` with a for loop and `SetColor` in `compas_ghpyton` since the former requires a `System.Array`.
+
+### Removed
+
+
+## [2.4.1] 2024-08-25
+
+### Added
+
+### Changed
+
+* Changed supported Blender versions to latest LTS versions (3.3, 3.6, 4.2).
+* Fixed bug in `compas_rhino.conversions.cone_to_compas`.
+* Fixed bug in `compas_rhino.conversions.cylinder_to_compas`.
+* Fixed bug in `compas_rhino.scene.RhinoMeshObject.draw_vertexnormals` (scale not used).
+* Fixed bug in `compas_rhino.scene.RhinoMeshObject.draw_facenormals` (scale not used).
+* Changed scene object registration to stop printing messages.
+
+### Removed
+
+## [2.4.0] 2024-08-22
+
+### Added
+
+* Added `compas.scene.Scene.redraw`.
+* Added `compas.scene.Scene.context_objects` representing all objects drawn in the visualisation context by the scene.
+* Added `compas.scene.Scene.clear_context` with optional `guids` to clear some or all objects from the visualisation context.
+* Added `clear_scene` and `clear_context` parameters to `compas.scene.Scene.clear` to differentiate between removing objects from the scene internally or removing corresponding objects from the viz context, or both (default).
+* Added `compas_rhino.conversions.extrusion_to_compas_box` as direct conversion of extrusion breps.
+
+### Changed
+
 * Changed the `__str__` of `compas.geometry.Frame`, `compas.geometry.Plane`, `compas.geometry.Polygon`, `compas.geometry.Polyhedron`, `compas.geometry.Quaternion` to use a limited number of decimals (determined by `Tolerance.PRECISION`). Note: `__repr__` will instead maintain full precision.
 * Changed the `__str__` of `compas.geometry.Pointcloud` to print total number of points instead of the long list of points. Note: `__repr__` will still print all the points with full precision.
 * Fixed bug in `Pointcloud.from_box()`.
+* Changed `compas.scene.MeshObject` to not use vertex coordinate caching because it is too fragile.
+* Changed `compas_rhino.scene.RhinoMeshObject` to keep track of element-guid pairs in dicts.
+* Changed `compas.scene.Scene._guids` to a default value of `[]`.
+* Fixed bug due to missing import in `compas_rhino.scene.graphobject`.
+* Changed `compas_rhino.scene.RhinoMeshObject.draw_vertexnormals` to use the same selection of vertices as `draw_vertices`.
+* Changed `compas_rhino.scene.RhinoMeshObject.draw_vertexnormals` to use the corresponding vertex color if no color is specified.
+* Changed `compas_rhino.scene.RhinoMeshObject.draw_facenormals` to use the same selection of vertices as `draw_faces`.
+* Changed `compas_rhino.scene.RhinoMeshObject.draw_facenormals` to use the corresponding face color if no color is specified.
 
 ### Removed
 
diff --git a/docs/userguide/cad.blender.rst b/docs/userguide/cad.blender.rst
index 057803051928..1e0470f35454 100644
--- a/docs/userguide/cad.blender.rst
+++ b/docs/userguide/cad.blender.rst
@@ -10,7 +10,8 @@ and :mod:`compas_blender` provides functionality for converting COMPAS objects t
 
 .. note::
 
-    These instructions are for the latest version of Blender (4.0) and for the current LTS versions (3.3 and 3.6).
+    These instructions are for the current LTS versions of Blender (3.3, 3.6 and 4.2).
+    Other versions are currently not supported.
 
 .. warning::
 
@@ -34,9 +35,9 @@ This procedure simply uses that Python installation and associated ``pip`` to in
 The location of the executable is different on different platforms.
 The default locations are:
 
-* Windows: ``C:\Program Files\Blender Foundation\Blender 4.0\4.0\python\bin\python.exe``
-* macOS: ``/Applications/Blender.app/Contents/Resources/4.0/python/bin/python3.10``
-* Linux: ``/usr/share/blender/4.0/python/bin/python3.10`` (i think :)
+* Windows: ``C:\Program Files\Blender Foundation\Blender 4.2\4.2\python\bin\python.exe``
+* macOS: ``/Applications/Blender.app/Contents/Resources/4.2/python/bin/python3.10``
+* Linux: ``/usr/share/blender/4.2/python/bin/python3.10`` (i think :)
 
 .. note::
 
@@ -53,7 +54,7 @@ Before installing `compas` with `pip`, it is highly recommended that you update
 
 .. code-block:: bash
 
-    $ /Applications/Blender.app/Contents/Resources/4.0/python/bin/python3.10 -m pip install --upgrade pip
+    $ /Applications/Blender.app/Contents/Resources/4.2/python/bin/python3.10 -m pip install --upgrade pip
 
 
 Install from PyPI
@@ -63,7 +64,7 @@ For example on Mac:
 
 .. code-block:: bash
 
-    $ /Applications/Blender.app/Contents/Resources/4.0/python/bin/python3.10 -m pip install compas
+    $ /Applications/Blender.app/Contents/Resources/4.2/python/bin/python3.10 -m pip install compas
 
 
 Install from Source
@@ -72,7 +73,7 @@ Install from Source
 .. code-block:: bash
 
     $ cd path/to/compas
-    $ /Applications/Blender.app/Contents/Resources/4.0/python/bin/python3.10 -m pip install -e .
+    $ /Applications/Blender.app/Contents/Resources/4.2/python/bin/python3.10 -m pip install -e .
 
 
 Using ``compas_blender.install``
@@ -95,7 +96,7 @@ Optionally, you can specify the version of Blender using the ``-v`` flag.
 
 .. code-block:: bash
 
-    $ python -m compas_blender.install -v 4.0
+    $ python -m compas_blender.install -v 4.2
 
 To remove all previously installed symlinks before installing new ones, use the ``--clean`` flag.
 
@@ -111,7 +112,7 @@ To test if the installation was successful, you can run the following on the Ble
 
 >>> import compas
 >>> print(compas.__version__)
-'2.0.0'
+'2.4.0'
 
 
 Visualisation
diff --git a/pyproject.toml b/pyproject.toml
index 1252af9bb63e..0581a072f442 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -84,7 +84,7 @@ doctest_optionflags = [
 # ============================================================================
 
 [tool.bumpversion]
-current_version = "2.3.0"
+current_version = "2.4.1"
 message = "Bump version to {new_version}"
 commit = true
 tag = true
diff --git a/src/compas/__init__.py b/src/compas/__init__.py
index 1d88bd58ccda..0b1839974685 100644
--- a/src/compas/__init__.py
+++ b/src/compas/__init__.py
@@ -20,7 +20,7 @@
 __copyright__ = "Copyright 2014-2022 - ETH Zurich, Copyright 2023 - COMPAS Association"
 __license__ = "MIT License"
 __email__ = "tom.v.mele@gmail.com"
-__version__ = "2.3.0"
+__version__ = "2.4.1"
 
 
 HERE = compas._os.realpath(os.path.dirname(__file__))
diff --git a/src/compas/scene/meshobject.py b/src/compas/scene/meshobject.py
index 33069b8edd29..c6904ef3cd3a 100644
--- a/src/compas/scene/meshobject.py
+++ b/src/compas/scene/meshobject.py
@@ -5,7 +5,6 @@
 import compas.colors  # noqa: F401
 import compas.datastructures  # noqa: F401
 import compas.geometry  # noqa: F401
-from compas.geometry import transform_points
 
 from .descriptors.colordict import ColorDictAttribute
 from .sceneobject import SceneObject
@@ -71,7 +70,6 @@ def __init__(
     ):  # fmt: skip
         # type: (...) -> None
         super(MeshObject, self).__init__(**kwargs)  # type: ignore
-        self._vertex_xyz = None
         self.show_vertices = show_vertices
         self.show_edges = show_edges
         self.show_faces = show_faces
@@ -107,7 +105,6 @@ def mesh(self, mesh):
         # type: (compas.datastructures.Mesh) -> None
         self._item = mesh
         self._transformation = None
-        self._vertex_xyz = None
 
     @property
     def transformation(self):
@@ -117,24 +114,8 @@ def transformation(self):
     @transformation.setter
     def transformation(self, transformation):
         # type: (compas.geometry.Transformation) -> None
-        self._vertex_xyz = None
         self._transformation = transformation
 
-    @property
-    def vertex_xyz(self):
-        # type: () -> dict[int, list[float]]
-        if self.mesh:
-            if self._vertex_xyz is None:
-                points = self.mesh.vertices_attributes("xyz")
-                points = transform_points(points, self.worldtransformation)
-                self._vertex_xyz = dict(zip(self.mesh.vertices(), points))
-        return self._vertex_xyz  # type: ignore
-
-    @vertex_xyz.setter
-    def vertex_xyz(self, vertex_xyz):
-        # type: (dict[int, list[float]]) -> None
-        self._vertex_xyz = vertex_xyz
-
     def draw_vertices(self):
         """Draw the vertices of the mesh.
 
diff --git a/src/compas/scene/scene.py b/src/compas/scene/scene.py
index f9b0861a2b67..2e4dc253086f 100644
--- a/src/compas/scene/scene.py
+++ b/src/compas/scene/scene.py
@@ -76,6 +76,14 @@ def objects(self):
         # type: () -> list[SceneObject]
         return [node for node in self.nodes if not node.is_root]  # type: ignore
 
+    @property
+    def context_objects(self):
+        # type: () -> list
+        guids = []
+        for obj in self.objects:
+            guids += obj.guids
+        return guids
+
     def add(self, item, parent=None, **kwargs):
         # type: (compas.geometry.Geometry | compas.datastructures.Datastructure, SceneObject | TreeNode | None, dict) -> SceneObject
         """Add an item to the scene.
@@ -108,32 +116,82 @@ def add(self, item, parent=None, **kwargs):
         super(Scene, self).add(sceneobject, parent=parent)
         return sceneobject
 
-    def clear(self):
-        # type: () -> None
-        """Clear everything from the current context of the scene."""
+    def clear_context(self, guids=None):
+        # type: (list | None) -> None
+        """Clear the visualisation context.
+
+        Parameters
+        ----------
+        guids : list, optional
+            The identifiers of the objects in the visualisation context.
+
+        Returns
+        -------
+        None
+
+        Notes
+        -----
+        If `guids=None`, this will clear all objects from the visualisation context.
+        For example, when used in Rhino, it will remove everything from the Rhino model.
+        This is equivalent to `compas_rhino.clear()`.
+
+        If `guids` is a list, only those objects in the list will be removed.
+
+        The method is used by `Scene.clear` to remove all objects previously drawn by the scene,
+        without removing other model objects.
+
+        """
+        clear(guids)
+
+    def clear(self, clear_scene=True, clear_context=True):
+        # type: (bool, bool) -> None
+        """Clear the scene.
+
+        Parameters
+        ----------
+        clear_scene : bool, optional
+            If True, all scene objects will be removed from the scene tree.
+        clear_context : bool, optional
+            If True, all objects drawn by the scene in the visualisation context will be removed.
+
+        Returns
+        -------
+        None
 
-        clear()
+        Notes
+        -----
+        To redraw the scene, without modifying any of the other objects in the visualisation context:
 
-    def clear_objects(self):
-        # type: () -> None
-        """Clear all objects inside the scene."""
+        >>> scene.clear(clear_scene=False, clear_context=True)
+        >>> scene.draw()
 
+        """
         guids = []
+
         for sceneobject in self.objects:
             guids += sceneobject.guids
             sceneobject._guids = None
-        clear(guids=guids)
+
+            if clear_scene:
+                self.remove(sceneobject)
+
+        if clear_context:
+            self.clear_context(guids)
 
     def draw(self):
-        """Draw the scene."""
+        """Draw the scene.
+
+        This will just draw all scene objects in the scene tree,
+        without making any modifications to the visualisation context.
+        For example, it will not remove any of the previously drawn objects.
+
+        """
 
         if not self.context:
             raise ValueError("No context detected.")
 
         before_draw()
 
-        self.clear_objects()
-
         drawn_objects = []
         for sceneobject in self.objects:
             if sceneobject.show:
@@ -142,3 +200,14 @@ def draw(self):
         after_draw(drawn_objects)
 
         return drawn_objects
+
+    def redraw(self):
+        """Redraw the scene.
+
+        This removes all previously drawn objects from the visualisation context,
+        before drawing all scene objects in the scene tree.
+
+        """
+
+        self.clear(clear_scene=False, clear_context=True)
+        self.draw()
diff --git a/src/compas/scene/sceneobject.py b/src/compas/scene/sceneobject.py
index 2a0f4c303833..3ca5f081da2e 100644
--- a/src/compas/scene/sceneobject.py
+++ b/src/compas/scene/sceneobject.py
@@ -111,7 +111,7 @@ def __init__(
         # which means that adding child objects will be added in context "None"
         self.context = context
         self._item = item
-        self._guids = None
+        self._guids = []
         self._node = None
         self._frame = frame
         self._transformation = transformation
diff --git a/src/compas_blender/__init__.py b/src/compas_blender/__init__.py
index a93ef4fcfc73..6985154c0a6d 100644
--- a/src/compas_blender/__init__.py
+++ b/src/compas_blender/__init__.py
@@ -11,12 +11,12 @@
     pass
 
 
-__version__ = "2.3.0"
+__version__ = "2.4.1"
 
 
 INSTALLABLE_PACKAGES = ["compas", "compas_blender"]
-SUPPORTED_VERSIONS = ["3.3", "3.6", "4.0"]
-DEFAULT_VERSION = "4.0"
+SUPPORTED_VERSIONS = ["3.3", "3.6", "4.2"]
+DEFAULT_VERSION = "4.2"
 
 INSTALLATION_ARGUMENTS = None
 
@@ -200,6 +200,8 @@ def _get_default_blender_python_path(version):
 
 
 def _get_default_blender_python_path_mac(version):
+    if version == "4.2":
+        return "/Applications/Blender.app/Contents/Resources/{}/python/bin/python3.11".format(version)
     return "/Applications/Blender.app/Contents/Resources/{}/python/bin/python3.10".format(version)
 
 
diff --git a/src/compas_blender/scene/__init__.py b/src/compas_blender/scene/__init__.py
index 021a7716939f..4d6e4d315245 100644
--- a/src/compas_blender/scene/__init__.py
+++ b/src/compas_blender/scene/__init__.py
@@ -83,16 +83,16 @@ def register_scene_objects():
     register(Torus, ShapeObject, context="Blender")
     register(Vector, VectorObject, context="Blender")
     register(VolMesh, VolMeshObject, context="Blender")
-    print("Blender Objects registered.")
+
+    # print("Blender Objects registered.")
 
 
 __all__ = [
     "BlenderSceneObject",
-    "shapeObject",
+    "ShapeObject",
     "BoxObject",
     "CircleObject",
     "CurveObject",
-    "CylinderObject",
     "FrameObject",
     "LineObject",
     "MeshObject",
@@ -103,9 +103,7 @@ def register_scene_objects():
     "PolygonObject",
     "PolyhedronObject",
     "PolylineObject",
-    "SphereObject",
     "SurfaceObject",
-    "TorusObject",
     "VectorObject",
     "VolMeshObject",
 ]
diff --git a/src/compas_ghpython/__init__.py b/src/compas_ghpython/__init__.py
index e3d9e3a93ba0..d75892f769a3 100644
--- a/src/compas_ghpython/__init__.py
+++ b/src/compas_ghpython/__init__.py
@@ -9,7 +9,7 @@
 from compas_rhino import unload_modules  # noqa: F401
 
 
-__version__ = "2.3.0"
+__version__ = "2.4.1"
 
 if compas.is_rhino():
     from .utilities import *  # noqa: F401 F403
diff --git a/src/compas_ghpython/scene/__init__.py b/src/compas_ghpython/scene/__init__.py
index 822d5220a37b..384804cd69a8 100644
--- a/src/compas_ghpython/scene/__init__.py
+++ b/src/compas_ghpython/scene/__init__.py
@@ -86,7 +86,8 @@ def register_scene_objects():
     register(Vector, VectorObject, context="Grasshopper")
     register(VolMesh, VolMeshObject, context="Grasshopper")
     register(Brep, BrepObject, context="Grasshopper")
-    print("GH SceneObjects registered.")
+
+    # print("GH SceneObjects registered.")
 
 
 __all__ = [
diff --git a/src/compas_ghpython/scene/meshobject.py b/src/compas_ghpython/scene/meshobject.py
index 46f4aada7949..5988912511d2 100644
--- a/src/compas_ghpython/scene/meshobject.py
+++ b/src/compas_ghpython/scene/meshobject.py
@@ -51,44 +51,36 @@ def draw(self):
 
         if self.show_faces is True:
             vertexcolors = []
-            if len(self.vertexcolor):
-                vertexcolors = [self.vertexcolor[vertex] for vertex in self.mesh.vertices()]
+            if len(self.vertexcolor):  # type: ignore
+                vertexcolors = [self.vertexcolor[vertex] for vertex in self.mesh.vertices()]  # type: ignore
 
             facecolors = []
-            if len(self.facecolor):
-                facecolors = [self.facecolor[face] for face in self.mesh.faces()]
-
-            color = None
-            if not vertexcolors and not facecolors:
-                color = self.color
+            if len(self.facecolor):  # type: ignore
+                facecolors = [self.facecolor[face] for face in self.mesh.faces()]  # type: ignore
 
             vertex_index = self.mesh.vertex_index()
-            vertex_xyz = self.vertex_xyz
 
-            vertices = [vertex_xyz[vertex] for vertex in self.mesh.vertices()]
+            vertices = [self.mesh.vertex_attributes(vertex, "xyz") for vertex in self.mesh.vertices()]
             faces = [[vertex_index[vertex] for vertex in self.mesh.face_vertices(face)] for face in self.mesh.faces()]
 
             geometry = conversions.vertices_and_faces_to_rhino(
                 vertices,
                 faces,
-                color=color,
+                color=self.color,
                 vertexcolors=vertexcolors,
                 facecolors=facecolors,
                 disjoint=self.disjoint,
             )
 
-            # geometry.Transform(conversions.transformation_to_rhino(self.worldtransformation))
+            geometry.Transform(conversions.transformation_to_rhino(self.worldtransformation))
 
             self._guids.append(geometry)
 
         elif self.show_faces:
-            self._guids += self.draw_faces()
-
-        if self.show_vertices:
-            self._guids += self.draw_vertices()
+            self.draw_faces()
 
-        if self.show_edges:
-            self._guids += self.draw_edges()
+        self.draw_vertices()
+        self.draw_edges()
 
         return self.guids
 
@@ -104,9 +96,13 @@ def draw_vertices(self):
 
         vertices = list(self.mesh.vertices()) if self.show_vertices is True else self.show_vertices or []
 
+        transformation = conversions.transformation_to_rhino(self.worldtransformation)
+
         if vertices:
             for vertex in vertices:
-                points.append(conversions.point_to_rhino(self.vertex_xyz[vertex]))
+                geometry = conversions.point_to_rhino(self.mesh.vertex_attributes(vertex, "xyz"))
+                geometry.Transform(transformation)
+                points.append(geometry)
 
         return points
 
@@ -122,9 +118,14 @@ def draw_edges(self):
 
         edges = list(self.mesh.edges()) if self.show_edges is True else self.show_edges or []
 
+        transformation = conversions.transformation_to_rhino(self.worldtransformation)
+
         if edges:
             for edge in edges:
-                lines.append(conversions.line_to_rhino((self.vertex_xyz[edge[0]], self.vertex_xyz[edge[1]])))
+                line = self.mesh.edge_line(edge)
+                geometry = conversions.line_to_rhino(line)
+                geometry.Transform(transformation)
+                lines.append(geometry)
 
         return lines
 
@@ -140,12 +141,17 @@ def draw_faces(self):
 
         faces = list(self.mesh.faces()) if self.show_faces is True else self.show_faces or []
 
+        transformation = conversions.transformation_to_rhino(self.worldtransformation)
+
         if faces:
             for face in faces:
-                color = self.facecolor[face]
-                vertices = [self.vertex_xyz[vertex] for vertex in self.mesh.face_vertices(face)]
+                color = self.facecolor[face]  # type: ignore
+                vertices = [self.mesh.vertex_attributes(vertex, "xyz") for vertex in self.mesh.face_vertices(face)]  # type: ignore
                 facet = ngon(len(vertices))
+
                 if facet:
-                    meshes.append(conversions.vertices_and_faces_to_rhino(vertices, [facet], color=color))
+                    geometry = conversions.vertices_and_faces_to_rhino(vertices, [facet], color=color)
+                    geometry.Transform(transformation)
+                    meshes.append(geometry)
 
         return meshes
diff --git a/src/compas_rhino/__init__.py b/src/compas_rhino/__init__.py
index 769922013a6a..c52f1cb41be1 100644
--- a/src/compas_rhino/__init__.py
+++ b/src/compas_rhino/__init__.py
@@ -7,7 +7,7 @@
 import compas
 import compas._os
 
-__version__ = "2.3.0"
+__version__ = "2.4.1"
 
 
 PURGE_ON_DELETE = True
diff --git a/src/compas_rhino/conversions/breps.py b/src/compas_rhino/conversions/breps.py
index 51ee2714e4f4..3be86027198b 100644
--- a/src/compas_rhino/conversions/breps.py
+++ b/src/compas_rhino/conversions/breps.py
@@ -12,6 +12,7 @@
 from compas.tolerance import TOL
 
 from .exceptions import ConversionError
+from .extrusions import extrusion_to_compas_box
 from .geometry import point_to_compas
 from .shapes import cone_to_compas
 from .shapes import cylinder_to_compas
@@ -82,7 +83,7 @@ def brep_to_compas_box(brep):
     :class:`compas.geometry.Box`
 
     """
-    raise NotImplementedError
+    return extrusion_to_compas_box(brep.Geometry)
 
 
 def brep_to_compas_cone(brep):
diff --git a/src/compas_rhino/conversions/meshes.py b/src/compas_rhino/conversions/meshes.py
index 82c89ed4ea56..deff5233ae03 100644
--- a/src/compas_rhino/conversions/meshes.py
+++ b/src/compas_rhino/conversions/meshes.py
@@ -231,7 +231,7 @@ def face_callback(face):
 
 
 def mesh_to_compas(rhinomesh, cls=None):
-    """Convert a Rhino mesh object to a COMPAS mesh.
+    """Convert a Rhino mesh to a COMPAS mesh.
 
     Parameters
     ----------
diff --git a/src/compas_rhino/conversions/shapes.py b/src/compas_rhino/conversions/shapes.py
index 955568fbf6c5..320db85a7eec 100644
--- a/src/compas_rhino/conversions/shapes.py
+++ b/src/compas_rhino/conversions/shapes.py
@@ -6,11 +6,9 @@
 import scriptcontext as sc  # type: ignore
 
 from compas.geometry import Box
-from compas.geometry import Circle
 from compas.geometry import Cone
 from compas.geometry import Cylinder
 from compas.geometry import Frame
-from compas.geometry import Plane
 from compas.geometry import Sphere
 from compas.geometry import Torus
 
@@ -19,11 +17,9 @@
 
 # from .geometry import plane_to_rhino
 from .geometry import frame_to_rhino
-from .geometry import plane_to_compas
 from .geometry import plane_to_compas_frame
 from .geometry import point_to_compas
 from .geometry import point_to_rhino
-from .geometry import vector_to_compas
 
 # =============================================================================
 # To Rhino
@@ -253,8 +249,9 @@ def cone_to_compas(cone):
     :class:`compas.geometry.Cone`
 
     """
-    plane = Plane(cone.BasePoint, vector_to_compas(cone.Plane.Normal).inverted())
-    return Cone(Circle(plane, cone.Radius), cone.Height)
+    frame = plane_to_compas_frame(cone.Plane)
+    frame.point = point_to_compas(cone.BasePoint)  # invert the z-axis?
+    return Cone(radius=cone.Radius, height=cone.Height, frame=frame)
 
 
 def cylinder_to_compas(cylinder):
@@ -269,10 +266,10 @@ def cylinder_to_compas(cylinder):
     :class:`compas.geometry.Cylinder`
 
     """
-    plane = plane_to_compas(cylinder.BasePlane)
+    frame = plane_to_compas_frame(cylinder.BasePlane)
     height = cylinder.TotalHeight
-    plane.point += plane.normal * (0.5 * height)
-    return Cylinder(Circle(plane, cylinder.Radius), height)
+    frame.point += frame.normal * (0.5 * height)
+    return Cylinder(radius=cylinder.Radius, height=height, frame=frame)
 
 
 def torus_to_compas(torus):
diff --git a/src/compas_rhino/scene/__init__.py b/src/compas_rhino/scene/__init__.py
index e5bc8a7b475d..cc243b8022fd 100644
--- a/src/compas_rhino/scene/__init__.py
+++ b/src/compas_rhino/scene/__init__.py
@@ -93,7 +93,8 @@ def register_scene_objects():
     register(Curve, RhinoCurveObject, context="Rhino")
     register(Surface, RhinoSurfaceObject, context="Rhino")
     register(Brep, RhinoBrepObject, context="Rhino")
-    print("Rhino SceneObjects registered.")
+
+    # print("Rhino SceneObjects registered.")
 
 
 __all__ = [
diff --git a/src/compas_rhino/scene/graphobject.py b/src/compas_rhino/scene/graphobject.py
index 88f1e409966f..a761a559e36e 100644
--- a/src/compas_rhino/scene/graphobject.py
+++ b/src/compas_rhino/scene/graphobject.py
@@ -6,6 +6,7 @@
 import scriptcontext as sc  # type: ignore
 
 import compas_rhino
+import compas_rhino.objects
 from compas.geometry import Line
 from compas.scene import GraphObject
 from compas_rhino.conversions import line_to_rhino
diff --git a/src/compas_rhino/scene/meshobject.py b/src/compas_rhino/scene/meshobject.py
index db04e6c9eb27..195b878013f9 100644
--- a/src/compas_rhino/scene/meshobject.py
+++ b/src/compas_rhino/scene/meshobject.py
@@ -8,13 +8,11 @@
 import compas_rhino.objects
 from compas.colors import Color
 from compas.geometry import Line
-from compas.geometry import Point
 from compas.geometry import centroid_points
 from compas.scene import MeshObject
 from compas_rhino.conversions import line_to_rhino
 from compas_rhino.conversions import point_to_rhino
-
-# from compas_rhino.conversions import transformation_to_rhino
+from compas_rhino.conversions import transformation_to_rhino
 from compas_rhino.conversions import vertices_and_faces_to_rhino
 
 from .helpers import ngon
@@ -56,16 +54,9 @@ def __init__(self, disjoint=False, vertexgroup=None, edgegroup=None, facegroup=N
         super(RhinoMeshObject, self).__init__(**kwargs)
         self.disjoint = disjoint
         self._guid_mesh = None
-        self._guids_faces = None
-        self._guids_edges = None
-        self._guids_vertices = None
-        self._guids_vertexnormals = None
-        self._guids_facenormals = None
-        self._guids_vertexlabels = None
-        self._guids_edgelabels = None
-        self._guids_facelabels = None
-        self._guids_spheres = None
-        self._guids_pipes = None
+        self._guid_face = {}
+        self._guid_edge = {}
+        self._guid_vertex = {}
         self.vertexgroup = vertexgroup
         self.edgegroup = edgegroup
         self.facegroup = facegroup
@@ -92,7 +83,7 @@ def clear_vertices(self):
         None
 
         """
-        compas_rhino.objects.delete_objects(self._guids_vertices, purge=True)
+        compas_rhino.objects.delete_objects(self._guid_vertex, purge=True)
 
     def clear_edges(self):
         """Delete all edges drawn by this scene object.
@@ -102,7 +93,7 @@ def clear_edges(self):
         None
 
         """
-        compas_rhino.objects.delete_objects(self._guids_edges, purge=True)
+        compas_rhino.objects.delete_objects(self._guid_edge, purge=True)
 
     def clear_faces(self):
         """Delete all faces drawn by this scene object.
@@ -112,57 +103,7 @@ def clear_faces(self):
         None
 
         """
-        compas_rhino.objects.delete_objects(self._guids_faces, purge=True)
-
-    def clear_vertexnormals(self):
-        """Delete all vertex normals drawn by this scene object.
-
-        Returns
-        -------
-        None
-
-        """
-        compas_rhino.objects.delete_objects(self._guids_vertexnormals, purge=True)
-
-    def clear_facenormals(self):
-        """Delete all face normals drawn by this scene object.
-
-        Returns
-        -------
-        None
-
-        """
-        compas_rhino.objects.delete_objects(self._guids_facenormals, purge=True)
-
-    def clear_vertexlabels(self):
-        """Delete all vertex labels drawn by this scene object.
-
-        Returns
-        -------
-        None
-
-        """
-        compas_rhino.objects.delete_objects(self._guids_vertexlabels, purge=True)
-
-    def clear_edgelabels(self):
-        """Delete all edge labels drawn by this scene object.
-
-        Returns
-        -------
-        None
-
-        """
-        compas_rhino.objects.delete_objects(self._guids_edgelabels, purge=True)
-
-    def clear_facelabels(self):
-        """Delete all face labels drawn by this scene object.
-
-        Returns
-        -------
-        None
-
-        """
-        compas_rhino.objects.delete_objects(self._guids_facelabels, purge=True)
+        compas_rhino.objects.delete_objects(self._guid_face, purge=True)
 
     # ==========================================================================
     # draw
@@ -193,17 +134,16 @@ def draw(self):
             attr = self.compile_attributes()
 
             vertexcolors = []
-            if len(self.vertexcolor):
-                vertexcolors = [self.vertexcolor[vertex] for vertex in self.mesh.vertices()]
+            if len(self.vertexcolor):  # type: ignore
+                vertexcolors = [self.vertexcolor[vertex] for vertex in self.mesh.vertices()]  # type: ignore
 
             facecolors = []
-            if len(self.facecolor):
-                facecolors = [self.facecolor[face] for face in self.mesh.faces()]
+            if len(self.facecolor):  # type: ignore
+                facecolors = [self.facecolor[face] for face in self.mesh.faces()]  # type: ignore
 
             vertex_index = self.mesh.vertex_index()
-            vertex_xyz = self.vertex_xyz
 
-            vertices = [vertex_xyz[vertex] for vertex in self.mesh.vertices()]
+            vertices = [self.mesh.vertex_attributes(vertex, "xyz") for vertex in self.mesh.vertices()]
             faces = [[vertex_index[vertex] for vertex in self.mesh.face_vertices(face)] for face in self.mesh.faces()]
 
             geometry = vertices_and_faces_to_rhino(
@@ -215,7 +155,7 @@ def draw(self):
                 disjoint=self.disjoint,
             )
 
-            # geometry.Transform(transformation_to_rhino(self.worldtransformation))
+            geometry.Transform(transformation_to_rhino(self.worldtransformation))
 
             self._guid_mesh = sc.doc.Objects.AddMesh(geometry, attr)
             if self.group:
@@ -224,13 +164,10 @@ def draw(self):
             self._guids.append(self._guid_mesh)
 
         elif self.show_faces:
-            self._guids += self.draw_faces()
+            self.draw_faces()
 
-        if self.show_vertices:
-            self._guids += self.draw_vertices()
-
-        if self.show_edges:
-            self._guids += self.draw_edges()
+        self.draw_vertices()
+        self.draw_edges()
 
         return self.guids
 
@@ -247,15 +184,18 @@ def draw_vertices(self):
 
         vertices = list(self.mesh.vertices()) if self.show_vertices is True else self.show_vertices or []
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         if vertices:
             for vertex in vertices:
                 name = "{}.vertex.{}".format(self.mesh.name, vertex)
-                color = self.vertexcolor[vertex]
+                color = self.vertexcolor[vertex]  # type: ignore
                 attr = self.compile_attributes(name=name, color=color)
 
-                point = point_to_rhino(self.vertex_xyz[vertex])
+                geometry = point_to_rhino(self.mesh.vertex_attributes(vertex, "xyz"))
+                geometry.Transform(transformation)
 
-                guid = sc.doc.Objects.AddPoint(point, attr)
+                guid = sc.doc.Objects.AddPoint(geometry, attr)
                 guids.append(guid)
 
         if guids:
@@ -264,7 +204,9 @@ def draw_vertices(self):
             elif self.group:
                 self.add_to_group(self.group, guids)
 
-        self._guids_vertices = guids
+        self._guid_vertex = dict(zip(guids, vertices))
+
+        self._guids += guids
         return guids
 
     def draw_edges(self):
@@ -280,15 +222,20 @@ def draw_edges(self):
 
         edges = list(self.mesh.edges()) if self.show_edges is True else self.show_edges or []
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         if edges:
             for edge in edges:
                 name = "{}.edge.{}-{}".format(self.mesh.name, *edge)
-                color = self.edgecolor[edge]
+                color = self.edgecolor[edge]  # type: ignore
                 attr = self.compile_attributes(name=name, color=color)
 
-                line = Line(self.vertex_xyz[edge[0]], self.vertex_xyz[edge[1]])
+                line = self.mesh.edge_line(edge)
 
-                guid = sc.doc.Objects.AddLine(line_to_rhino(line), attr)
+                geometry = line_to_rhino(line)
+                geometry.Transform(transformation)
+
+                guid = sc.doc.Objects.AddLine(geometry, attr)
                 guids.append(guid)
 
         if guids:
@@ -297,7 +244,9 @@ def draw_edges(self):
             elif self.group:
                 self.add_to_group(self.group, guids)
 
-        self._guids_edges = guids
+        self._guid_edge = dict(zip(guids, edges))
+
+        self._guids += guids
         return guids
 
     def draw_faces(self):
@@ -313,17 +262,22 @@ def draw_faces(self):
 
         faces = list(self.mesh.faces()) if self.show_faces is True else self.show_faces or []
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         if faces:
             for face in faces:
                 name = "{}.face.{}".format(self.mesh.name, face)
-                color = self.facecolor[face]
+                color = self.facecolor[face]  # type: ignore
                 attr = self.compile_attributes(name=name, color=color)
 
-                vertices = [self.vertex_xyz[vertex] for vertex in self.mesh.face_vertices(face)]  # type: ignore
+                vertices = [self.mesh.vertex_attributes(vertex, "xyz") for vertex in self.mesh.face_vertices(face)]  # type: ignore
                 facet = ngon(len(vertices))
 
                 if facet:
-                    guid = sc.doc.Objects.AddMesh(vertices_and_faces_to_rhino(vertices, [facet]), attr)
+                    geometry = vertices_and_faces_to_rhino(vertices, [facet])
+                    geometry.Transform(transformation)
+
+                    guid = sc.doc.Objects.AddMesh(geometry, attr)
                     guids.append(guid)
 
         if guids:
@@ -332,7 +286,9 @@ def draw_faces(self):
             elif self.group:
                 self.add_to_group(self.group, guids)
 
-        self._guids_faces = guids
+        self._guid_face = dict(zip(guids, faces))
+
+        self._guids += guids
         return guids
 
     # ==========================================================================
@@ -365,14 +321,17 @@ def draw_vertexlabels(self, text, color=None, group=None, fontheight=10, fontfac
 
         self.vertexcolor = color
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         for vertex in text:
             name = "{}.vertex.{}.label".format(self.mesh.name, vertex)  # type: ignore
-            color = self.vertexcolor[vertex]
+            color = self.vertexcolor[vertex]  # type: ignore
             attr = self.compile_attributes(name=name, color=color)
 
-            point = point_to_rhino(self.vertex_xyz[vertex])
+            location = point_to_rhino(self.mesh.vertex_attributes(vertex, "xyz"))
+            location.Transform(transformation)
 
-            dot = Rhino.Geometry.TextDot(str(text[vertex]), point)  # type: ignore
+            dot = Rhino.Geometry.TextDot(str(text[vertex]), location)  # type: ignore
             dot.FontHeight = fontheight
             dot.FontFace = fontface
 
@@ -383,7 +342,7 @@ def draw_vertexlabels(self, text, color=None, group=None, fontheight=10, fontfac
             self.add_to_group(group, guids)
 
         self._guids_vertexlabels = guids
-
+        self._guids += guids
         return guids
 
     def draw_edgelabels(self, text, color=None, group=None, fontheight=10, fontface="Arial Regular"):
@@ -412,15 +371,18 @@ def draw_edgelabels(self, text, color=None, group=None, fontheight=10, fontface=
 
         self.edgecolor = color
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         for edge in text:
             name = "{}.edge.{}-{}".format(self.mesh.name, *edge)  # type: ignore
-            color = self.edgecolor[edge]
+            color = self.edgecolor[edge]  # type: ignore
             attr = self.compile_attributes(name="{}.label".format(name), color=color)
 
-            line = Line(self.vertex_xyz[edge[0]], self.vertex_xyz[edge[1]])
-            point = point_to_rhino(line.midpoint)
+            line = self.mesh.edge_line(edge)
+            location = point_to_rhino(line.midpoint)
+            location.Transform(transformation)
 
-            dot = Rhino.Geometry.TextDot(str(text[edge]), point)  # type: ignore
+            dot = Rhino.Geometry.TextDot(str(text[edge]), location)  # type: ignore
             dot.FontHeight = fontheight
             dot.FontFace = fontface
 
@@ -431,7 +393,7 @@ def draw_edgelabels(self, text, color=None, group=None, fontheight=10, fontface=
             self.add_to_group(group, guids)
 
         self._guids_edgelabels = guids
-
+        self._guids += guids
         return guids
 
     def draw_facelabels(self, text, color=None, group=None, fontheight=10, fontface="Arial Regular"):
@@ -458,15 +420,18 @@ def draw_facelabels(self, text, color=None, group=None, fontheight=10, fontface=
         """
         guids = []
 
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         for face in text:
             name = "{}.face.{}.label".format(self.mesh.name, face)  # type: ignore
-            color = self.facecolor[face]
+            color = self.facecolor[face]  # type: ignore
             attr = self.compile_attributes(name=name, color=color)
 
-            points = [self.vertex_xyz[vertex] for vertex in self.mesh.face_vertices(face)]  # type: ignore
-            point = point_to_rhino(centroid_points(points))
+            points = [self.mesh.vertex_attributes(vertex, "xyz") for vertex in self.mesh.face_vertices(face)]  # type: ignore
+            location = point_to_rhino(centroid_points(points))
+            location.Transform(transformation)
 
-            dot = Rhino.Geometry.TextDot(str(text[face]), point)  # type: ignore
+            dot = Rhino.Geometry.TextDot(str(text[face]), location)  # type: ignore
             dot.FontHeight = fontheight
             dot.FontFace = fontface
 
@@ -477,23 +442,21 @@ def draw_facelabels(self, text, color=None, group=None, fontheight=10, fontface=
             self.add_to_group(group, guids)
 
         self._guids_facelabels = guids
-
+        self._guids += guids
         return guids
 
     # ==========================================================================
     # draw normals
     # ==========================================================================
 
-    def draw_vertexnormals(self, vertices=None, color=(0, 255, 0), scale=1.0, group=None):
+    def draw_vertexnormals(self, color=None, scale=1.0, group=None):
         """Draw the normals at the vertices of the mesh.
 
         Parameters
         ----------
-        vertices : list[int], optional
-            A selection of vertex normals to draw.
-            Default is to draw all vertex normals.
         color : tuple[int, int, int] | tuple[float, float, float] | :class:`compas.colors.Color`, optional
             The color specification of the normal vectors.
+            If no  color is specified, the color of the corresponding vertex is used.
         scale : float, optional
             Scale factor for the vertex normals.
         group : str, optional
@@ -507,35 +470,40 @@ def draw_vertexnormals(self, vertices=None, color=(0, 255, 0), scale=1.0, group=
         """
         guids = []
 
+        vertices = list(self.mesh.vertices()) if self.show_vertices is True else self.show_vertices or []
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         color = Color.coerce(color)
 
-        for vertex in vertices or self.mesh.vertices():  # type: ignore
+        for vertex in vertices:
             name = "{}.vertex.{}.normal".format(self.mesh.name, vertex)  # type: ignore
-            attr = self.compile_attributes(name=name, color=color)
+            attr = self.compile_attributes(name=name, color=color or self.vertexcolor[vertex])  # type: ignore
 
-            point = Point(*self.vertex_xyz[vertex])
+            point = self.mesh.vertex_point(vertex)
             normal = self.mesh.vertex_normal(vertex)  # type: ignore
+            line = Line.from_point_and_vector(point, normal * scale)
+
+            geometry = line_to_rhino(line)
+            geometry.Transform(transformation)
 
-            guid = sc.doc.Objects.AddLine(point_to_rhino(point), point_to_rhino(point + normal * scale), attr)
+            guid = sc.doc.Objects.AddLine(geometry, attr)
             guids.append(guid)
 
         if group:
             self.add_to_group(group, guids)
 
         self._guids_vertexnormals = guids
-
+        self._guids += guids
         return guids
 
-    def draw_facenormals(self, faces=None, color=(0, 255, 255), scale=1.0, group=None):
+    def draw_facenormals(self, color=None, scale=1.0, group=None):
         """Draw the normals of the faces.
 
         Parameters
         ----------
-        faces : list[int], optional
-            A selection of face normals to draw.
-            Default is to draw all face normals.
         color : tuple[int, int, int] | tuple[float, float, float] | :class:`compas.colors.Color`, optional
             The color specification of the normal vectors.
+            If no color is specified, the color of the corresponding face is used.
         scale : float, optional
             Scale factor for the face normals.
         group : str, optional
@@ -549,16 +517,23 @@ def draw_facenormals(self, faces=None, color=(0, 255, 255), scale=1.0, group=Non
         """
         guids = []
 
+        faces = list(self.mesh.faces()) if self.show_faces is True else self.show_faces or []
+        transformation = transformation_to_rhino(self.worldtransformation)
+
         color = Color.coerce(color)
 
-        for face in faces or self.mesh.faces():  # type: ignore
+        for face in faces:
             name = "{}.face.{}.normal".format(self.mesh.name, face)  # type: ignore
-            attr = self.compile_attributes(name=name, color=color)
+            attr = self.compile_attributes(name=name, color=color or self.facecolor[face])  # type: ignore
+
+            point = self.mesh.face_centroid(face)
+            normal = self.mesh.face_normal(face)
+            line = Line.from_point_and_vector(point, normal * scale)
 
-            point = Point(*centroid_points([self.vertex_xyz[vertex] for vertex in self.mesh.face_vertices(face)]))  # type: ignore
-            normal = self.mesh.face_normal(face)  # type: ignore
+            geometry = line_to_rhino(line)
+            geometry.Transform(transformation)
 
-            guid = sc.doc.Objects.AddLine(point_to_rhino(point), point_to_rhino(point + normal * scale), attr)
+            guid = sc.doc.Objects.AddLine(geometry, attr)
             guids.append(guid)
 
         if group:
diff --git a/tests/compas/geometry/test_polyhedron.py b/tests/compas/geometry/test_polyhedron.py
index 18d098b88f81..8b673012421a 100644
--- a/tests/compas/geometry/test_polyhedron.py
+++ b/tests/compas/geometry/test_polyhedron.py
@@ -1,8 +1,3 @@
-import pytest
-import json
-import compas
-from random import random
-from compas.geometry import Point
 from compas.geometry import Polyhedron
 from compas.itertools import pairwise
 
diff --git a/tests/compas/scene/test_scene.py b/tests/compas/scene/test_scene.py
index 678e4c3f235c..29016749c36f 100644
--- a/tests/compas/scene/test_scene.py
+++ b/tests/compas/scene/test_scene.py
@@ -99,3 +99,15 @@ def test_sceneobject_transform():
             sceneobj3.worldtransformation
             == sceneobj1.frame.to_transformation() * sceneobj2.frame.to_transformation() * sceneobj3.frame.to_transformation() * sceneobj3.transformation
         )
+
+    def test_scene_clear():
+        scene = Scene()
+        sceneobj1 = scene.add(Box())
+        sceneobj2 = scene.add(Box(), parent=sceneobj1)
+        sceneobj3 = scene.add(Box(), parent=sceneobj2)  # noqa: F841
+
+        assert len(scene.objects) == 3
+
+        scene.clear(clear_context=False, clear_scene=True)
+
+        assert len(scene.objects) == 0