diff --git a/CHANGELOG.md b/CHANGELOG.md
index f7c2f040..0448d503 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* Fixed no scene object registered for `RobotModel` in context `Rhino`.
+
 ### Removed
 
 
diff --git a/pyproject.toml b/pyproject.toml
index f63268d0..1d01a141 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,6 @@
-[tool.black]
-line-length = 120
+# ============================================================================
+# Testing
+# ============================================================================
 
 [tool.pytest.ini_options]
 minversion = "6.0"
@@ -12,16 +13,38 @@ addopts = "-ra --strict --doctest-modules --doctest-glob=*.rst --tb=short"
 doctest_optionflags= "NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES NUMBER"
 filterwarnings = "ignore::DeprecationWarning"
 
-[tool.isort]
-line_length = 120
-multi_line_output = 3
-include_trailing_comma = true
-force_grid_wrap = 0
-use_parentheses = true
-force_single_line = true
-ensure_newline_before_comments = true
-known_first_party = "compas_robots"
-default_section = "THIRDPARTY"
-forced_separate = "test_compas_robots"
-skip = []
+# ============================================================================
+# Linting and formatting
+# ============================================================================
+
+[tool.black]
+line-length = 120
+
+[tool.ruff.lint.isort]
+force-single-line = true
+known-first-party = [
+    "compas_robots",
+]
+
+[tool.ruff]
+line-length = 179
+indent-width = 4
+target-version = "py39"
+
+[tool.ruff.lint]
+select = ["E", "F", "I"]
+
+[tool.ruff.lint.per-file-ignores]
+"__init__.py" = ["I001"]
+"tests/*" = ["I001", "E501"]
+"tasks.py" = ["I001"]
+
+[tool.ruff.lint.pydocstyle]
+convention = "numpy"
+
+[tool.ruff.lint.pycodestyle]
+max-doc-length = 179
 
+[tool.ruff.format]
+docstring-code-format = true
+docstring-code-line-length = "dynamic"
diff --git a/requirements-dev.txt b/requirements-dev.txt
index 4c043dad..d20f7fdc 100644
--- a/requirements-dev.txt
+++ b/requirements-dev.txt
@@ -1,14 +1,10 @@
 attrs >=17.4
-autopep8
+ruff
 black
 bump2version >=1.0.1
 check-manifest >=0.36
-compas_invocations
-doc8
-flake8
+compas_invocations2
 invoke >=0.14
-isort
-pydocstyle
 pytest >=3.2
 sphinx_compas2_theme
 twine
diff --git a/src/compas_robots/model/base.py b/src/compas_robots/model/base.py
index bf25c153..8ad31773 100644
--- a/src/compas_robots/model/base.py
+++ b/src/compas_robots/model/base.py
@@ -2,14 +2,14 @@
 from __future__ import division
 from __future__ import print_function
 
+from copy import deepcopy
+
 from compas.colors import Color
 from compas.geometry import Frame
 
 from compas_robots.files import URDFElement
 from compas_robots.files import URDFGenericElement
 
-from copy import deepcopy
-
 
 def _parse_floats(values):
     return [float(i) for i in values.split()]
diff --git a/src/compas_robots/resources/basic.py b/src/compas_robots/resources/basic.py
index 9cbecef2..cc0b44a7 100644
--- a/src/compas_robots/resources/basic.py
+++ b/src/compas_robots/resources/basic.py
@@ -9,8 +9,8 @@
 except ImportError:
     from urlparse import urlparse
 
-from .mesh_importer import mesh_import
 from .mesh_importer import get_file_format
+from .mesh_importer import mesh_import
 
 
 class AbstractMeshLoader(object):
diff --git a/src/compas_robots/rhino/scene/robotmodelobject.py b/src/compas_robots/rhino/scene/robotmodelobject.py
index 40bc2bc1..c762eea7 100644
--- a/src/compas_robots/rhino/scene/robotmodelobject.py
+++ b/src/compas_robots/rhino/scene/robotmodelobject.py
@@ -10,9 +10,8 @@
 import System.Drawing  # type: ignore
 from compas_rhino.conversions import transformation_to_rhino
 from compas_rhino.scene import RhinoSceneObject
-from Rhino.DocObjects.ObjectColorSource import ColorFromLayer  # type: ignore
-from Rhino.DocObjects.ObjectColorSource import ColorFromObject  # type: ignore
-from Rhino.DocObjects.ObjectMaterialSource import MaterialFromObject  # type: ignore
+from Rhino.DocObjects import ObjectColorSource  # type: ignore
+from Rhino.DocObjects import ObjectMaterialSource  # type: ignore
 
 from compas_robots.scene import BaseRobotModelObject
 
@@ -233,7 +232,7 @@ def _add_mesh_to_doc(self, mesh):
             if color:
                 r, g, b, a = [i * 255 for i in color]
                 attr.ObjectColor = System.Drawing.Color.FromArgb(a, r, g, b)
-                attr.ColorSource = ColorFromObject
+                attr.ColorSource = ObjectColorSource.ColorFromObject
 
                 material_name = "robotmodelobject.{:.2f}_{:.2f}_{:.2f}_{:.2f}".format(r, g, b, a)
                 material_index = sc.doc.Materials.Find(material_name, True)
@@ -247,9 +246,9 @@ def _add_mesh_to_doc(self, mesh):
                     material.CommitChanges()
 
                 attr.MaterialIndex = material_index
-                attr.MaterialSource = MaterialFromObject
+                attr.MaterialSource = ObjectMaterialSource.MaterialFromObject
             else:
-                attr.ColorSource = ColorFromLayer
+                attr.ColorSource = ObjectColorSource.ColorFromLayer
 
             if name:
                 attr.Name = name
diff --git a/tasks.py b/tasks.py
index 6de15958..3e370327 100644
--- a/tasks.py
+++ b/tasks.py
@@ -2,10 +2,10 @@
 
 import os
 
-from compas_invocations import build
-from compas_invocations import docs
-from compas_invocations import style
-from compas_invocations import tests
+from compas_invocations2 import build
+from compas_invocations2 import docs
+from compas_invocations2 import style
+from compas_invocations2 import tests
 from invoke import Collection
 
 ns = Collection(