diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index b2efc6994..9fa75add2 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -117,6 +117,14 @@ def toTuple(self) -> Tuple[float, float, float, float]:
 
         return (rgb.Red(), rgb.Green(), rgb.Blue(), a)
 
+    def __getstate__(self) -> Tuple[float, float, float, float]:
+
+        return self.toTuple()
+
+    def __setstate__(self, data: Tuple[float, float, float, float]):
+
+        self.wrapped = Quantity_ColorRGBA(*data)
+
 
 class AssemblyProtocol(Protocol):
     @property
diff --git a/cadquery/occ_impl/geom.py b/cadquery/occ_impl/geom.py
index 89bd90c08..3a2bc88ef 100644
--- a/cadquery/occ_impl/geom.py
+++ b/cadquery/occ_impl/geom.py
@@ -2,6 +2,8 @@
 
 from typing import overload, Sequence, Union, Tuple, Type, Optional, Iterator
 
+from io import BytesIO
+
 from OCP.gp import (
     gp_Vec,
     gp_Ax1,
@@ -22,6 +24,7 @@
 from OCP.BRepMesh import BRepMesh_IncrementalMesh
 from OCP.TopoDS import TopoDS_Shape
 from OCP.TopLoc import TopLoc_Location
+from OCP.BinTools import BinTools_LocationSet
 
 from ..types import Real
 from ..utils import multimethod
@@ -256,6 +259,16 @@ def transform(self, T: "Matrix") -> "Vector":
 
         return Vector(gp_Vec(pnt_t.XYZ()))
 
+    def __getstate__(self) -> tuple[float, float, float]:
+
+        return (self.x, self.y, self.z)
+
+    def __setstate__(self, state: tuple[float, float, float]):
+
+        self._wrapped = gp_Vec()
+
+        self.x, self.y, self.z = state
+
 
 class Matrix:
     """A 3d , 4x4 transformation matrix.
@@ -400,6 +413,19 @@ def __repr__(self) -> str:
         matrix_str = ",\n        ".join(str(matrix_transposed[i::4]) for i in range(4))
         return f"Matrix([{matrix_str}])"
 
+    def __getstate__(self) -> list[list[float]]:
+
+        trsf = self.wrapped
+        return [[trsf.Value(i, j) for j in range(1, 5)] for i in range(1, 4)]
+
+    def __setstate__(self, state: list[list[float]]):
+
+        trsf = self.wrapped = gp_GTrsf()
+
+        for i in range(3):
+            for j in range(4):
+                trsf.SetValue(i + 1, j + 1, state[i][j])
+
 
 class Plane(object):
     """A 2D coordinate system in space
@@ -577,6 +603,7 @@ def __init__(
             xDir = Vector(xDir)
             if xDir.Length == 0.0:
                 raise ValueError("xDir should be non null")
+
         self._setPlaneDir(xDir)
         self.origin = Vector(origin)
 
@@ -787,6 +814,14 @@ def toPln(self) -> gp_Pln:
 
         return gp_Pln(gp_Ax3(self.origin.toPnt(), self.zDir.toDir(), self.xDir.toDir()))
 
+    def __getstate__(self) -> Tuple[Vector, Vector, Vector, Vector]:
+
+        return (self.xDir, self.yDir, self.zDir, self._origin)
+
+    def __setstate__(self, data: Tuple[Vector, Vector, Vector, Vector]):
+
+        self.xDir, self.yDir, self.zDir, self.origin = data
+
 
 class BoundBox(object):
     """A BoundingBox for an object or set of objects. Wraps the OCP one"""
@@ -1065,3 +1100,22 @@ def toTuple(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float
         rx, ry, rz = rot.GetEulerAngles(gp_EulerSequence.gp_Extrinsic_XYZ)
 
         return rv_trans, (degrees(rx), degrees(ry), degrees(rz))
+
+    def __getstate__(self) -> BytesIO:
+
+        rv = BytesIO()
+
+        ls = BinTools_LocationSet()
+        ls.Add(self.wrapped)
+        ls.Write(rv)
+
+        rv.seek(0)
+
+        return rv
+
+    def __setstate__(self, data: BytesIO):
+
+        ls = BinTools_LocationSet()
+        ls.Read(data)
+
+        self.wrapped = ls.Location(1)
diff --git a/cadquery/occ_impl/shapes.py b/cadquery/occ_impl/shapes.py
index d800aa3e8..bb9b731a0 100644
--- a/cadquery/occ_impl/shapes.py
+++ b/cadquery/occ_impl/shapes.py
@@ -1650,6 +1650,24 @@ def export(
             self, fname, tolerance=tolerance, angularTolerance=angularTolerance, opt=opt
         )
 
+    def __getstate__(self) -> Tuple[BytesIO, bool]:
+
+        data = BytesIO()
+
+        BinTools.Write_s(self.wrapped, data)
+        data.seek(0)
+
+        return (data, self.forConstruction)
+
+    def __setstate__(self, data: Tuple[BytesIO, bool]):
+
+        wrapped = TopoDS_Shape()
+
+        BinTools.Read_s(wrapped, data[0])
+
+        self.wrapped = wrapped
+        self.forConstruction = data[1]
+
 
 class ShapeProtocol(Protocol):
     @property
diff --git a/tests/test_pickle.py b/tests/test_pickle.py
new file mode 100644
index 000000000..5c038fda2
--- /dev/null
+++ b/tests/test_pickle.py
@@ -0,0 +1,47 @@
+from pickle import loads, dumps
+
+from cadquery import (
+    Vector,
+    Matrix,
+    Plane,
+    Location,
+    Shape,
+    Sketch,
+    Assembly,
+    Color,
+    Workplane,
+)
+from cadquery.func import box
+
+from pytest import mark
+
+
+@mark.parametrize(
+    "obj",
+    [
+        Vector(2, 3, 4),
+        Matrix(),
+        Plane((-2, 1, 1)),
+        Location(1, 2, 4),
+        Sketch().rect(1, 1),
+        Color("red"),
+        Workplane().sphere(1),
+    ],
+)
+def test_simple(obj):
+
+    assert isinstance(loads(dumps(obj)), type(obj))
+
+
+def test_shape():
+
+    s = Shape(box(1, 1, 1).wrapped)
+
+    assert isinstance(loads(dumps(s)), Shape)
+
+
+def test_assy():
+
+    assy = Assembly().add(box(1, 1, 1), color=Color("blue")).add(box(2, 2, 2))
+
+    assert isinstance(loads(dumps(assy)), Assembly)