diff --git a/Cargo.lock b/Cargo.lock
index 4c9847d4..f5c566d3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -732,6 +732,23 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "bevy_gltf_export"
+version = "0.1.0"
+source = "git+https://github.com/luca-della-vedova/bevy_gltf_export?branch=luca/transform_api#a896bca4148648b44212d4a9e6be98dd64cc3d8f"
+dependencies = [
+ "bevy_asset",
+ "bevy_pbr",
+ "bevy_render",
+ "bevy_transform",
+ "gltf",
+ "gltf-json",
+ "image",
+ "serde",
+ "serde_json",
+ "thiserror",
+]
+
 [[package]]
 name = "bevy_hierarchy"
 version = "0.12.1"
@@ -1300,6 +1317,12 @@ version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
 
+[[package]]
+name = "bit_field"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc827186963e592360843fb5ba4b973e145841266c1357f7180c43526f2e5b61"
+
 [[package]]
 name = "bitfield"
 version = "0.14.0"
@@ -1830,6 +1853,12 @@ version = "0.8.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "248e3bacc7dc6baa3b21e405ee045c3047101a49145e7e9eca583ab4c2ca5345"
 
+[[package]]
+name = "crunchy"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
+
 [[package]]
 name = "crypto-common"
 version = "0.1.6"
@@ -2116,6 +2145,22 @@ dependencies = [
  "pin-project-lite",
 ]
 
+[[package]]
+name = "exr"
+version = "1.72.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "887d93f60543e9a9362ef8a21beedd0a833c5d9610e18c67abe15a5963dcb1a4"
+dependencies = [
+ "bit_field",
+ "flume",
+ "half",
+ "lebe",
+ "miniz_oxide",
+ "rayon-core",
+ "smallvec",
+ "zune-inflate",
+]
+
 [[package]]
 name = "fastrand"
 version = "1.9.0"
@@ -2177,6 +2222,15 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8bf7cc16383c4b8d58b9905a8509f02926ce3058053c056376248d958c9df1e8"
 
+[[package]]
+name = "flume"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "55ac459de2512911e4b674ce33cf20befaba382d05b62b008afc1c8b57cbf181"
+dependencies = [
+ "spin",
+]
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -2375,6 +2429,16 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "gif"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3fb2d69b19215e18bb912fa30f7ce15846e301408695e44e0ef719f1da9e19f2"
+dependencies = [
+ "color_quant",
+ "weezl",
+]
+
 [[package]]
 name = "gilrs"
 version = "0.10.4"
@@ -2637,16 +2701,27 @@ dependencies = [
 [[package]]
 name = "gz-fuel"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=luca/ehttp#44b3fc616146a9f0b32652ba9a9fe34eaf40a629"
+source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=main#cbdb4b587834ac9af78d0018c6dcd9ab3efd3cb2"
 dependencies = [
+ "crossbeam-channel",
  "dirs",
  "ehttp",
- "futures-lite 2.2.0",
- "itertools 0.12.1",
+ "futures-lite 1.13.0",
+ "itertools 0.11.0",
  "serde",
  "serde_json",
 ]
 
+[[package]]
+name = "half"
+version = "2.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6dd08c532ae367adf81c312a4580bc67f1d0fe8bc9c460520283f4c0ff277888"
+dependencies = [
+ "cfg-if",
+ "crunchy",
+]
+
 [[package]]
 name = "hash32"
 version = "0.2.1"
@@ -2808,9 +2883,12 @@ dependencies = [
  "bytemuck",
  "byteorder",
  "color_quant",
+ "exr",
+ "gif",
  "jpeg-decoder",
  "num-traits",
  "png",
+ "qoi",
  "tiff",
 ]
 
@@ -2948,6 +3026,9 @@ name = "jpeg-decoder"
 version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f5d4a7da358eff58addd2877a45865158f0d78c911d43a5784ceb7bbf52833b0"
+dependencies = [
+ "rayon",
+]
 
 [[package]]
 name = "js-sys"
@@ -2990,6 +3071,12 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
+[[package]]
+name = "lebe"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03087c2bad5e1034e8cace5926dec053fb3790248370865f5117a7d0213354c8"
+
 [[package]]
 name = "lewton"
 version = "0.10.2"
@@ -3157,15 +3244,6 @@ dependencies = [
  "paste",
 ]
 
-[[package]]
-name = "minidom"
-version = "0.15.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f45614075738ce1b77a1768912a60c0227525971b03e09122a05b8a34a2a6278"
-dependencies = [
- "rxml",
-]
-
 [[package]]
 name = "minimal-lexical"
 version = "0.2.1"
@@ -3898,6 +3976,15 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43d84d1d7a6ac92673717f9f6d1518374ef257669c24ebc5ac25d5033828be58"
 
+[[package]]
+name = "qoi"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f6d64c71eb498fe9eae14ce4ec935c555749aef511cca85b5568910d6e48001"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "quote"
 version = "1.0.35"
@@ -3961,6 +4048,26 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
+[[package]]
+name = "rayon"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "rectangle-pack"
 version = "0.4.2"
@@ -4096,6 +4203,7 @@ version = "0.0.1"
 dependencies = [
  "bevy",
  "bevy_egui",
+ "bevy_gltf_export",
  "bevy_infinite_grid",
  "bevy_mod_outline",
  "bevy_mod_raycast",
@@ -4129,6 +4237,7 @@ dependencies = [
  "urdf-rs",
  "utm",
  "wasm-bindgen",
+ "yaserde",
 ]
 
 [[package]]
@@ -4138,14 +4247,17 @@ dependencies = [
  "bevy",
  "float_eq",
  "glam",
+ "once_cell",
  "pathdiff",
  "ron",
+ "sdformat_rs",
  "serde",
  "serde_json",
  "serde_yaml",
  "thiserror",
  "urdf-rs",
  "uuid",
+ "yaserde",
 ]
 
 [[package]]
@@ -4263,23 +4375,6 @@ dependencies = [
  "twox-hash",
 ]
 
-[[package]]
-name = "rxml"
-version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a98f186c7a2f3abbffb802984b7f1dfd65dac8be1aafdaabbca4137f53f0dff7"
-dependencies = [
- "bytes",
- "rxml_validation",
- "smartstring",
-]
-
-[[package]]
-name = "rxml_validation"
-version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22a197350ece202f19a166d1ad6d9d6de145e1d2a8ef47db299abe164dbd7530"
-
 [[package]]
 name = "ryu"
 version = "1.0.17"
@@ -4313,10 +4408,9 @@ checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 [[package]]
 name = "sdformat_rs"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/sdf_rust_experimental?rev=a5daef0#a5daef0c03380e55cfdaba507c89883a87127a05"
+source = "git+https://github.com/open-rmf/sdf_rust_experimental?rev=9fc35f2#9fc35f2b5f55afab37a4c1906c395fc22d069322"
 dependencies = [
  "convert_case",
- "minidom",
  "nalgebra",
  "xmltree",
  "yaserde",
@@ -4469,17 +4563,6 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "smartstring"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fb72c633efbaa2dd666986505016c32c3044395ceaf881518399d2f4127ee29"
-dependencies = [
- "autocfg",
- "static_assertions",
- "version_check",
-]
-
 [[package]]
 name = "smol_str"
 version = "0.2.1"
@@ -5834,3 +5917,12 @@ name = "zeroize"
 version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "525b4ec142c6b68a2d10f01f7bbf6755599ca3f81ea53b8431b7dd348f5fdb2d"
+
+[[package]]
+name = "zune-inflate"
+version = "0.2.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73ab332fe2f6680068f3582b16a24f90ad7096d5d39b974d1c0aff0125116f02"
+dependencies = [
+ "simd-adler32",
+]
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index 51656c27..371dd17a 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -21,6 +21,7 @@ bevy_mod_raycast = "0.16"
 bevy_mod_outline = "0.6"
 # PR merged after 0.10 but not released yet, bump to 0.10.1 once merged
 bevy_infinite_grid = { git = "https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid", rev = "86018dd" }
+bevy_gltf_export = { git = "https://github.com/luca-della-vedova/bevy_gltf_export", branch = "luca/transform_api"}
 bevy_polyline = "0.8.1"
 bevy_stl = "0.12"
 bevy_obj = { version = "0.12.1", features = ["scene"] }
@@ -43,9 +44,10 @@ tracing = "0.1.37"
 tracing-subscriber = "0.3.1"
 rfd = "0.12"
 urdf-rs = "0.7"
+yaserde = "0.7"
 utm = "0.1.6"
-sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "a5daef0"}
-gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "luca/ehttp" }
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
+gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "main" }
 pathdiff = "*"
 tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
diff --git a/rmf_site_editor/examples/extending_menu.rs b/rmf_site_editor/examples/extending_menu.rs
index 6f3f6442..82510145 100644
--- a/rmf_site_editor/examples/extending_menu.rs
+++ b/rmf_site_editor/examples/extending_menu.rs
@@ -84,5 +84,7 @@ impl Plugin for MyMenuPlugin {
 
 /// Lets embed site editor in our application with our own plugin
 fn main() {
-    App::new().add_plugins((SiteEditor, MyMenuPlugin)).run();
+    App::new()
+        .add_plugins((SiteEditor::default(), MyMenuPlugin))
+        .run();
 }
diff --git a/rmf_site_editor/src/aabb.rs b/rmf_site_editor/src/aabb.rs
index 1a42323d..6bf91f1a 100644
--- a/rmf_site_editor/src/aabb.rs
+++ b/rmf_site_editor/src/aabb.rs
@@ -17,10 +17,12 @@ use bevy::{
 use smallvec::SmallVec;
 
 /// Tracks which [`Entities`](Entity) have which meshes for entities whose [`Aabb`]s are managed by
-/// the [`calculate_bounds`] and [`update_bounds`] systems. This is needed because `update_bounds`
+/// the [`calculate_bounds`][1] and [`update_bounds`] systems. This is needed because `update_bounds`
 /// recomputes `Aabb`s for entities whose mesh has been mutated. These mutations are visible via
 /// [`AssetEvent<Mesh>`](AssetEvent) which tells us which mesh was changed but not which entities
 /// have that mesh.
+///
+/// [1]: bevy::render::view::calculate_bounds
 #[derive(Debug, Default, Clone, Resource)]
 pub struct EntityMeshMap {
     entities_with_mesh: HashMap<AssetId<Mesh>, SmallVec<[Entity; 1]>>,
@@ -76,8 +78,6 @@ pub fn register_bounds(
 /// Updates [`Aabb`]s for [`Entities`](Entity) with [`Mesh`]es. This includes `Entities` that have
 /// been assigned new `Mesh`es as well as `Entities` whose `Mesh` has been directly mutated.
 ///
-/// To opt out of bound calculation for an `Entity`, give it the [`NoAabbUpdate`] component.
-///
 /// NOTE: This system needs to remove entities from their collection in
 /// [`EntityMeshMap`] whenever a mesh handle is reassigned or an entity's mesh handle is
 /// removed. This may impact performance if meshes with many entities are frequently
diff --git a/rmf_site_editor/src/autoload.rs b/rmf_site_editor/src/autoload.rs
new file mode 100644
index 00000000..5608e5f0
--- /dev/null
+++ b/rmf_site_editor/src/autoload.rs
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::prelude::*;
+use std::path::PathBuf;
+
+#[derive(Resource)]
+pub struct Autoload {
+    pub filename: Option<PathBuf>,
+    pub import: Option<PathBuf>,
+}
+
+impl Autoload {
+    pub fn file(filename: PathBuf, import: Option<PathBuf>) -> Self {
+        Autoload {
+            filename: Some(filename),
+            import,
+        }
+    }
+}
diff --git a/rmf_site_editor/src/interaction/camera_controls/keyboard.rs b/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
index f3bf6aa1..453ad092 100644
--- a/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
+++ b/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
@@ -19,7 +19,7 @@ use super::{
     utils::*, CameraCommandType, CameraControls, ProjectionMode, MAX_FOV, MAX_SCALE,
     MIN_FOV, MIN_SCALE,
 };
-use crate::widgets::UncoveredWindow;
+use crate::widgets::UserCameraDisplay;
 use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_mod_raycast::immediate::Raycast;
 
@@ -85,7 +85,7 @@ pub fn update_keyboard_command(
     immediate_raycast: Raycast,
     time: Res<Time>,
     primary_windows: Query<&Window, With<PrimaryWindow>>,
-    uncovered_window_area: Res<UncoveredWindow>,
+    uncovered_window_area: Res<UserCameraDisplay>,
 ) {
     if let Ok(_) = primary_windows.get_single() {
         // User inputs
diff --git a/rmf_site_editor/src/interaction/camera_controls/utils.rs b/rmf_site_editor/src/interaction/camera_controls/utils.rs
index 2614d0ba..2d1db1ec 100644
--- a/rmf_site_editor/src/interaction/camera_controls/utils.rs
+++ b/rmf_site_editor/src/interaction/camera_controls/utils.rs
@@ -22,7 +22,7 @@ use bevy_mod_raycast::{
 };
 
 use super::{MAX_PITCH, MAX_SELECTION_DIST, MIN_SELECTION_DIST};
-use crate::UncoveredWindow;
+use crate::UserCameraDisplay;
 
 /// Orbit the camera around the point while upright, maintaining the orbit center
 /// in the same position in the camera viewport
@@ -72,11 +72,11 @@ pub fn zoom_distance_factor(camera_translation: Vec3, target_translation: Vec3)
 pub fn get_camera_selected_point(
     camera: &Camera,
     camera_global_transform: &GlobalTransform,
-    uncovered_window: Res<UncoveredWindow>,
+    user_camera_display: Res<UserCameraDisplay>,
     mut immediate_raycast: Raycast,
 ) -> Vec3 {
     // Assume that the camera spans the full window, covered by egui panels
-    let available_viewport_center = uncovered_window.area.center();
+    let available_viewport_center = user_camera_display.region.center();
     let camera_ray = camera
         .viewport_to_world(camera_global_transform, available_viewport_center)
         .expect("Active camera does not have a valid ray from center of its viewport");
diff --git a/rmf_site_editor/src/interaction/gizmo.rs b/rmf_site_editor/src/interaction/gizmo.rs
index b3b60d55..196dbaa3 100644
--- a/rmf_site_editor/src/interaction/gizmo.rs
+++ b/rmf_site_editor/src/interaction/gizmo.rs
@@ -218,7 +218,7 @@ impl Default for GizmoState {
 }
 
 /// Instruction to move an entity to a new transform. This should be caught with
-/// an EventReader<MoveTo>.
+/// an `EventReader<MoveTo>`.
 #[derive(Debug, Clone, Copy, Event)]
 pub struct MoveTo {
     pub entity: Entity,
diff --git a/rmf_site_editor/src/interaction/mod.rs b/rmf_site_editor/src/interaction/mod.rs
index ed8aa3ad..16290689 100644
--- a/rmf_site_editor/src/interaction/mod.rs
+++ b/rmf_site_editor/src/interaction/mod.rs
@@ -97,7 +97,20 @@ use bevy_polyline::PolylinePlugin;
 pub struct SiteRaycastSet;
 
 #[derive(Default)]
-pub struct InteractionPlugin;
+pub struct InteractionPlugin {
+    headless: bool,
+}
+
+impl InteractionPlugin {
+    pub fn new() -> Self {
+        Self::default()
+    }
+
+    pub fn headless(mut self, is_headless: bool) -> Self {
+        self.headless = is_headless;
+        self
+    }
+}
 
 #[derive(Debug, Clone, Copy, Default, Hash, PartialEq, Eq, States)]
 pub enum InteractionState {
@@ -171,8 +184,10 @@ impl Plugin for InteractionPlugin {
                 CategoryVisibilityPlugin::<WallMarker>::visible(true),
                 CategoryVisibilityPlugin::<WorkcellVisualizationMarker>::visible(true),
             ))
-            .add_plugins((CameraControlsPlugin, ModelPreviewPlugin))
-            .add_systems(
+            .add_plugins((CameraControlsPlugin, ModelPreviewPlugin));
+
+        if !self.headless {
+            app.add_systems(
                 Update,
                 (
                     make_lift_doormat_gizmo,
@@ -255,6 +270,7 @@ impl Plugin for InteractionPlugin {
                     .run_if(in_state(InteractionState::Enable)),
             )
             .add_systems(First, (update_picked, update_interaction_mode));
+        }
     }
 }
 
diff --git a/rmf_site_editor/src/interaction/mode.rs b/rmf_site_editor/src/interaction/mode.rs
index 6b25618d..42162586 100644
--- a/rmf_site_editor/src/interaction/mode.rs
+++ b/rmf_site_editor/src/interaction/mode.rs
@@ -101,8 +101,8 @@ pub struct BackoutParams<'w, 's> {
 ///    cannot expect users to know this or handle the cleanup correctly.
 ///
 /// User-defined systems should never
-/// use ResMut<InteractionMode>. Instead they should always use
-/// EventWriter<ChangeMode>.
+/// use `ResMut<InteractionMode>`. Instead they should always use
+/// `EventWriter<ChangeMode>`.
 //
 // TODO(MXG): We could enforce this by letting InteractionMode be public but
 // wrapping it in a newtype to store it in the resource. The inner type would
diff --git a/rmf_site_editor/src/issue.rs b/rmf_site_editor/src/issue.rs
index eeab0ef9..84dbab60 100644
--- a/rmf_site_editor/src/issue.rs
+++ b/rmf_site_editor/src/issue.rs
@@ -16,15 +16,11 @@
 */
 
 use crate::site::ChangePlugin;
-use crate::widgets::{
-    diagnostic_window::DiagnosticWindowState,
-    menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ToolMenu},
+use bevy::{
+    prelude::*,
+    utils::{HashMap, Uuid},
 };
-use crate::AppState;
-use bevy::prelude::*;
-use bevy::utils::{HashMap, Uuid};
 use rmf_site_format::{FilteredIssueKinds, FilteredIssues, IssueKey};
-use std::collections::HashSet;
 
 #[derive(Component, Debug, Clone)]
 pub struct Issue {
@@ -60,45 +56,6 @@ pub struct IssueDictionary(HashMap<Uuid, String>);
 #[derive(Default)]
 pub struct IssuePlugin;
 
-#[derive(Resource)]
-pub struct IssueMenu {
-    diagnostic_tool: Entity,
-}
-
-impl FromWorld for IssueMenu {
-    fn from_world(world: &mut World) -> Self {
-        let target_states = HashSet::from([
-            AppState::SiteEditor,
-            AppState::SiteDrawingEditor,
-            AppState::SiteVisualizer,
-        ]);
-        // Tools menu
-        let diagnostic_tool = world
-            .spawn(MenuItem::Text("Diagnostic Tool".to_string()))
-            .insert(MenuVisualizationStates(target_states))
-            .id();
-
-        let tool_header = world.resource::<ToolMenu>().get();
-        world
-            .entity_mut(tool_header)
-            .push_children(&[diagnostic_tool]);
-
-        IssueMenu { diagnostic_tool }
-    }
-}
-
-fn handle_diagnostic_window_visibility(
-    mut menu_events: EventReader<MenuEvent>,
-    issue_menu: Res<IssueMenu>,
-    mut diagnostic_window: ResMut<DiagnosticWindowState>,
-) {
-    for event in menu_events.read() {
-        if event.clicked() && event.source() == issue_menu.diagnostic_tool {
-            diagnostic_window.show = true;
-        }
-    }
-}
-
 impl Plugin for IssuePlugin {
     fn build(&self, app: &mut App) {
         app.add_event::<ValidateWorkspace>()
@@ -107,8 +64,7 @@ impl Plugin for IssuePlugin {
                 ChangePlugin::<FilteredIssueKinds>::default(),
             ))
             .init_resource::<IssueDictionary>()
-            .init_resource::<IssueMenu>()
-            .add_systems(Update, handle_diagnostic_window_visibility);
+            .add_systems(PostUpdate, clear_old_issues_on_new_validate_event);
     }
 }
 
diff --git a/rmf_site_editor/src/keyboard.rs b/rmf_site_editor/src/keyboard.rs
index 27c88166..27ea2034 100644
--- a/rmf_site_editor/src/keyboard.rs
+++ b/rmf_site_editor/src/keyboard.rs
@@ -20,7 +20,7 @@ use crate::{
     site::{AlignSiteDrawings, Delete},
     CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
 };
-use bevy::prelude::*;
+use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_egui::EguiContexts;
 
 #[derive(Debug, Clone, Copy, Resource)]
@@ -55,8 +55,15 @@ fn handle_keyboard_input(
     mut debug_mode: ResMut<DebugMode>,
     mut align_site: EventWriter<AlignSiteDrawings>,
     current_workspace: Res<CurrentWorkspace>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
 ) {
-    let egui_context = egui_context.ctx_mut();
+    let Some(egui_context) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
     let ui_has_focus = egui_context.wants_pointer_input()
         || egui_context.wants_keyboard_input()
         || egui_context.is_pointer_over_area();
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index ffc25c81..5537b60a 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -1,4 +1,4 @@
-use bevy::{log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
+use bevy::{app::ScheduleRunnerPlugin, log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
 use bevy_egui::EguiPlugin;
 use main_menu::MainMenuPlugin;
 // use warehouse_generator::WarehouseGeneratorPlugin;
@@ -9,6 +9,8 @@ use wasm_bindgen::prelude::*;
 
 pub mod aabb;
 pub mod animate;
+pub mod autoload;
+pub use autoload::*;
 
 pub mod asset_loaders;
 use asset_loaders::*;
@@ -31,7 +33,6 @@ mod shapes;
 use log::LogHistoryPlugin;
 
 pub mod main_menu;
-use main_menu::Autoload;
 pub mod site;
 // mod warehouse_generator;
 pub mod workcell;
@@ -75,6 +76,9 @@ pub struct CommandLineArgs {
     /// Name of a Site (.site.ron) file to import on top of the base FILENAME.
     #[cfg_attr(not(target_arch = "wasm32"), arg(short, long))]
     pub import: Option<String>,
+    /// Run in headless mode and export the loaded site to the requested path.
+    #[cfg_attr(not(target_arch = "wasm32"), arg(long))]
+    pub headless_export: Option<String>,
 }
 
 #[derive(Clone, Default, Eq, PartialEq, Debug, Hash, States)]
@@ -117,6 +121,7 @@ pub fn run_js() {
 
 pub fn run(command_line_args: Vec<String>) {
     let mut app = App::new();
+    let mut headless_export = None;
 
     #[cfg(not(target_arch = "wasm32"))]
     {
@@ -127,34 +132,70 @@ pub fn run(command_line_args: Vec<String>) {
                 command_line_args.import.map(Into::into),
             ));
         }
+        headless_export = command_line_args.headless_export;
     }
 
-    app.add_plugins(SiteEditor);
+    app.add_plugins(SiteEditor::default().headless_export(headless_export));
     app.run();
 }
 
-pub struct SiteEditor;
+#[derive(Default)]
+pub struct SiteEditor {
+    /// Contains Some(path) if the site editor is running in headless mode exporting its site.
+    headless_export: Option<String>,
+}
+
+impl SiteEditor {
+    pub fn new() -> Self {
+        Self::default()
+    }
+
+    pub fn headless_export(mut self, export_to_file: Option<String>) -> Self {
+        self.headless_export = export_to_file;
+        self
+    }
+}
 
 impl Plugin for SiteEditor {
     fn build(&self, app: &mut App) {
+        let mut plugins = DefaultPlugins.build();
+        let headless = {
+            #[cfg(not(target_arch = "wasm32"))]
+            {
+                self.headless_export.is_some()
+            }
+            #[cfg(target_arch = "wasm32")]
+            {
+                false
+            }
+        };
+        plugins = if headless {
+            plugins
+                .set(WindowPlugin {
+                    primary_window: None,
+                    exit_condition: bevy::window::ExitCondition::DontExit,
+                    close_when_requested: false,
+                })
+                .disable::<bevy::winit::WinitPlugin>()
+        } else {
+            plugins.set(WindowPlugin {
+                primary_window: Some(Window {
+                    title: "RMF Site Editor".to_owned(),
+                    #[cfg(not(target_arch = "wasm32"))]
+                    resolution: (1600., 900.).into(),
+                    #[cfg(target_arch = "wasm32")]
+                    canvas: Some(String::from("#rmf_site_editor_canvas")),
+                    #[cfg(target_arch = "wasm32")]
+                    fit_canvas_to_parent: true,
+                    ..default()
+                }),
+                ..default()
+            })
+        };
         app.add_plugins((
             SiteAssetIoPlugin,
-            DefaultPlugins
-                .build()
+            plugins
                 .disable::<LogPlugin>()
-                .set(WindowPlugin {
-                    primary_window: Some(Window {
-                        title: "RMF Site Editor".to_owned(),
-                        #[cfg(not(target_arch = "wasm32"))]
-                        resolution: (1600., 900.).into(),
-                        #[cfg(target_arch = "wasm32")]
-                        canvas: Some(String::from("#rmf_site_editor_canvas")),
-                        #[cfg(target_arch = "wasm32")]
-                        fit_canvas_to_parent: true,
-                        ..default()
-                    }),
-                    ..default()
-                })
                 .set(ImagePlugin {
                     default_sampler: SamplerDescriptor {
                         address_mode_u: AddressMode::Repeat,
@@ -174,6 +215,7 @@ impl Plugin for SiteEditor {
                     ..default()
                 }),
         ));
+
         app.insert_resource(DirectionalLightShadowMap { size: 2048 })
             .add_state::<AppState>()
             .add_plugins((
@@ -182,25 +224,38 @@ impl Plugin for SiteEditor {
                 AabbUpdatePlugin,
                 EguiPlugin,
                 KeyboardInputPlugin,
-                MainMenuPlugin,
-                WorkcellEditorPlugin,
                 SitePlugin,
-                InteractionPlugin,
-                StandardUiLayout,
+                InteractionPlugin::new().headless(self.headless_export.is_some()),
                 AnimationPlugin,
                 OccupancyPlugin,
                 WorkspacePlugin,
-            ))
-            // Note order matters, plugins that edit the menus must be initialized after the UI
-            .add_plugins((
-                ViewMenuPlugin,
                 IssuePlugin,
-                OSMViewPlugin,
-                SiteWireframePlugin,
             ));
+
+        if self.headless_export.is_none() {
+            app.add_plugins((
+                StandardUiPlugin::default(),
+                MainMenuPlugin,
+                WorkcellEditorPlugin,
+            ))
+            // Note order matters, plugins that edit the menus must be initialized after the UI
+            .add_plugins((ViewMenuPlugin, OSMViewPlugin, SiteWireframePlugin));
+        }
+
         // Ref https://github.com/bevyengine/bevy/issues/10877. The default behavior causes issues
         // with events being accumulated when not read (i.e. scrolling mouse wheel on a UI widget).
         app.world
             .remove_resource::<bevy::ecs::event::EventUpdateSignal>();
+
+        if let Some(path) = &self.headless_export {
+            // We really don't need a high update rate here since we are IO bound, set a low rate
+            // to save CPU.
+            // TODO(luca) this still seems to take quite some time, check where the bottleneck is.
+            app.add_plugins(ScheduleRunnerPlugin::run_loop(
+                std::time::Duration::from_secs_f64(1.0 / 10.0),
+            ));
+            app.insert_resource(site::HeadlessSdfExportState::new(path));
+            app.add_systems(Last, site::headless_sdf_export);
+        }
     }
 }
diff --git a/rmf_site_editor/src/main_menu.rs b/rmf_site_editor/src/main_menu.rs
index 1dd55a32..d6822509 100644
--- a/rmf_site_editor/src/main_menu.rs
+++ b/rmf_site_editor/src/main_menu.rs
@@ -16,27 +16,9 @@
 */
 
 use super::demo_world::*;
-use crate::{AppState, LoadWorkspace, WorkspaceData};
-use bevy::{app::AppExit, prelude::*, tasks::Task};
+use crate::{AppState, Autoload, LoadWorkspace, WorkspaceData};
+use bevy::{app::AppExit, prelude::*, window::PrimaryWindow};
 use bevy_egui::{egui, EguiContexts};
-use std::path::PathBuf;
-
-#[derive(Resource)]
-pub struct Autoload {
-    pub filename: Option<PathBuf>,
-    pub import: Option<PathBuf>,
-    pub importing: Option<Task<Option<(Entity, rmf_site_format::Site)>>>,
-}
-
-impl Autoload {
-    pub fn file(filename: PathBuf, import: Option<PathBuf>) -> Self {
-        Autoload {
-            filename: Some(filename),
-            import,
-            importing: None,
-        }
-    }
-}
 
 fn egui_ui(
     mut egui_context: EguiContexts,
@@ -44,24 +26,32 @@ fn egui_ui(
     mut _load_workspace: EventWriter<LoadWorkspace>,
     mut _app_state: ResMut<State<AppState>>,
     autoload: Option<ResMut<Autoload>>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
 ) {
     if let Some(mut autoload) = autoload {
         #[cfg(not(target_arch = "wasm32"))]
         {
-            if let Some(filename) = autoload.filename.clone() {
+            if let Some(filename) = autoload.filename.take() {
                 _load_workspace.send(LoadWorkspace::Path(filename));
             }
-            autoload.filename = None;
         }
         return;
     }
 
+    let Some(ctx) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
+
     egui::Window::new("Welcome!")
         .collapsible(false)
         .resizable(false)
         .title_bar(false)
         .anchor(egui::Align2::CENTER_CENTER, egui::vec2(0., 0.))
-        .show(egui_context.ctx_mut(), |ui| {
+        .show(ctx, |ui| {
             ui.heading("Welcome to The RMF Site Editor!");
             ui.add_space(10.);
 
diff --git a/rmf_site_editor/src/site/door.rs b/rmf_site_editor/src/site/door.rs
index e6a9895b..51e0f672 100644
--- a/rmf_site_editor/src/site/door.rs
+++ b/rmf_site_editor/src/site/door.rs
@@ -72,6 +72,19 @@ impl DoorBodyType {
             | DoorBodyType::DoubleSliding { left, right } => vec![*left, *right],
         }
     }
+
+    pub fn links(&self) -> Vec<&str> {
+        match self {
+            DoorBodyType::SingleSwing { .. }
+            | DoorBodyType::SingleSliding { .. }
+            | DoorBodyType::Model { .. } => {
+                vec!["body"]
+            }
+            DoorBodyType::DoubleSwing { .. } | DoorBodyType::DoubleSliding { .. } => {
+                vec!["left", "right"]
+            }
+        }
+    }
 }
 
 #[derive(Debug, Clone, Copy, Component)]
diff --git a/rmf_site_editor/src/site/floor.rs b/rmf_site_editor/src/site/floor.rs
index e985b7a9..6ff46226 100644
--- a/rmf_site_editor/src/site/floor.rs
+++ b/rmf_site_editor/src/site/floor.rs
@@ -28,7 +28,7 @@ pub const FLOOR_LAYER_START: f32 = DRAWING_LAYER_START + 0.001;
 
 #[derive(Debug, Clone, Copy, Component)]
 pub struct FloorSegments {
-    mesh: Entity,
+    pub mesh: Entity,
 }
 
 fn make_fallback_floor_mesh(p: Vec3) -> Mesh {
diff --git a/rmf_site_editor/src/site/fuel_cache.rs b/rmf_site_editor/src/site/fuel_cache.rs
index 51aeea9d..a4185b00 100644
--- a/rmf_site_editor/src/site/fuel_cache.rs
+++ b/rmf_site_editor/src/site/fuel_cache.rs
@@ -40,12 +40,26 @@ pub struct SetFuelApiKey(pub String);
 /// Using channels instead of events to allow usage in wasm since, unlike event writers, they can
 /// be cloned and moved into async functions therefore don't have lifetime issues
 #[derive(Debug, Resource)]
-pub struct UpdateFuelCacheChannels {
+pub struct FuelCacheUpdateChannel {
     pub sender: Sender<FuelCacheUpdated>,
     pub receiver: Receiver<FuelCacheUpdated>,
 }
 
-impl Default for UpdateFuelCacheChannels {
+impl Default for FuelCacheUpdateChannel {
+    fn default() -> Self {
+        let (sender, receiver) = crossbeam_channel::unbounded();
+        Self { sender, receiver }
+    }
+}
+
+/// Channels that give incremental updates about what models have been fetched.
+#[derive(Debug, Resource)]
+pub struct FuelCacheProgressChannel {
+    pub sender: Sender<FuelModel>,
+    pub receiver: Receiver<FuelModel>,
+}
+
+impl Default for FuelCacheProgressChannel {
     fn default() -> Self {
         let (sender, receiver) = crossbeam_channel::unbounded();
         Self { sender, receiver }
@@ -54,15 +68,19 @@ impl Default for UpdateFuelCacheChannels {
 
 pub fn handle_update_fuel_cache_requests(
     mut events: EventReader<UpdateFuelCache>,
-    mut gallery_status: ResMut<AssetGalleryStatus>,
+    gallery_status: Option<ResMut<AssetGalleryStatus>>,
     fuel_client: Res<FuelClient>,
-    channels: Res<UpdateFuelCacheChannels>,
+    update_channel: Res<FuelCacheUpdateChannel>,
+    progress_channel: Res<FuelCacheProgressChannel>,
 ) {
     if events.read().last().is_some() {
         info!("Updating fuel cache, this might take a few minutes");
-        gallery_status.fetching_cache = true;
+        if let Some(mut gallery_status) = gallery_status {
+            gallery_status.fetching_cache = true;
+        }
         let mut fuel_client = fuel_client.clone();
-        let sender = channels.sender.clone();
+        let sender = update_channel.sender.clone();
+        let progress = progress_channel.sender.clone();
         IoTaskPool::get()
             .spawn(async move {
                 // Only write to cache in non wasm, no file system in web
@@ -71,26 +89,38 @@ pub fn handle_update_fuel_cache_requests(
                 #[cfg(not(target_arch = "wasm32"))]
                 let write_to_disk = true;
                 // Send client if update was successful
-                let res = fuel_client.update_cache(write_to_disk).await;
+
+                let res = fuel_client
+                    .update_cache_with_progress(write_to_disk, Some(progress))
+                    .await;
                 sender
                     .send(FuelCacheUpdated(res))
                     .expect("Failed sending fuel cache update event");
             })
             .detach();
     }
+
+    while let Ok(next_model) = progress_channel.receiver.try_recv() {
+        info!(
+            "Detected model {} owned by {}",
+            next_model.name, next_model.owner,
+        );
+    }
 }
 
 pub fn read_update_fuel_cache_results(
-    channels: Res<UpdateFuelCacheChannels>,
+    channels: Res<FuelCacheUpdateChannel>,
     mut fuel_client: ResMut<FuelClient>,
-    mut gallery_status: ResMut<AssetGalleryStatus>,
+    gallery_status: Option<ResMut<AssetGalleryStatus>>,
 ) {
     if let Ok(result) = channels.receiver.try_recv() {
         match result.0 {
             Some(models) => fuel_client.models = Some(models),
             None => error!("Failed updating fuel cache"),
         }
-        gallery_status.fetching_cache = false;
+        if let Some(mut gallery_status) = gallery_status {
+            gallery_status.fetching_cache = false;
+        }
     }
 }
 
diff --git a/rmf_site_editor/src/site/level.rs b/rmf_site_editor/src/site/level.rs
index fda3ac9a..25610cea 100644
--- a/rmf_site_editor/src/site/level.rs
+++ b/rmf_site_editor/src/site/level.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::site::*;
-use crate::CurrentWorkspace;
+use crate::{interaction::CameraControls, CurrentWorkspace};
 use bevy::prelude::*;
 
 pub fn update_level_visibility(
diff --git a/rmf_site_editor/src/site/load.rs b/rmf_site_editor/src/site/load.rs
index cbe298f3..7bb2f73d 100644
--- a/rmf_site_editor/src/site/load.rs
+++ b/rmf_site_editor/src/site/load.rs
@@ -221,6 +221,13 @@ fn generate_site_entities(
                         .insert(SiteID(*physical_camera_id));
                     consider_id(*physical_camera_id);
                 }
+
+                for (camera_pose_id, camera_pose) in &level_data.user_camera_poses {
+                    level
+                        .spawn(camera_pose.clone())
+                        .insert(SiteID(*camera_pose_id));
+                    consider_id(*camera_pose_id);
+                }
             });
 
         // TODO(MXG): Log when a RecencyRanking fails to load correctly.
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index 3faa751a..3dd7de9c 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -99,6 +99,9 @@ pub use sdf::*;
 pub mod save;
 pub use save::*;
 
+pub mod sdf_exporter;
+pub use sdf_exporter::*;
+
 pub mod site;
 pub use site::*;
 
@@ -186,7 +189,8 @@ impl Plugin for SitePlugin {
         .init_resource::<SiteAssets>()
         .init_resource::<CurrentLevel>()
         .init_resource::<PhysicalLightToggle>()
-        .init_resource::<UpdateFuelCacheChannels>()
+        .init_resource::<FuelCacheUpdateChannel>()
+        .init_resource::<FuelCacheProgressChannel>()
         .init_resource::<ModelTrashcan>()
         .register_type::<NameInSite>()
         .register_type::<AssetSource>()
@@ -333,8 +337,8 @@ impl Plugin for SitePlugin {
                 update_walls,
                 update_transforms_for_changed_poses,
                 align_site_drawings,
-                clear_old_issues_on_new_validate_event,
                 export_lights,
+                set_camera_transform_for_changed_site,
             )
                 .run_if(AppState::in_site_mode())
                 .in_set(SiteUpdateSet::BetweenVisibilityAndTransform),
diff --git a/rmf_site_editor/src/site/save.rs b/rmf_site_editor/src/site/save.rs
index 5d574ff3..458d8319 100644
--- a/rmf_site_editor/src/site/save.rs
+++ b/rmf_site_editor/src/site/save.rs
@@ -25,13 +25,14 @@ use std::{
 };
 use thiserror::Error as ThisError;
 
-use crate::{recency::RecencyRanking, site::*};
+use crate::{recency::RecencyRanking, site::*, ExportFormat};
 use rmf_site_format::*;
 
 #[derive(Event)]
 pub struct SaveSite {
     pub site: Entity,
     pub to_file: PathBuf,
+    pub format: ExportFormat,
 }
 
 #[derive(Event)]
@@ -363,6 +364,7 @@ fn generate_levels(
             Without<Pending>,
         >,
         Query<&SiteID>,
+        Query<(&Pose, &NameInSite, &SiteID), With<UserCameraPoseMarker>>,
     )> = SystemState::new(world);
 
     let (
@@ -380,6 +382,7 @@ fn generate_levels(
         q_walls,
         q_levels,
         q_site_ids,
+        q_user_camera_poses,
     ) = state.get(world);
 
     let get_anchor_id = |entity| {
@@ -592,6 +595,16 @@ fn generate_levels(
                             },
                         );
                     }
+                    if let Ok((pose, name, id)) = q_user_camera_poses.get(*c) {
+                        level.user_camera_poses.insert(
+                            id.0,
+                            UserCameraPose {
+                                name: name.clone(),
+                                pose: pose.clone(),
+                                marker: UserCameraPoseMarker,
+                            },
+                        );
+                    }
                 }
                 levels.insert(level_id.0, level);
             }
@@ -1221,42 +1234,154 @@ pub fn save_site(world: &mut World) {
                 continue;
             }
         };
-        if path_str.ends_with(".building.yaml") {
-            warn!("Detected old file format, converting to new format");
-            new_path = path_str.replace(".building.yaml", ".site.ron").into();
-        } else if !path_str.ends_with("site.ron") {
-            info!("Appending .site.ron to {}", new_path.display());
-            new_path = new_path.with_extension("site.ron");
-        }
-        info!("Saving to {}", new_path.display());
-        let f = match std::fs::File::create(new_path.clone()) {
-            Ok(f) => f,
-            Err(err) => {
-                error!("Unable to save file: {err}");
-                continue;
-            }
-        };
+        match save_event.format {
+            ExportFormat::Default => {
+                if path_str.ends_with(".building.yaml") {
+                    warn!("Detected old file format, converting to new format");
+                    new_path = path_str.replace(".building.yaml", ".site.ron").into();
+                } else if path_str.ends_with(".site.json") {
+                    // Noop
+                } else if !path_str.ends_with(".site.ron") {
+                    info!("Appending .site.ron to {}", new_path.display());
+                    new_path = new_path.with_extension("site.ron");
+                }
+                info!("Saving to {}", new_path.display());
+                let f = match std::fs::File::create(new_path.clone()) {
+                    Ok(f) => f,
+                    Err(err) => {
+                        error!("Unable to save file: {err}");
+                        continue;
+                    }
+                };
 
-        let old_default_path = world.get::<DefaultFile>(save_event.site).cloned();
-        migrate_relative_paths(save_event.site, &new_path, world);
+                let old_default_path = world.get::<DefaultFile>(save_event.site).cloned();
+                migrate_relative_paths(save_event.site, &new_path, world);
 
-        let site = match generate_site(world, save_event.site) {
-            Ok(site) => site,
-            Err(err) => {
-                error!("Unable to compile site: {err}");
-                continue;
-            }
-        };
+                let site = match generate_site(world, save_event.site) {
+                    Ok(site) => site,
+                    Err(err) => {
+                        error!("Unable to compile site: {err}");
+                        continue;
+                    }
+                };
 
-        match site.to_writer(f) {
-            Ok(()) => {
-                info!("Save successful");
+                if new_path.extension().is_some_and(|e| e == "json") {
+                    match site.to_writer_json(f) {
+                        Ok(()) => {
+                            info!("Save successful");
+                        }
+                        Err(err) => {
+                            if let Some(old_default_path) = old_default_path {
+                                world.entity_mut(save_event.site).insert(old_default_path);
+                            }
+                            error!("Save failed: {err}");
+                        }
+                    }
+                } else {
+                    match site.to_writer_ron(f) {
+                        Ok(()) => {
+                            info!("Save successful");
+                        }
+                        Err(err) => {
+                            if let Some(old_default_path) = old_default_path {
+                                world.entity_mut(save_event.site).insert(old_default_path);
+                            }
+                            error!("Save failed: {err}");
+                        }
+                    }
+                }
             }
-            Err(err) => {
-                if let Some(old_default_path) = old_default_path {
-                    world.entity_mut(save_event.site).insert(old_default_path);
+            ExportFormat::Sdf => {
+                // TODO(luca) reduce code duplication with default exporting
+
+                // Make sure to generate the site before anything else, because
+                // generating the site will ensure that all items are assigned a
+                // SiteID, and the SDF export process will not work correctly if
+                // any are unassigned.
+                let site = match generate_site(world, save_event.site) {
+                    Ok(site) => site,
+                    Err(err) => {
+                        error!("Unable to compile site: {err}");
+                        continue;
+                    }
+                };
+
+                info!("Saving to {}", new_path.display());
+                let Some(parent_folder) = new_path.parent() else {
+                    error!("Unable to save SDF. Please select a save path that has a parent directory.");
+                    continue;
+                };
+                if !parent_folder.exists() {
+                    if let Err(e) = std::fs::create_dir_all(parent_folder) {
+                        error!("Unable to create folder {}: {e}", parent_folder.display());
+                        continue;
+                    }
                 }
-                error!("Save failed: {err}");
+                let f = match std::fs::File::create(&new_path) {
+                    Ok(f) => f,
+                    Err(err) => {
+                        error!("Unable to save file {}: {err}", new_path.display());
+                        continue;
+                    }
+                };
+
+                let mut meshes_dir = PathBuf::from(parent_folder);
+                meshes_dir.push("meshes");
+                if let Err(e) = std::fs::create_dir_all(&meshes_dir) {
+                    error!("Unable to create folder {}: {e}", meshes_dir.display());
+                    continue;
+                }
+                if let Err(e) = collect_site_meshes(world, save_event.site, &meshes_dir) {
+                    error!("Unable to collect site meshes: {e}");
+                    continue;
+                }
+
+                migrate_relative_paths(save_event.site, &new_path, world);
+                let graphs = legacy::nav_graph::NavGraph::from_site(&site);
+                let sdf = match site.to_sdf() {
+                    Ok(sdf) => sdf,
+                    Err(err) => {
+                        error!("Unable to convert site to sdf: {err}");
+                        continue;
+                    }
+                };
+                let config = yaserde::ser::Config {
+                    perform_indent: true,
+                    write_document_declaration: true,
+                    ..Default::default()
+                };
+                if let Err(e) = yaserde::ser::serialize_with_writer(&sdf, f, &config) {
+                    error!("Failed serializing site to sdf: {e}");
+                    continue;
+                }
+                let mut navgraph_dir = PathBuf::from(parent_folder);
+                navgraph_dir.push("nav_graphs");
+                if let Err(e) = std::fs::create_dir_all(&navgraph_dir) {
+                    error!("Unable to create folder {}: {e}", navgraph_dir.display());
+                    continue;
+                }
+                for (name, graph) in &graphs {
+                    let mut graph_file = navgraph_dir.clone();
+                    graph_file.push(name.to_owned() + ".yaml");
+                    info!(
+                        "Saving legacy nav graph to {}",
+                        graph_file.to_str().unwrap_or("<failed to render??>")
+                    );
+                    let f = match std::fs::File::create(graph_file) {
+                        Ok(f) => f,
+                        Err(err) => {
+                            error!("Unable to save nav graph: {err}");
+                            continue;
+                        }
+                    };
+                    if let Err(err) = serde_yaml::to_writer(f, &graph) {
+                        error!("Failed to save nav graph: {err}");
+                    }
+                }
+            }
+            ExportFormat::Urdf => {
+                warn!("Site exporting to Urdf is not supported.");
+                continue;
             }
         }
     }
@@ -1319,7 +1444,7 @@ pub fn save_nav_graphs(world: &mut World) {
             }
         };
 
-        match site.to_writer(f) {
+        match site.to_writer_ron(f) {
             Ok(()) => {
                 info!("Save successful");
             }
diff --git a/rmf_site_editor/src/site/sdf_exporter.rs b/rmf_site_editor/src/site/sdf_exporter.rs
new file mode 100644
index 00000000..acf43b31
--- /dev/null
+++ b/rmf_site_editor/src/site/sdf_exporter.rs
@@ -0,0 +1,433 @@
+use bevy::ecs::system::SystemState;
+use bevy::prelude::*;
+use bevy_gltf_export::{export_meshes, CompressGltfOptions, MeshData};
+
+use std::path::Path;
+
+use crate::SaveWorkspace;
+
+use crate::{
+    site::{
+        ChildLiftCabinGroup, CollisionMeshMarker, DoorSegments, DrawingMarker, FloorSegments,
+        LiftDoormat, ModelSceneRoot, TentativeModelFormat, VisualMeshMarker,
+    },
+    Autoload, LoadWorkspace,
+};
+use rmf_site_format::{
+    IsStatic, LevelElevation, LiftCabin, ModelMarker, NameInSite, NameOfSite, SiteID, WallMarker,
+};
+
+/// Manages a simple state machine where we:
+///   * Wait for a few iterations,
+///   * Make sure the world is loaded.
+///   * Send a save event.
+///   * Wait for a few iterations.
+///   * Exit.
+#[derive(Debug, Resource)]
+pub struct HeadlessSdfExportState {
+    iterations: u32,
+    world_loaded: bool,
+    save_requested: bool,
+    target_path: String,
+}
+
+impl HeadlessSdfExportState {
+    pub fn new(path: &str) -> Self {
+        Self {
+            iterations: 0,
+            world_loaded: false,
+            save_requested: false,
+            target_path: path.into(),
+        }
+    }
+}
+
+pub fn headless_sdf_export(
+    mut commands: Commands,
+    mut export: EventWriter<SaveWorkspace>,
+    mut exit: EventWriter<bevy::app::AppExit>,
+    missing_models: Query<(), (With<TentativeModelFormat>, Without<ModelSceneRoot>)>,
+    mut export_state: ResMut<HeadlessSdfExportState>,
+    sites: Query<(Entity, &NameOfSite)>,
+    drawings: Query<Entity, With<DrawingMarker>>,
+    autoload: Option<ResMut<Autoload>>,
+    mut load_workspace: EventWriter<LoadWorkspace>,
+) {
+    if let Some(mut autoload) = autoload {
+        if let Some(filename) = autoload.filename.take() {
+            load_workspace.send(LoadWorkspace::Path(filename));
+        }
+    } else {
+        error!("Cannot perform a headless export since no site file was specified for loading");
+    }
+
+    export_state.iterations += 1;
+    if export_state.iterations < 5 {
+        return;
+    }
+    if sites.is_empty() {
+        warn!(
+            "No site is loaded so we cannot export an SDF file into [{}]",
+            export_state.target_path,
+        );
+        exit.send(bevy::app::AppExit);
+    }
+    if !missing_models.is_empty() {
+        // Despawn all drawings, otherwise floors will become transparent.
+        for e in drawings.iter() {
+            commands.entity(e).despawn_recursive();
+        }
+        // TODO(luca) implement a timeout logic?
+    } else {
+        if !export_state.world_loaded {
+            export_state.iterations = 0;
+            export_state.world_loaded = true;
+        } else {
+            if !export_state.save_requested && export_state.iterations > 5 {
+                let path = std::path::PathBuf::from(export_state.target_path.clone());
+                export.send(SaveWorkspace::new().to_sdf().to_path(&path));
+                export_state.save_requested = true;
+                export_state.iterations = 0;
+            } else if export_state.save_requested && export_state.iterations > 5 {
+                exit.send(bevy::app::AppExit);
+            }
+        }
+    }
+}
+
+pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Result<(), String> {
+    let mut state: SystemState<(
+        Query<&Children>,
+        Query<(&NameInSite, &LevelElevation, &Children)>,
+        Query<Entity, With<WallMarker>>,
+        Query<&FloorSegments>,
+        Query<(Option<&NameInSite>, &DoorSegments)>,
+        Query<(Entity, &IsStatic, &NameInSite), With<ModelMarker>>,
+        Query<(), With<CollisionMeshMarker>>,
+        Query<(), With<VisualMeshMarker>>,
+        Query<(&Handle<Mesh>, &Handle<StandardMaterial>)>,
+        Query<(&NameInSite, &LiftCabin<Entity>, &ChildLiftCabinGroup)>,
+        Query<((), With<LiftDoormat>)>,
+        Query<&GlobalTransform>,
+        Query<&Transform>,
+        Query<&SiteID>,
+    )> = SystemState::new(world);
+    let (
+        q_children,
+        q_levels,
+        q_walls,
+        q_floors,
+        q_doors,
+        q_models,
+        q_collisions,
+        q_visuals,
+        q_pbr,
+        q_lift_cabins,
+        q_lift_door_mats,
+        q_global_tfs,
+        q_tfs,
+        q_site_ids,
+    ) = state.get(world);
+
+    let image_assets = world.resource::<Assets<Image>>();
+    let mesh_assets = world.resource::<Assets<Mesh>>();
+    let material_assets = world.resource::<Assets<StandardMaterial>>();
+    let write_meshes_to_file = |meshes: Vec<MeshData>,
+                                name: Option<String>,
+                                options: CompressGltfOptions,
+                                filename: String|
+     -> Result<(), String> {
+        let image_getter = |id: &Handle<Image>| image_assets.get(id).cloned();
+        let meshes =
+            export_meshes(meshes, name, image_getter, options).map_err(|e| e.to_string())?;
+        let bytes = meshes.to_bytes().map_err(|e| e.to_string())?;
+        std::fs::write(filename, bytes).map_err(|e| e.to_string())
+    };
+
+    let get_site_id = |e: Entity| -> Result<u32, String> {
+        q_site_ids.get(e).map(|id| id.0).map_err(|_| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            format!("Site ID was not available for entity {e:?}. Backtrace:\n{backtrace}")
+        })
+    };
+
+    let get_mesh_and_material = |entity: Entity| -> Option<(&Mesh, &StandardMaterial)> {
+        let Ok((mesh, material)) = q_pbr.get(entity) else {
+            return None;
+        };
+        let Some(mesh) = mesh_assets.get(mesh) else {
+            let site_id = q_site_ids.get(entity);
+            warn!(
+                "Mesh asset not found for entity {:?} with Site ID {:?} while exporting assets",
+                entity, site_id
+            );
+            return None;
+        };
+        let Some(material) = material_assets.get(material) else {
+            let site_id = q_site_ids.get(entity);
+            warn!(
+                "Material asset not found for entity {:?} with Site ID {:?} while exporting assets",
+                entity, site_id
+            );
+            return None;
+        };
+        Some((mesh, material))
+    };
+
+    let Ok(site_children) = q_children.get(site) else {
+        return Ok(());
+    };
+    for site_child in site_children.iter() {
+        let mut collision_data = Vec::new();
+        let mut visual_data = Vec::new();
+        if let Ok((level_name, elevation, children)) = q_levels.get(*site_child) {
+            let level_tf = Transform {
+                translation: Vec3::new(0.0, 0.0, **elevation),
+                ..Default::default()
+            };
+            for child in children.iter() {
+                if let Ok(res) = q_walls.get(*child) {
+                    let Some((mesh, material)) = get_mesh_and_material(res) else {
+                        continue;
+                    };
+                    collision_data.push(MeshData {
+                        mesh,
+                        material: None,
+                        transform: Some(level_tf.clone()),
+                    });
+                    visual_data.push(MeshData {
+                        mesh,
+                        material: Some(material),
+                        transform: Some(level_tf.clone()),
+                    });
+                } else if let Ok(res) = q_floors.get(*child) {
+                    let Some((mesh, material)) = get_mesh_and_material(res.mesh) else {
+                        continue;
+                    };
+                    collision_data.push(MeshData {
+                        mesh,
+                        material: None,
+                        transform: Some(level_tf.clone()),
+                    });
+                    visual_data.push(MeshData {
+                        mesh,
+                        material: Some(material),
+                        transform: Some(level_tf.clone()),
+                    });
+                } else if let Ok((model, is_static, name)) = q_models.get(*child) {
+                    let mut model_collisions = vec![];
+                    let mut model_visuals = vec![];
+                    // TODO(luca) don't do full descendant iter here or we might add twice?
+                    // Iterate through children and select all meshes
+                    for model_child in DescendantIter::new(&q_children, model) {
+                        if q_collisions.contains(model_child) {
+                            // Now iterate through the children of the collision and add them
+                            for entity in DescendantIter::new(&q_children, model_child) {
+                                let Some((mesh, _)) = get_mesh_and_material(entity) else {
+                                    continue;
+                                };
+                                let Ok(tf) = q_global_tfs.get(entity) else {
+                                    continue;
+                                };
+                                let mut tf = tf.compute_transform();
+                                tf.translation.z = tf.translation.z + **elevation;
+                                // Non static meshes have their translation in the SDF element, not in the
+                                // gltf node
+                                model_collisions.push(MeshData {
+                                    mesh,
+                                    material: None,
+                                    transform: is_static.then_some(tf),
+                                });
+                            }
+                        } else if q_visuals.contains(model_child) {
+                            // Now iterate through the children of the visuals and add them
+                            for entity in DescendantIter::new(&q_children, model_child) {
+                                let Some((mesh, material)) = get_mesh_and_material(entity) else {
+                                    continue;
+                                };
+                                let Ok(tf) = q_global_tfs.get(entity) else {
+                                    continue;
+                                };
+                                let mut tf = tf.compute_transform();
+                                tf.translation.z = tf.translation.z + **elevation;
+                                model_visuals.push(MeshData {
+                                    mesh,
+                                    material: Some(material),
+                                    transform: is_static.then_some(tf),
+                                });
+                            }
+                        }
+                    }
+                    if **is_static {
+                        // This is part of the static world, add it to the static mesh
+                        collision_data.extend(model_collisions);
+                        visual_data.extend(model_visuals);
+                    } else {
+                        // Create a new mesh for it
+                        let filename = format!(
+                            "{}/model_{}_collision.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                        );
+                        write_meshes_to_file(
+                            model_collisions,
+                            None,
+                            CompressGltfOptions::skip_materials(),
+                            filename,
+                        )?;
+                        let filename = format!(
+                            "{}/model_{}_visual.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                        );
+                        write_meshes_to_file(
+                            model_visuals,
+                            Some(format!("{}_visual", **name)),
+                            CompressGltfOptions::default(),
+                            filename,
+                        )?;
+                    }
+                } else if let Ok((door_name, segments)) = q_doors.get(*child) {
+                    for (entity, segment_name) in segments
+                        .body
+                        .entities()
+                        .iter()
+                        .zip(segments.body.links().into_iter())
+                    {
+                        // Generate the visual and collisions here
+                        let Some((mesh, material)) = get_mesh_and_material(*entity) else {
+                            continue;
+                        };
+                        let Ok(tf) = q_tfs.get(*entity) else {
+                            continue;
+                        };
+
+                        let data = MeshData {
+                            mesh,
+                            material: Some(material),
+                            transform: Some(tf.clone()),
+                        };
+                        let filename = format!(
+                            "{}/door_{}_{}.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                            segment_name,
+                        );
+                        let door_name = door_name.map(|n| n.0.as_str()).unwrap_or("");
+                        write_meshes_to_file(
+                            vec![data],
+                            Some(format!("door_{}_{}", door_name, segment_name)),
+                            CompressGltfOptions::default(),
+                            filename,
+                        )?;
+                    }
+                } else {
+                    continue;
+                };
+            }
+            let filename = format!(
+                "{}/level_{}_collision.glb",
+                folder.display(),
+                get_site_id(*site_child)?,
+            );
+            write_meshes_to_file(
+                collision_data,
+                Some(format!("level_{}_collision", **level_name)),
+                CompressGltfOptions::skip_materials(),
+                filename,
+            )?;
+            let filename = format!(
+                "{}/level_{}_visual.glb",
+                folder.display(),
+                get_site_id(*site_child)?,
+            );
+            write_meshes_to_file(
+                visual_data,
+                Some(format!("level_{}_visual", **level_name)),
+                CompressGltfOptions::default(),
+                filename,
+            )?;
+        }
+        // Lifts
+        if let Ok((lift_name, cabin, cabin_children)) = q_lift_cabins.get(*site_child) {
+            // The children of this entity have the mesh for the lift cabin
+            let mut lift_data = vec![];
+            for entity in DescendantIter::new(&q_children, **cabin_children) {
+                if q_lift_door_mats.get(entity).is_ok() {
+                    // Just visual cues, not exported
+                    continue;
+                }
+                let Some((mesh, material)) = get_mesh_and_material(entity) else {
+                    info!("Cabin Child without mesh!");
+                    continue;
+                };
+                info!("Found mesh for cabin child");
+                lift_data.push(MeshData {
+                    mesh,
+                    material: Some(material),
+                    transform: None,
+                });
+            }
+            let filename = format!(
+                "{}/lift_{}.glb",
+                folder.display(),
+                get_site_id(*site_child)?
+            );
+            write_meshes_to_file(
+                lift_data,
+                Some(format!("lift_{}", **lift_name)),
+                CompressGltfOptions::default(),
+                filename,
+            )?;
+            // Now generate the lift doors
+            let LiftCabin::Rect(cabin) = cabin;
+            for (face, door) in cabin.doors().iter() {
+                let Some(door) = door else {
+                    continue;
+                };
+                if let Ok((_, segments)) = q_doors.get(door.door) {
+                    // TODO(luca) this is duplicated with door generation, refactor
+                    for (entity, segment_name) in segments
+                        .body
+                        .entities()
+                        .iter()
+                        .zip(segments.body.links().into_iter())
+                    {
+                        // Generate the visual and collisions here
+                        let Some((mesh, material)) = get_mesh_and_material(*entity) else {
+                            continue;
+                        };
+                        let Ok(tf) = q_tfs.get(*entity) else {
+                            continue;
+                        };
+
+                        let data = MeshData {
+                            mesh,
+                            material: Some(material),
+                            transform: Some(tf.clone()),
+                        };
+                        let filename = format!(
+                            "{}/lift_{}_{}_{}.glb",
+                            folder.display(),
+                            get_site_id(*site_child)?,
+                            face.label(),
+                            segment_name,
+                        );
+                        write_meshes_to_file(
+                            vec![data],
+                            Some(format!(
+                                "lift_{}_{}_{}",
+                                **lift_name,
+                                face.label(),
+                                segment_name
+                            )),
+                            CompressGltfOptions::default(),
+                            filename,
+                        )?;
+                    }
+                }
+            }
+        }
+    }
+    Ok(())
+}
diff --git a/rmf_site_editor/src/site/site.rs b/rmf_site_editor/src/site/site.rs
index ce9586e7..b3cd666a 100644
--- a/rmf_site_editor/src/site/site.rs
+++ b/rmf_site_editor/src/site/site.rs
@@ -15,9 +15,11 @@
  *
 */
 
-use crate::CurrentWorkspace;
+use crate::{interaction::CameraControls, CurrentWorkspace};
 use bevy::prelude::*;
-use rmf_site_format::{LevelElevation, LevelProperties, NameInSite, NameOfSite};
+use rmf_site_format::{
+    LevelElevation, LevelProperties, NameInSite, NameOfSite, Pose, UserCameraPoseMarker,
+};
 
 /// Used as an event to command that a new site should be made the current one
 #[derive(Clone, Copy, Debug, Event)]
@@ -135,3 +137,36 @@ pub fn change_site(
         }
     }
 }
+
+pub fn set_camera_transform_for_changed_site(
+    current_workspace: Res<CurrentWorkspace>,
+    current_level: Res<CurrentLevel>,
+    mut camera_controls: ResMut<CameraControls>,
+    children: Query<&Children>,
+    user_camera_poses: Query<&Pose, With<UserCameraPoseMarker>>,
+    mut transforms: Query<&mut Transform>,
+) {
+    if current_workspace.is_changed() {
+        let Some(level) = current_level.0 else {
+            return;
+        };
+
+        // TODO(luca) Add an actual default pose rather than first in query
+        if let Some(pose) = children
+            .get(level)
+            .ok()
+            .and_then(|children| children.iter().find_map(|c| user_camera_poses.get(*c).ok()))
+        {
+            if let Ok(mut tf) = transforms.get_mut(camera_controls.perspective_camera_entities[0]) {
+                *tf = pose.transform();
+            }
+            let mut translation = pose.transform().translation;
+            // TODO(luca) these are the same value that are in rmf_site_format, should we change
+            // them?
+            translation.x = translation.x + 10.0;
+            translation.y = translation.y + 10.0;
+            translation.z = 0.0;
+            camera_controls.orbit_center = Some(translation);
+        }
+    }
+}
diff --git a/rmf_site_editor/src/site/util.rs b/rmf_site_editor/src/site/util.rs
index 84d499c5..2c1a445e 100644
--- a/rmf_site_editor/src/site/util.rs
+++ b/rmf_site_editor/src/site/util.rs
@@ -72,6 +72,13 @@ impl EdgeLabels {
             Self::LeftRight => "right",
         }
     }
+
+    pub fn side(&self, side: Side) -> &'static str {
+        match side {
+            Side::Left => self.start(),
+            Side::Right => self.end(),
+        }
+    }
 }
 
 #[derive(Component, Debug, Default, Clone, Deref, DerefMut)]
diff --git a/rmf_site_editor/src/widgets/building_preview.rs b/rmf_site_editor/src/widgets/building_preview.rs
new file mode 100644
index 00000000..9aad1b02
--- /dev/null
+++ b/rmf_site_editor/src/widgets/building_preview.rs
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{AlignSiteDrawings, FinishEditDrawing},
+    widgets::prelude::*,
+    AppState, CurrentWorkspace, Icons,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::{Button, Ui};
+
+#[derive(Default)]
+pub struct BuildingPreviewPlugin {}
+
+impl Plugin for BuildingPreviewPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(PropertiesTilePlugin::<BuildingPreview>::new());
+    }
+}
+
+#[derive(SystemParam)]
+pub struct BuildingPreview<'w> {
+    app_state: Res<'w, State<AppState>>,
+    next_app_state: ResMut<'w, NextState<AppState>>,
+    icons: Res<'w, Icons>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    align_site: EventWriter<'w, AlignSiteDrawings>,
+    finish_edit_drawing: EventWriter<'w, FinishEditDrawing>,
+}
+
+impl<'w> WidgetSystem<Tile> for BuildingPreview<'w> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state == AppState::SiteEditor {
+            if ui.add(Button::new("Building preview")).clicked() {
+                params.next_app_state.set(AppState::SiteVisualizer);
+            }
+        }
+
+        if *params.app_state == AppState::SiteVisualizer {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.alignment.egui(),
+                    "Align Drawings",
+                ))
+                .on_hover_text(
+                    "Align all drawings in the site based on their fiducials and measurements",
+                )
+                .clicked()
+            {
+                if let Some(site) = params.current_workspace.root {
+                    params.align_site.send(AlignSiteDrawings(site));
+                }
+            }
+
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.exit.egui(),
+                    "Return to site editor",
+                ))
+                .clicked()
+            {
+                params.next_app_state.set(AppState::SiteEditor);
+            }
+        }
+
+        if *params.app_state == AppState::SiteDrawingEditor {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.exit.egui(),
+                    "Return to site editor",
+                ))
+                .clicked()
+            {
+                params.finish_edit_drawing.send(FinishEditDrawing(None));
+            }
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/console.rs b/rmf_site_editor/src/widgets/console.rs
index 52a17b1e..70baf797 100644
--- a/rmf_site_editor/src/widgets/console.rs
+++ b/rmf_site_editor/src/widgets/console.rs
@@ -15,110 +15,99 @@
  *
 */
 
-use crate::{log::*, widgets::AppEvents};
-use bevy_egui::egui::{self, CollapsingHeader, Color32, RichText, Ui};
+use crate::{log::*, widgets::prelude::*};
+use bevy::prelude::*;
+use bevy_egui::egui::{self, CollapsingHeader, Color32, RichText};
 
-pub struct ConsoleWidget<'a, 'w2, 's2> {
-    events: &'a mut AppEvents<'w2, 's2>,
-}
+/// This widget provides a console that displays information, warning, and error
+/// messages.
+#[derive(Default)]
+pub struct ConsoleWidgetPlugin {}
 
-impl<'a, 'w2, 's2> ConsoleWidget<'a, 'w2, 's2> {
-    pub fn new(events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { events }
+impl Plugin for ConsoleWidgetPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LogHistory>();
+        let widget = PanelWidget::new(console_widget, &mut app.world);
+        app.world.spawn(widget);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        ui.horizontal_wrapped(|ui| {
-            ui.spacing_mut().item_spacing.x = 0.5;
-            let status = self.events.display.log_history.top();
-            match status {
-                Some(log) => print_log(ui, log),
-                None => (),
-            }
-        });
-        ui.add_space(5.0);
-        CollapsingHeader::new("RMF Site Editor Console")
-            .default_open(false)
-            .show(ui, |ui| {
-                ui.horizontal_wrapped(|ui| {
-                    ui.spacing_mut().item_spacing.x = 10.0;
-                    // Filter logs by category
-                    let mut all_are_checked = self
-                        .events
-                        .display
-                        .log_history
-                        .all_categories_are_selected();
-                    let all_were_checked = all_are_checked;
-                    ui.checkbox(&mut all_are_checked, "All");
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Status),
-                        "Status",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Warning),
-                        "Warning",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Error),
-                        "Error",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Bevy),
-                        "Bevy",
-                    );
-                    // Copy full log history to clipboard
-                    if ui.button("Copy Log History").clicked() {
-                        ui.output_mut(|o| {
-                            o.copied_text = self.events.display.log_history.copy_log_history()
-                        });
-                    }
-                    // Slider to adjust display limit
-                    // TODO(@mxgrey): Consider allowing this range to
-                    // automatically grow/shrink when the selected value
-                    // approaches or leaves the upper limit.
-                    ui.add(egui::Slider::new(
-                        self.events.display.log_history.display_limit_mut(),
-                        10..=1000,
-                    ));
-
-                    if !all_were_checked && all_are_checked {
-                        // The user has asked to select all categories
-                        self.events.display.log_history.select_all_categories();
-                    }
-                });
-                ui.add_space(10.);
-
-                egui::ScrollArea::both()
-                    .auto_shrink([false, false])
-                    .stick_to_bottom(true)
-                    .show(ui, |ui| {
-                        let mut count = 0;
-                        for element in self.events.display.log_history.iter() {
-                            print_log(ui, element);
-                            count += 1;
+fn console_widget(In(input): In<PanelWidgetInput>, mut log_history: ResMut<LogHistory>) {
+    egui::TopBottomPanel::bottom("log_consolse")
+        .resizable(true)
+        .min_height(30.0)
+        .max_height(300.0)
+        .show(&input.context, |ui| {
+            ui.horizontal_wrapped(|ui| {
+                ui.spacing_mut().item_spacing.x = 0.5;
+                let status = log_history.top();
+                if let Some(log) = status {
+                    print_log(ui, log);
+                }
+            });
+            ui.add_space(5.0);
+            CollapsingHeader::new("Log Console")
+                .default_open(false)
+                .show(ui, |ui| {
+                    ui.horizontal_wrapped(|ui| {
+                        ui.spacing_mut().item_spacing.x = 10.0;
+                        // Filter logs by category
+                        let mut all_are_checked = log_history.all_categories_are_selected();
+                        let all_were_checked = all_are_checked;
+                        ui.checkbox(&mut all_are_checked, "All");
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Status),
+                            "Status",
+                        );
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Warning),
+                            "Warning",
+                        );
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Error),
+                            "Error",
+                        );
+                        ui.checkbox(log_history.category_present_mut(LogCategory::Bevy), "Bevy");
+                        // Copy full log history to clipboard
+                        if ui.button("Copy Log History").clicked() {
+                            ui.output_mut(|o| {
+                                o.copied_text = log_history.copy_log_history();
+                            });
                         }
-                        if count >= self.events.display.log_history.display_limit() {
-                            ui.add_space(5.0);
-                            if ui.button("See more").clicked() {
-                                *self.events.display.log_history.display_limit_mut() += 100;
-                            }
+                        // Slider to adjust display limit
+                        // TODO(@mxgrey): Consider allowing this range to
+                        // automatically grow/shrink when the selected value
+                        // approaches or leaves the upper limit.
+                        ui.add(egui::Slider::new(
+                            log_history.display_limit_mut(),
+                            10..=1000,
+                        ));
+
+                        if !all_were_checked && all_are_checked {
+                            log_history.select_all_categories();
                         }
                     });
-                ui.add_space(10.);
-            });
-    }
+                    ui.add_space(10.0);
+
+                    egui::ScrollArea::both()
+                        .auto_shrink([false, false])
+                        .stick_to_bottom(true)
+                        .show(ui, |ui| {
+                            let mut count = 0;
+                            for element in log_history.iter() {
+                                print_log(ui, element);
+                                count += 1;
+                            }
+                            if count >= log_history.display_limit() {
+                                ui.add_space(5.0);
+                                if ui.button("See more").clicked() {
+                                    *log_history.display_limit_mut() += 100;
+                                }
+                            }
+                        });
+                    ui.add_space(10.0);
+                });
+        });
 }
 
 fn print_log(ui: &mut egui::Ui, element: &LogHistoryElement) {
diff --git a/rmf_site_editor/src/widgets/create.rs b/rmf_site_editor/src/widgets/create.rs
deleted file mode 100644
index 4ab0d59e..00000000
--- a/rmf_site_editor/src/widgets/create.rs
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
- * Copyright (C) 2022 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-use crate::{
-    inspector::{InspectAssetSource, InspectScale},
-    interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
-    site::{DefaultFile, DrawingBundle, Recall},
-    AppEvents, AppState,
-};
-use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{CollapsingHeader, Ui};
-
-use rmf_site_format::{DrawingProperties, Geometry, Model, WorkcellModel};
-
-#[derive(SystemParam)]
-pub struct CreateParams<'w, 's> {
-    pub default_file: Query<'w, 's, &'static DefaultFile>,
-}
-
-pub struct CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub params: &'a CreateParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(params: &'a CreateParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            match self.events.app_state.get() {
-                AppState::MainMenu | AppState::SiteVisualizer => {
-                    return;
-                }
-                AppState::SiteEditor => {
-                    if ui.button("Lane").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_lane().into(),
-                        ));
-                    }
-
-                    if ui.button("Location").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_location().into(),
-                        ));
-                    }
-
-                    if ui.button("Wall").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_wall().into(),
-                        ));
-                    }
-
-                    if ui.button("Door").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_door().into(),
-                        ));
-                    }
-
-                    if ui.button("Lift").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_lift().into(),
-                        ));
-                    }
-
-                    if ui.button("Floor").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_path().for_floor().into(),
-                        ));
-                    }
-                    if ui.button("Fiducial").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_site_fiducial().into(),
-                        ));
-                    }
-
-                    ui.add_space(10.0);
-                    CollapsingHeader::new("New drawing")
-                        .default_open(false)
-                        .show(ui, |ui| {
-                            let default_file = self
-                                .events
-                                .request
-                                .current_workspace
-                                .root
-                                .map(|e| self.params.default_file.get(e).ok())
-                                .flatten();
-                            if let Some(new_asset_source) = InspectAssetSource::new(
-                                &self.events.display.pending_drawings.source,
-                                &self.events.display.pending_drawings.recall_source,
-                                default_file,
-                            )
-                            .show(ui)
-                            {
-                                self.events
-                                    .display
-                                    .pending_drawings
-                                    .recall_source
-                                    .remember(&new_asset_source);
-                                self.events.display.pending_drawings.source = new_asset_source;
-                            }
-                            ui.add_space(5.0);
-                            if ui.button("Add Drawing").clicked() {
-                                self.events
-                                    .commands
-                                    .spawn(DrawingBundle::new(DrawingProperties {
-                                        source: self.events.display.pending_drawings.source.clone(),
-                                        ..default()
-                                    }));
-                            }
-                        });
-                }
-                AppState::SiteDrawingEditor => {
-                    if ui.button("Fiducial").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point()
-                                .for_drawing_fiducial()
-                                .into(),
-                        ));
-                    }
-                    if ui.button("Measurement").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_measurement().into(),
-                        ));
-                    }
-                }
-                AppState::WorkcellEditor => {
-                    if ui.button("Frame").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor3D::create_new_point().for_anchor(None).into(),
-                        ));
-                    }
-                }
-            }
-            match self.events.app_state.get() {
-                AppState::MainMenu | AppState::SiteDrawingEditor | AppState::SiteVisualizer => {}
-                AppState::SiteEditor | AppState::WorkcellEditor => {
-                    ui.add_space(10.0);
-                    CollapsingHeader::new("New model")
-                        .default_open(false)
-                        .show(ui, |ui| {
-                            let default_file = self
-                                .events
-                                .request
-                                .current_workspace
-                                .root
-                                .map(|e| self.params.default_file.get(e).ok())
-                                .flatten();
-                            if let Some(new_asset_source) = InspectAssetSource::new(
-                                &self.events.display.pending_model.source,
-                                &self.events.display.pending_model.recall_source,
-                                default_file,
-                            )
-                            .show(ui)
-                            {
-                                self.events
-                                    .display
-                                    .pending_model
-                                    .recall_source
-                                    .remember(&new_asset_source);
-                                self.events.display.pending_model.source = new_asset_source;
-                            }
-                            ui.add_space(5.0);
-                            if let Some(new_scale) =
-                                InspectScale::new(&self.events.display.pending_model.scale).show(ui)
-                            {
-                                self.events.display.pending_model.scale = new_scale;
-                            }
-                            ui.add_space(5.0);
-                            match self.events.app_state.get() {
-                                AppState::MainMenu
-                                | AppState::SiteDrawingEditor
-                                | AppState::SiteVisualizer => {}
-                                AppState::SiteEditor => {
-                                    if ui.button("Browse fuel").clicked() {
-                                        self.events.new_model.asset_gallery_status.show = true;
-                                    }
-                                    if ui.button("Spawn model").clicked() {
-                                        let model = Model {
-                                            source: self
-                                                .events
-                                                .display
-                                                .pending_model
-                                                .source
-                                                .clone(),
-                                            scale: self.events.display.pending_model.scale,
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_model(model)
-                                                .into(),
-                                        ));
-                                    }
-                                }
-                                AppState::WorkcellEditor => {
-                                    if ui.button("Browse fuel").clicked() {
-                                        self.events.new_model.asset_gallery_status.show = true;
-                                    }
-                                    if ui.button("Spawn visual").clicked() {
-                                        let workcell_model = WorkcellModel {
-                                            geometry: Geometry::Mesh {
-                                                source: self
-                                                    .events
-                                                    .display
-                                                    .pending_model
-                                                    .source
-                                                    .clone(),
-                                                scale: Some(
-                                                    *self.events.display.pending_model.scale,
-                                                ),
-                                            },
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_visual(workcell_model)
-                                                .into(),
-                                        ));
-                                    }
-                                    if ui.button("Spawn collision").clicked() {
-                                        let workcell_model = WorkcellModel {
-                                            geometry: Geometry::Mesh {
-                                                source: self
-                                                    .events
-                                                    .display
-                                                    .pending_model
-                                                    .source
-                                                    .clone(),
-                                                scale: Some(
-                                                    *self.events.display.pending_model.scale,
-                                                ),
-                                            },
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_collision(workcell_model)
-                                                .into(),
-                                        ));
-                                    }
-                                    ui.add_space(10.0);
-                                }
-                            }
-                        });
-                }
-            }
-        });
-    }
-}
diff --git a/rmf_site_editor/src/widgets/creation.rs b/rmf_site_editor/src/widgets/creation.rs
new file mode 100644
index 00000000..9166a137
--- /dev/null
+++ b/rmf_site_editor/src/widgets/creation.rs
@@ -0,0 +1,275 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    inspector::{InspectAssetSourceComponent, InspectScaleComponent},
+    interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
+    site::{AssetSource, DefaultFile, DrawingBundle, Recall, RecallAssetSource, Scale},
+    widgets::{prelude::*, AssetGalleryStatus},
+    AppState, CurrentWorkspace,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{CollapsingHeader, Ui};
+
+use rmf_site_format::{DrawingProperties, Geometry, Model, WorkcellModel};
+
+/// This widget provides a widget with buttons for creating new site elements.
+#[derive(Default)]
+pub struct CreationPlugin {}
+
+impl Plugin for CreationPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<PendingDrawing>()
+            .init_resource::<PendingModel>()
+            .add_plugins(PropertiesTilePlugin::<Creation>::new());
+    }
+}
+
+#[derive(SystemParam)]
+struct Creation<'w, 's> {
+    default_file: Query<'w, 's, &'static DefaultFile>,
+    app_state: Res<'w, State<AppState>>,
+    change_mode: EventWriter<'w, ChangeMode>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    pending_drawings: ResMut<'w, PendingDrawing>,
+    pending_model: ResMut<'w, PendingModel>,
+    asset_gallery: Option<ResMut<'w, AssetGalleryStatus>>,
+    commands: Commands<'w, 's>,
+}
+
+impl<'w, 's> WidgetSystem<Tile> for Creation<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        match params.app_state.get() {
+            AppState::SiteEditor | AppState::SiteDrawingEditor | AppState::WorkcellEditor => {}
+            AppState::MainMenu | AppState::SiteVisualizer => return,
+        }
+        CollapsingHeader::new("Create")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
+    }
+}
+
+impl<'w, 's> Creation<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        ui.vertical(|ui| {
+            match self.app_state.get() {
+                AppState::MainMenu | AppState::SiteVisualizer => {
+                    return;
+                }
+                AppState::SiteEditor => {
+                    if ui.button("Lane").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_edge_sequence().for_lane().into(),
+                        ));
+                    }
+
+                    if ui.button("Location").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point().for_location().into(),
+                        ));
+                    }
+
+                    if ui.button("Wall").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_edge_sequence().for_wall().into(),
+                        ));
+                    }
+
+                    if ui.button("Door").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_door().into(),
+                        ));
+                    }
+
+                    if ui.button("Lift").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_lift().into(),
+                        ));
+                    }
+
+                    if ui.button("Floor").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_path().for_floor().into(),
+                        ));
+                    }
+                    if ui.button("Fiducial").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point().for_site_fiducial().into(),
+                        ));
+                    }
+
+                    ui.add_space(10.0);
+                    CollapsingHeader::new("New drawing")
+                        .default_open(false)
+                        .show(ui, |ui| {
+                            let default_file = self
+                                .current_workspace
+                                .root
+                                .map(|e| self.default_file.get(e).ok())
+                                .flatten();
+                            if let Some(new_asset_source) = InspectAssetSourceComponent::new(
+                                &self.pending_drawings.source,
+                                &self.pending_drawings.recall_source,
+                                default_file,
+                            )
+                            .show(ui)
+                            {
+                                self.pending_drawings
+                                    .recall_source
+                                    .remember(&new_asset_source);
+                                self.pending_drawings.source = new_asset_source;
+                            }
+                            ui.add_space(5.0);
+                            if ui.button("Add Drawing").clicked() {
+                                self.commands.spawn(DrawingBundle::new(DrawingProperties {
+                                    source: self.pending_drawings.source.clone(),
+                                    ..default()
+                                }));
+                            }
+                        });
+                }
+                AppState::SiteDrawingEditor => {
+                    if ui.button("Fiducial").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point()
+                                .for_drawing_fiducial()
+                                .into(),
+                        ));
+                    }
+                    if ui.button("Measurement").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_measurement().into(),
+                        ));
+                    }
+                }
+                AppState::WorkcellEditor => {
+                    if ui.button("Frame").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor3D::create_new_point().for_anchor(None).into(),
+                        ));
+                    }
+                }
+            }
+            match self.app_state.get() {
+                AppState::MainMenu | AppState::SiteDrawingEditor | AppState::SiteVisualizer => {}
+                AppState::SiteEditor | AppState::WorkcellEditor => {
+                    ui.add_space(10.0);
+                    CollapsingHeader::new("New model")
+                        .default_open(false)
+                        .show(ui, |ui| {
+                            let default_file = self
+                                .current_workspace
+                                .root
+                                .map(|e| self.default_file.get(e).ok())
+                                .flatten();
+                            if let Some(new_asset_source) = InspectAssetSourceComponent::new(
+                                &self.pending_model.source,
+                                &self.pending_model.recall_source,
+                                default_file,
+                            )
+                            .show(ui)
+                            {
+                                self.pending_model.recall_source.remember(&new_asset_source);
+                                self.pending_model.source = new_asset_source;
+                            }
+                            ui.add_space(5.0);
+                            if let Some(new_scale) =
+                                InspectScaleComponent::new(&self.pending_model.scale).show(ui)
+                            {
+                                self.pending_model.scale = new_scale;
+                            }
+                            ui.add_space(5.0);
+                            if let Some(asset_gallery) = &mut self.asset_gallery {
+                                match self.app_state.get() {
+                                    AppState::MainMenu
+                                    | AppState::SiteDrawingEditor
+                                    | AppState::SiteVisualizer => {}
+                                    AppState::SiteEditor => {
+                                        if ui.button("Browse fuel").clicked() {
+                                            asset_gallery.show = true;
+                                        }
+                                        if ui.button("Spawn model").clicked() {
+                                            let model = Model {
+                                                source: self.pending_model.source.clone(),
+                                                scale: self.pending_model.scale,
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_model(model)
+                                                    .into(),
+                                            ));
+                                        }
+                                    }
+                                    AppState::WorkcellEditor => {
+                                        if ui.button("Browse fuel").clicked() {
+                                            asset_gallery.show = true;
+                                        }
+                                        if ui.button("Spawn visual").clicked() {
+                                            let workcell_model = WorkcellModel {
+                                                geometry: Geometry::Mesh {
+                                                    source: self.pending_model.source.clone(),
+                                                    scale: Some(*self.pending_model.scale),
+                                                },
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_visual(workcell_model)
+                                                    .into(),
+                                            ));
+                                        }
+                                        if ui.button("Spawn collision").clicked() {
+                                            let workcell_model = WorkcellModel {
+                                                geometry: Geometry::Mesh {
+                                                    source: self.pending_model.source.clone(),
+                                                    scale: Some(*self.pending_model.scale),
+                                                },
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_collision(workcell_model)
+                                                    .into(),
+                                            ));
+                                        }
+                                        ui.add_space(10.0);
+                                    }
+                                }
+                            }
+                        });
+                }
+            }
+        });
+    }
+}
+
+#[derive(Resource, Clone, Default)]
+struct PendingDrawing {
+    pub source: AssetSource,
+    pub recall_source: RecallAssetSource,
+}
+
+#[derive(Resource, Clone, Default)]
+struct PendingModel {
+    pub source: AssetSource,
+    pub recall_source: RecallAssetSource,
+    pub scale: Scale,
+}
diff --git a/rmf_site_editor/src/widgets/diagnostic_window.rs b/rmf_site_editor/src/widgets/diagnostics.rs
similarity index 53%
rename from rmf_site_editor/src/widgets/diagnostic_window.rs
rename to rmf_site_editor/src/widgets/diagnostics.rs
index 3a21c21b..41a25028 100644
--- a/rmf_site_editor/src/widgets/diagnostic_window.rs
+++ b/rmf_site_editor/src/widgets/diagnostics.rs
@@ -15,56 +15,89 @@
  *
 */
 
-use crate::inspector::SelectionWidget;
-use crate::site::{Change, FilteredIssueKinds, FilteredIssues, IssueKey, SiteID};
-use crate::{AppEvents, Icons, Issue};
-use crate::{IssueDictionary, ValidateWorkspace};
-use bevy::ecs::system::SystemParam;
-use bevy::prelude::*;
-use bevy_egui::egui::{Button, Checkbox, Grid, ImageButton, ScrollArea, Ui};
+use crate::{
+    site::{Change, FilteredIssueKinds, FilteredIssues, IssueKey},
+    widgets::{
+        menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ToolMenu},
+        prelude::*,
+        SelectorWidget,
+    },
+    AppState, CurrentWorkspace, Icons, Issue, IssueDictionary, ValidateWorkspace,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{self, Button, Checkbox, Grid, ImageButton, ScrollArea, Ui};
+use std::collections::HashSet;
 
-#[derive(Resource, Debug, Clone, Default)]
-pub struct DiagnosticWindowState {
-    pub show: bool,
-    pub selected: Option<IssueKey<Entity>>,
+/// Add a [`Diagnostics`] widget to your application.
+#[derive(Default)]
+pub struct DiagnosticsPlugin {}
+
+impl Plugin for DiagnosticsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<IssueDictionary>()
+            .init_resource::<IssueMenu>()
+            .init_resource::<DiagnosticsDisplay>()
+            .add_systems(Update, handle_diagnostic_panel_visibility);
+
+        let panel = PanelWidget::new(diagnostics_panel, &mut app.world);
+        let widget = Widget::new::<Diagnostics>(&mut app.world);
+        app.world.spawn((panel, widget));
+    }
 }
 
-#[derive(SystemParam)]
-pub struct DiagnosticParams<'w, 's> {
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub filters: Query<'w, 's, (&'static FilteredIssues<Entity>, &'static FilteredIssueKinds)>,
-    pub issue_dictionary: Res<'w, IssueDictionary>,
-    pub issues: Query<'w, 's, (&'static Issue, &'static Parent)>,
+fn diagnostics_panel(In(input): In<PanelWidgetInput>, world: &mut World) {
+    if world.resource::<DiagnosticsDisplay>().show {
+        egui::SidePanel::left("diagnostics")
+            .resizable(true)
+            .min_width(320.0)
+            .show(&input.context, |ui| {
+                if let Err(err) = world.try_show(input.id, ui) {
+                    error!("Unable to display diagnostics panel: {err:?}");
+                }
+            });
+    }
 }
 
-pub struct DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
-    events: &'a mut AppEvents<'w1, 's1>,
-    params: &'a DiagnosticParams<'w2, 's2>,
+/// A widget that displays diagnostic information about the current site. This
+/// helps identify potential problems that you should consider addressing.
+///
+/// Use [`DiagnosticsPlugin`] to add this to your application.
+#[derive(SystemParam)]
+pub struct Diagnostics<'w, 's> {
+    icons: Res<'w, Icons>,
+    filters: Query<'w, 's, (&'static FilteredIssues<Entity>, &'static FilteredIssueKinds)>,
+    issue_dictionary: Res<'w, IssueDictionary>,
+    issues: Query<'w, 's, (&'static Issue, &'static Parent)>,
+    display_diagnostics: ResMut<'w, DiagnosticsDisplay>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    validate_workspace: EventWriter<'w, ValidateWorkspace>,
+    change_filtered_issues: EventWriter<'w, Change<FilteredIssues<Entity>>>,
+    change_filtered_issue_kinds: EventWriter<'w, Change<FilteredIssueKinds>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        events: &'a mut AppEvents<'w1, 's1>,
-        params: &'a DiagnosticParams<'w2, 's2>,
-    ) -> Self {
-        Self { events, params }
+impl<'w, 's> WidgetSystem for Diagnostics<'w, 's> {
+    fn show(_: (), ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        params.show_widget(ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w, 's> Diagnostics<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
         //let state = &mut self.events.file_events.diagnostic_window;
-        let mut state = (*self.events.file_events.diagnostic_window).clone();
-        let Some(root) = self.events.request.current_workspace.root else {
+        let mut state = (*self.display_diagnostics).clone();
+        let Some(root) = self.current_workspace.root else {
             return;
         };
-        let Ok((filtered_issues, filtered_issue_kinds)) = self.params.filters.get(root) else {
+        let Ok((filtered_issues, filtered_issue_kinds)) = self.filters.get(root) else {
             return;
         };
         let mut new_filtered_issues = filtered_issues.clone();
         let mut new_filtered_issue_kinds = filtered_issue_kinds.clone();
         ui.vertical(|ui| {
             ui.collapsing("Filters", |ui| {
-                for (uuid, name) in self.params.issue_dictionary.iter() {
+                for (uuid, name) in self.issue_dictionary.iter() {
                     let mut show_category = !new_filtered_issue_kinds.contains(uuid);
                     if ui.add(Checkbox::new(&mut show_category, name)).clicked() {
                         match show_category {
@@ -80,14 +113,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 for (idx, issue) in new_filtered_issues.iter().enumerate() {
                     ui.horizontal(|ui| {
                         let issue_type = self
-                            .params
                             .issue_dictionary
                             .get(&issue.kind)
                             .cloned()
                             .unwrap_or("Unknown Type".to_owned());
                         ui.label(issue_type);
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
+                            .add(ImageButton::new(self.icons.trash.egui()))
                             .on_hover_text("Remove this suppression")
                             .clicked()
                         {
@@ -98,13 +130,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                         ui,
                         |ui| {
                             for e in &issue.entities {
-                                SelectionWidget::new(
-                                    *e,
-                                    self.params.site_id.get(*e).ok().cloned(),
-                                    self.params.icons.as_ref(),
-                                    self.events,
-                                )
-                                .show(ui);
+                                self.selector.show_widget(*e, ui);
                             }
                         },
                     );
@@ -122,10 +148,10 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 .auto_shrink([false, false])
                 .show(ui, |ui| {
                     let mut issue_still_exists = false;
-                    if self.params.issues.is_empty() {
+                    if self.issues.is_empty() {
                         ui.label("No issues found");
                     }
-                    for (issue, parent) in &self.params.issues {
+                    for (issue, parent) in &self.issues {
                         if new_filtered_issue_kinds.contains(&issue.key.kind)
                             || new_filtered_issues.contains(&issue.key)
                             || **parent != root
@@ -136,7 +162,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                         issue_still_exists |= sel;
                         ui.horizontal(|ui| {
                             if ui
-                                .add(ImageButton::new(self.params.icons.hide.egui()))
+                                .add(ImageButton::new(self.icons.hide.egui()))
                                 .on_hover_text("Suppress this issue")
                                 .clicked()
                             {
@@ -164,39 +190,71 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 ui.label("Affected entities");
                 Grid::new("diagnostic_affected_entities").show(ui, |ui| {
                     for e in &sel.entities {
-                        SelectionWidget::new(
-                            *e,
-                            self.params.site_id.get(*e).ok().cloned(),
-                            self.params.icons.as_ref(),
-                            self.events,
-                        )
-                        .show(ui);
+                        self.selector.show_widget(*e, ui);
                     }
                 });
             }
 
             if ui.add(Button::new("Validate")).clicked() {
-                self.events
-                    .request
-                    .validate_workspace
-                    .send(ValidateWorkspace(root));
+                self.validate_workspace.send(ValidateWorkspace(root));
             }
             if ui.add(Button::new("Close")).clicked() {
                 state.show = false;
             }
         });
         if new_filtered_issues != *filtered_issues {
-            self.events
-                .change
-                .filtered_issues
+            self.change_filtered_issues
                 .send(Change::new(new_filtered_issues, root));
         }
         if new_filtered_issue_kinds != *filtered_issue_kinds {
-            self.events
-                .change
-                .filtered_issue_kinds
+            self.change_filtered_issue_kinds
                 .send(Change::new(new_filtered_issue_kinds, root));
         }
-        *self.events.file_events.diagnostic_window = state;
+        *self.display_diagnostics = state;
+    }
+}
+
+#[derive(Resource, Debug, Clone, Default)]
+pub struct DiagnosticsDisplay {
+    pub show: bool,
+    pub selected: Option<IssueKey<Entity>>,
+}
+
+fn handle_diagnostic_panel_visibility(
+    mut menu_events: EventReader<MenuEvent>,
+    issue_menu: Res<IssueMenu>,
+    mut diagnostic_window: ResMut<DiagnosticsDisplay>,
+) {
+    for event in menu_events.read() {
+        if event.clicked() && event.source() == issue_menu.diagnostic_tool {
+            diagnostic_window.show = true;
+        }
+    }
+}
+
+#[derive(Resource)]
+pub struct IssueMenu {
+    diagnostic_tool: Entity,
+}
+
+impl FromWorld for IssueMenu {
+    fn from_world(world: &mut World) -> Self {
+        let target_states = HashSet::from([
+            AppState::SiteEditor,
+            AppState::SiteDrawingEditor,
+            AppState::SiteVisualizer,
+        ]);
+        // Tools menu
+        let diagnostic_tool = world
+            .spawn(MenuItem::Text("Diagnostic Tool".to_string()))
+            .insert(MenuVisualizationStates(target_states))
+            .id();
+
+        let tool_header = world.resource::<ToolMenu>().get();
+        world
+            .entity_mut(tool_header)
+            .push_children(&[diagnostic_tool]);
+
+        IssueMenu { diagnostic_tool }
     }
 }
diff --git a/rmf_site_editor/src/widgets/new_model.rs b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
similarity index 79%
rename from rmf_site_editor/src/widgets/new_model.rs
rename to rmf_site_editor/src/widgets/fuel_asset_browser.rs
index 5550542d..0c7a2885 100644
--- a/rmf_site_editor/src/widgets/new_model.rs
+++ b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2023 Open Source Robotics Foundation
+ * Copyright (C) 2024 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,13 +15,28 @@
  *
 */
 
-use crate::interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D};
-use crate::site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache};
-use crate::AppEvents;
+use crate::{
+    interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D},
+    site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache},
+    widgets::prelude::*,
+};
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
+use bevy_egui::egui::{self, Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
 use gz_fuel::FuelModel;
 
+/// Add a [`FuelAssetBrowser`] widget to your application.
+#[derive(Default)]
+pub struct FuelAssetBrowserPlugin {}
+
+impl Plugin for FuelAssetBrowserPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<AssetGalleryStatus>();
+        let panel = PanelWidget::new(fuel_asset_browser_panel, &mut app.world);
+        let widget = Widget::new::<FuelAssetBrowser>(&mut app.world);
+        app.world.spawn((panel, widget));
+    }
+}
+
 /// Filters applied to models in the fuel list
 #[derive(Default)]
 pub struct ShowAssetFilters {
@@ -33,7 +48,7 @@ pub struct ShowAssetFilters {
     pub recall_private: Option<bool>,
 }
 
-/// Used to signals whether to show or hide the left side panel with the asset gallery
+/// Used to indicate whether to show or hide the [`FuelAssetBrowser`].
 #[derive(Resource, Default)]
 pub struct AssetGalleryStatus {
     pub show: bool,
@@ -46,28 +61,49 @@ pub struct AssetGalleryStatus {
     pub show_api_window: bool,
 }
 
+/// A widget for browsing models that can be downloaded from fuel.
+///
+/// This is part of the [`StandardUiPlugin`][1]. If you are not using the
+/// `StandardUiPlugin` then it is recommended that you use the
+/// [`FuelAssetBrowserPlugin`] to add this to the editor.
+///
+/// [1]: crate::widgets::StandardUiPlugin
 #[derive(SystemParam)]
-pub struct NewModelParams<'w> {
-    pub fuel_client: ResMut<'w, FuelClient>,
+pub struct FuelAssetBrowser<'w, 's> {
+    fuel_client: ResMut<'w, FuelClient>,
     // TODO(luca) refactor to see whether we need
-    pub asset_gallery_status: ResMut<'w, AssetGalleryStatus>,
-    pub model_preview_camera: Res<'w, ModelPreviewCamera>,
-    pub update_cache: EventWriter<'w, UpdateFuelCache>,
-    pub set_api_key: EventWriter<'w, SetFuelApiKey>,
+    asset_gallery_status: ResMut<'w, AssetGalleryStatus>,
+    model_preview_camera: Res<'w, ModelPreviewCamera>,
+    update_cache: EventWriter<'w, UpdateFuelCache>,
+    set_api_key: EventWriter<'w, SetFuelApiKey>,
+    commands: Commands<'w, 's>,
+    change_mode: EventWriter<'w, ChangeMode>,
 }
 
-pub struct NewModel<'a, 'w, 's> {
-    events: &'a mut AppEvents<'w, 's>,
+fn fuel_asset_browser_panel(In(input): In<PanelWidgetInput>, world: &mut World) {
+    if world.resource::<AssetGalleryStatus>().show {
+        egui::SidePanel::left("asset_gallery")
+            .resizable(true)
+            .min_width(320.0)
+            .show(&input.context, |ui| {
+                if let Err(err) = world.try_show(input.id, ui) {
+                    error!("Unable to display asset gallery: {err:?}");
+                }
+            });
+    }
 }
 
-impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
-    pub fn new(events: &'a mut AppEvents<'w, 's>) -> Self {
-        Self { events }
+impl<'w, 's> WidgetSystem for FuelAssetBrowser<'w, 's> {
+    fn show(_: (), ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        params.show_widget(ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let fuel_client = &mut self.events.new_model.fuel_client;
-        let gallery_status = &mut self.events.new_model.asset_gallery_status;
+impl<'w, 's> FuelAssetBrowser<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let fuel_client = &mut self.fuel_client;
+        let gallery_status = &mut self.asset_gallery_status;
         ui.label(RichText::new("Asset Gallery").size(18.0));
         ui.add_space(10.0);
         match &fuel_client.models {
@@ -212,25 +248,21 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                 ui.add_space(10.0);
 
                 ui.image(ImageSource::Texture(
-                    (
-                        self.events.new_model.model_preview_camera.egui_handle,
-                        [320.0, 240.0].into(),
-                    )
-                        .into(),
+                    (self.model_preview_camera.egui_handle, [320.0, 240.0].into()).into(),
                 ));
                 ui.add_space(10.0);
 
                 if gallery_status.selected.as_ref() != new_selected {
                     if let Some(selected) = new_selected {
                         // Set the model preview source to what is selected
-                        let model_entity = self.events.new_model.model_preview_camera.model_entity;
+                        let model_entity = self.model_preview_camera.model_entity;
                         let model = Model {
                             source: AssetSource::Remote(
                                 selected.owner.clone() + "/" + &selected.name + "/model.sdf",
                             ),
                             ..default()
                         };
-                        self.events.commands.entity(model_entity).insert(model);
+                        self.commands.entity(model_entity).insert(model);
                         gallery_status.selected = Some(selected.clone());
                     }
                 }
@@ -243,7 +275,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                             ),
                             ..default()
                         };
-                        self.events.request.change_mode.send(ChangeMode::To(
+                        self.change_mode.send(ChangeMode::To(
                             SelectAnchor3D::create_new_point().for_model(model).into(),
                         ));
                     }
@@ -260,9 +292,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                 ui.text_edit_singleline(&mut gallery_status.proposed_api_key);
                 if ui.add(Button::new("Save")).clicked() {
                     // Take it to avoid leaking the information in the dialog
-                    self.events
-                        .new_model
-                        .set_api_key
+                    self.set_api_key
                         .send(SetFuelApiKey(gallery_status.proposed_api_key.clone()));
                     fuel_client.token = Some(std::mem::take(&mut gallery_status.proposed_api_key));
                     gallery_status.show_api_window = false;
@@ -279,7 +309,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
             ui.label("Updating model cache...");
         } else {
             if ui.add(Button::new("Update model cache")).clicked() {
-                self.events.new_model.update_cache.send(UpdateFuelCache);
+                self.update_cache.send(UpdateFuelCache);
             }
         }
         if ui.add(Button::new("Close")).clicked() {
diff --git a/rmf_site_editor/src/widgets/icons.rs b/rmf_site_editor/src/widgets/icons.rs
index f55ededb..3c488dae 100644
--- a/rmf_site_editor/src/widgets/icons.rs
+++ b/rmf_site_editor/src/widgets/icons.rs
@@ -16,9 +16,20 @@
 */
 
 use crate::{recency::RankAdjustment, site::LayerVisibility};
-use bevy::{ecs::system::SystemState, prelude::*};
+use bevy::{asset::embedded_asset, ecs::system::SystemState, prelude::*};
 use bevy_egui::{egui::ImageSource, egui::TextureId, EguiContexts};
 
+/// Add a resource for the common icons of the application.
+#[derive(Default)]
+pub struct IconsPlugin {}
+
+impl Plugin for IconsPlugin {
+    fn build(&self, app: &mut App) {
+        add_widgets_icons(app);
+        app.init_resource::<Icons>();
+    }
+}
+
 struct IconBuilder(Handle<Image>);
 impl IconBuilder {
     pub fn new(name: &str, asset_server: &AssetServer) -> Self {
@@ -48,7 +59,7 @@ impl Icon {
     }
 }
 
-// TODO(MXG): Create a struct to manage bevy-egui image pairs
+/// A collection of icons used by the standard widgets.
 #[derive(Clone, Debug, Resource)]
 pub struct Icons {
     pub select: Icon,
@@ -156,3 +167,56 @@ impl Icons {
         }
     }
 }
+
+fn add_widgets_icons(app: &mut App) {
+    // Taken from https://github.com/bevyengine/bevy/issues/10377#issuecomment-1858797002
+    // TODO(luca) remove once we migrate to Bevy 0.13 that includes the fix
+    #[cfg(any(not(target_family = "windows"), target_env = "gnu"))]
+    {
+        embedded_asset!(app, "src/", "icons/add.png");
+        embedded_asset!(app, "src/", "icons/alignment.png");
+        embedded_asset!(app, "src/", "icons/alpha.png");
+        embedded_asset!(app, "src/", "icons/confirm.png");
+        embedded_asset!(app, "src/", "icons/down.png");
+        embedded_asset!(app, "src/", "icons/edit.png");
+        embedded_asset!(app, "src/", "icons/empty.png");
+        embedded_asset!(app, "src/", "icons/exit.png");
+        embedded_asset!(app, "src/", "icons/global.png");
+        embedded_asset!(app, "src/", "icons/hidden.png");
+        embedded_asset!(app, "src/", "icons/hide.png");
+        embedded_asset!(app, "src/", "icons/merge.png");
+        embedded_asset!(app, "src/", "icons/opaque.png");
+        embedded_asset!(app, "src/", "icons/reject.png");
+        embedded_asset!(app, "src/", "icons/search.png");
+        embedded_asset!(app, "src/", "icons/select.png");
+        embedded_asset!(app, "src/", "icons/selected.png");
+        embedded_asset!(app, "src/", "icons/to_bottom.png");
+        embedded_asset!(app, "src/", "icons/to_top.png");
+        embedded_asset!(app, "src/", "icons/trash.png");
+        embedded_asset!(app, "src/", "icons/up.png");
+    }
+    #[cfg(all(target_family = "windows", not(target_env = "gnu")))]
+    {
+        embedded_asset!(app, "src\\", "icons\\add.png");
+        embedded_asset!(app, "src\\", "icons\\alignment.png");
+        embedded_asset!(app, "src\\", "icons\\alpha.png");
+        embedded_asset!(app, "src\\", "icons\\confirm.png");
+        embedded_asset!(app, "src\\", "icons\\down.png");
+        embedded_asset!(app, "src\\", "icons\\edit.png");
+        embedded_asset!(app, "src\\", "icons\\empty.png");
+        embedded_asset!(app, "src\\", "icons\\exit.png");
+        embedded_asset!(app, "src\\", "icons\\global.png");
+        embedded_asset!(app, "src\\", "icons\\hidden.png");
+        embedded_asset!(app, "src\\", "icons\\hide.png");
+        embedded_asset!(app, "src\\", "icons\\merge.png");
+        embedded_asset!(app, "src\\", "icons\\opaque.png");
+        embedded_asset!(app, "src\\", "icons\\reject.png");
+        embedded_asset!(app, "src\\", "icons\\search.png");
+        embedded_asset!(app, "src\\", "icons\\select.png");
+        embedded_asset!(app, "src\\", "icons\\selected.png");
+        embedded_asset!(app, "src\\", "icons\\to_bottom.png");
+        embedded_asset!(app, "src\\", "icons\\to_top.png");
+        embedded_asset!(app, "src\\", "icons\\trash.png");
+        embedded_asset!(app, "src\\", "icons\\up.png");
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
index 27f5168e..1b472973 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
@@ -17,20 +17,21 @@
 
 use crate::{
     interaction::{Hover, MoveTo},
-    site::{
-        latlon_to_world, world_to_latlon, Anchor, AssociatedGraphs, Category, Change, Dependents,
-        GeographicComponent, JointProperties, LocationTags, MeshConstraint, SiteID, Subordinate,
+    site::{Anchor, Category, Change, Dependents, JointProperties, MeshConstraint, Subordinate},
+    widgets::{
+        inspector::{Inspect, InspectPoseComponent},
+        prelude::*,
+        Icons, SelectorWidget,
     },
-    widgets::{inspector::InspectPose, inspector::SelectionWidget, AppEvents, Icons},
     workcell::CreateJoint,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
-use std::collections::{BTreeMap, HashSet};
+use std::collections::{BTreeMap, BTreeSet};
 
 #[derive(SystemParam)]
-pub struct InspectAnchorParams<'w, 's> {
-    pub anchors: Query<
+pub struct InspectAnchor<'w, 's> {
+    anchors: Query<
         'w,
         's,
         (
@@ -41,269 +42,222 @@ pub struct InspectAnchorParams<'w, 's> {
             Option<&'static MeshConstraint<Entity>>,
         ),
     >,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub joints: Query<'w, 's, Entity, With<JointProperties>>,
-    pub geographic_offset: Query<'w, 's, &'static GeographicComponent>,
+    icons: Res<'w, Icons>,
+    joints: Query<'w, 's, Entity, With<JointProperties>>,
+    hover: EventWriter<'w, Hover>,
+    move_to: EventWriter<'w, MoveTo>,
+    mesh_constraints: EventWriter<'w, Change<MeshConstraint<Entity>>>,
+    create_joint: EventWriter<'w, CreateJoint>,
 }
 
-pub struct InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub anchor: Entity,
-    pub params: &'a InspectAnchorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-    pub is_dependency: bool,
-}
+impl<'w, 's> ShareableWidget for InspectAnchor<'w, 's> {}
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        anchor: Entity,
-        params: &'a InspectAnchorParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            anchor,
-            params,
-            events,
-            is_dependency: false,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectAnchor<'w, 's> {
+    fn show(
+        Inspect {
+            selection: anchor,
+            panel,
+            ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        impl_inspect_anchor(
+            InspectAnchorInput {
+                anchor,
+                is_dependency: false,
+                panel,
+            },
+            ui,
+            state,
+            world,
+        );
     }
+}
 
-    pub fn as_dependency(self) -> Self {
-        Self {
-            is_dependency: true,
-            ..self
-        }
+impl<'w, 's> WidgetSystem<InspectAnchorInput, Option<InspectAnchorResponse>>
+    for InspectAnchor<'w, 's>
+{
+    fn show(
+        input: InspectAnchorInput,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) -> Option<InspectAnchorResponse> {
+        impl_inspect_anchor(input, ui, state, world)
     }
+}
 
-    pub fn show(self, ui: &mut Ui) -> InspectAnchorResponse {
-        let mut replace = false;
-        if self.is_dependency {
-            SelectionWidget::new(
-                self.anchor,
-                self.params.site_id.get(self.anchor).ok().cloned(),
-                self.params.icons.as_ref(),
-                self.events,
-            )
-            .show(ui);
-
-            let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
+pub struct InspectAnchorInput {
+    pub anchor: Entity,
+    pub is_dependency: bool,
+    pub panel: PanelSide,
+}
 
-            if assign_response.hovered() {
-                self.events.request.hover.send(Hover(Some(self.anchor)));
-            }
+fn impl_inspect_anchor(
+    InspectAnchorInput {
+        anchor: id,
+        is_dependency,
+        panel,
+    }: InspectAnchorInput,
+    ui: &mut Ui,
+    state: &mut SystemState<InspectAnchor>,
+    world: &mut World,
+) -> Option<InspectAnchorResponse> {
+    if world.get::<Anchor>(id).is_none() {
+        return None;
+    }
 
-            replace = assign_response.clicked();
-            assign_response.on_hover_text("Reassign");
-        }
+    let mut replace = false;
+    if is_dependency {
+        world.show::<SelectorWidget, _, _>(id, ui);
 
-        if let Ok((anchor, tf, subordinate, parent, mesh_constraint)) =
-            self.params.anchors.get(self.anchor)
-        {
-            if let Some(subordinate) = subordinate {
-                ui.horizontal(|ui| {
-                    if let Some(boss) = subordinate.0 {
-                        ui.label("Subordinate to ").on_hover_text(
-                            "The position of a subordinate anchor is \
-                                managed by the properties of another entity.",
-                        );
-                        SelectionWidget::new(
-                            boss,
-                            self.params.site_id.get(boss).ok().copied(),
-                            self.params.icons.as_ref(),
-                            self.events,
-                        )
-                        .show(ui);
-                    } else {
-                        ui.label("Anonymous subordinate");
-                    }
-                });
-            } else {
-                match anchor {
-                    Anchor::Translate2D(_anchor) => {
-                        ui.vertical(|ui| {
-                            ui.horizontal(|ui| {
-                                if !self.is_dependency {
-                                    ui.label("x");
-                                }
-                                let mut x = tf.translation.x;
-                                ui.add(DragValue::new(&mut x).speed(0.01));
-                                // TODO(MXG): Make the drag speed a user-defined setting
+        let mut params = state.get_mut(world);
+        let edit_icon = params.icons.edit.egui();
+        let assign_response = ui.add(ImageButton::new(edit_icon));
 
-                                if !self.is_dependency {
-                                    ui.label("y");
-                                }
-                                let mut y = tf.translation.y;
-                                ui.add(DragValue::new(&mut y).speed(0.01));
+        if assign_response.hovered() {
+            params.hover.send(Hover(Some(id)));
+        }
 
-                                if x != tf.translation.x || y != tf.translation.y {
-                                    self.events.request.move_to.send(MoveTo {
-                                        entity: self.anchor,
-                                        transform: Transform::from_translation([x, y, 0.0].into()),
-                                    });
-                                }
-                            });
+        replace = assign_response.clicked();
+        assign_response.on_hover_text("Reassign");
+    }
 
-                            for comp in &self.params.geographic_offset {
-                                let Some(offset) = comp.0 else {
-                                    continue;
-                                };
-                                let Ok((mut lat, mut lon)) =
-                                    world_to_latlon(tf.translation, offset.anchor)
-                                else {
-                                    continue;
-                                };
+    let mut params = state.get_mut(world);
 
-                                let old_lat = lat.clone();
-                                let old_lon = lon.clone();
+    if let Ok((anchor, tf, subordinate, parent, mesh_constraint)) = params.anchors.get(id) {
+        if let Some(subordinate) = subordinate.map(|s| s.0) {
+            panel.orthogonal(ui, |ui| {
+                if let Some(boss) = subordinate {
+                    ui.label("Subordinate to ").on_hover_text(
+                        "The position of a subordinate anchor is \
+                        managed by the properties of another entity.",
+                    );
+                    world.show::<SelectorWidget, _, _>(boss, ui);
+                } else {
+                    ui.label("Anonymous subordinate");
+                }
+            });
+        } else {
+            match anchor {
+                Anchor::Translate2D(_) => {
+                    if !is_dependency {
+                        ui.label("x");
+                    }
+                    let mut x = tf.translation.x;
+                    ui.add(DragValue::new(&mut x).speed(0.01));
 
-                                if !self.is_dependency {
-                                    ui.label("Latitude");
-                                    ui.add(DragValue::new(&mut lat).speed(1e-16));
-                                    ui.label("Longitude");
-                                    ui.add(DragValue::new(&mut lon).speed(1e-16));
+                    if !is_dependency {
+                        ui.label("y");
+                    }
+                    let mut y = tf.translation.y;
+                    ui.add(DragValue::new(&mut y).speed(0.01));
 
-                                    if old_lat != lat || old_lon != lon {
-                                        self.events.request.move_to.send(MoveTo {
-                                            entity: self.anchor,
-                                            transform: Transform::from_translation(
-                                                latlon_to_world(
-                                                    lat as f32,
-                                                    lon as f32,
-                                                    offset.anchor,
-                                                ),
-                                            ),
-                                        });
-                                    }
-                                }
-                            }
+                    if x != tf.translation.x || y != tf.translation.y {
+                        {}
+                        params.move_to.send(MoveTo {
+                            entity: id,
+                            transform: Transform::from_translation([x, y, 0.0].into()),
                         });
                     }
-                    Anchor::CategorizedTranslate2D(_) => {
-                        warn!("Categorized translate inspector not implemented yet");
-                    }
-                    Anchor::Pose3D(pose) => {
-                        ui.vertical(|ui| {
-                            if let Some(c) = mesh_constraint {
-                                // For mesh constraints we only allow rotation editing
-                                if let Some(new_pose) =
-                                    InspectPose::new(&c.relative_pose).for_rotation().show(ui)
-                                {
-                                    // TODO(luca) Using moveto doesn't allow switching between variants of
-                                    // Pose3D
-                                    self.events
-                                        .workcell_change
-                                        .mesh_constraints
-                                        .send(Change::new(
-                                            MeshConstraint {
-                                                entity: c.entity,
-                                                element: c.element.clone(),
-                                                relative_pose: new_pose,
-                                            },
-                                            self.anchor,
-                                        ));
-                                }
-                            } else {
-                                if let Some(new_pose) = InspectPose::new(pose).show(ui) {
-                                    // TODO(luca) Using moveto doesn't allow switching between variants of
-                                    // Pose3D
-                                    self.events.request.move_to.send(MoveTo {
-                                        entity: self.anchor,
-                                        transform: new_pose.transform(),
-                                    });
-                                }
+                }
+                Anchor::CategorizedTranslate2D(_) => {
+                    warn!("Categorized translate inspector not implemented yet");
+                }
+                Anchor::Pose3D(pose) => {
+                    panel.align(ui, |ui| {
+                        if let Some(c) = mesh_constraint {
+                            if let Some(new_pose) =
+                                InspectPoseComponent::new(&c.relative_pose).for_rotation().show(ui)
+                            {
+                                // TODO(luca) Using moveto doesn't allow switching between
+                                // variants of Pose3D
+                                params.mesh_constraints.send(Change::new(
+                                    MeshConstraint {
+                                        entity: c.entity,
+                                        element: c.element.clone(),
+                                        relative_pose: new_pose,
+                                    },
+                                    id,
+                                ));
                             }
-                            // If the parent is not a joint, add a joint creation widget
-                            if self.params.joints.get(parent.get()).is_err() {
-                                if ui.button("Create joint").on_hover_text("Create a fixed joint and place it between the parent frame and this frame").clicked() {
-                                    self.events.request.create_joint.send(CreateJoint {
-                                        parent: parent.get(),
-                                        child: self.anchor,
-                                    });
-                                }
+                        } else {
+                            if let Some(new_pose) = InspectPoseComponent::new(pose).show(ui) {
+                                // TODO(luca) Using moveto doesn't allow switching between variants of
+                                // Pose3D
+                                params.move_to.send(MoveTo {
+                                    entity: id,
+                                    transform: new_pose.transform(),
+                                });
                             }
-                        });
-                    }
+                        }
+                        // If the parent is not a joint, add a joint creation widget
+                        if params.joints.get(parent.get()).is_err() {
+                            if ui.button("Create joint").on_hover_text("Create a fixed joint and place it between the parent frame and this frame").clicked() {
+                                params.create_joint.send(CreateJoint {
+                                    parent: parent.get(),
+                                    child: id,
+                                });
+                            }
+                        }
+                    });
                 }
             }
         }
-
-        InspectAnchorResponse { replace }
     }
-}
 
-pub struct InspectAnchorResponse {
-    pub replace: bool,
+    Some(InspectAnchorResponse { replace })
 }
 
 #[derive(SystemParam)]
-pub struct InspectAnchorDependentsParams<'w, 's> {
-    pub dependents: Query<'w, 's, &'static Dependents, With<Anchor>>,
-    pub locations: Query<'w, 's, &'static LocationTags, &'static AssociatedGraphs<Entity>>,
-    pub info: Query<'w, 's, (&'static Category, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
-}
-
-pub struct InspectAnchorDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub anchor: Entity,
-    pub params: &'a InspectAnchorDependentsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+pub struct InspectAnchorDependents<'w, 's> {
+    dependents: Query<'w, 's, &'static Dependents, With<Anchor>>,
+    category: Query<'w, 's, &'static Category>,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        anchor: Entity,
-        params: &'a InspectAnchorDependentsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            anchor,
-            params,
-            events,
-        }
-    }
-
-    fn show_dependents(
-        dependents: &HashSet<Entity>,
-        params: &InspectAnchorDependentsParams<'w1, 's1>,
-        events: &mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectAnchorDependents<'w, 's> {
+    fn show(
+        Inspect {
+            selection, panel, ..
+        }: Inspect,
         ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
     ) {
-        ui.heading("Dependents");
-        let mut category_map: BTreeMap<Category, BTreeMap<Entity, Option<u32>>> = BTreeMap::new();
-        for e in dependents {
-            if let Ok((category, site_id)) = params.info.get(*e) {
-                category_map
-                    .entry(*category)
-                    .or_default()
-                    .insert(*e, site_id.map(|s| s.0));
-            } else {
-                ui.label(format!("ERROR: Broken reference to entity {e:?}"));
-            }
+        let params = state.get(world);
+        let Ok(dependents) = params.dependents.get(selection) else {
+            return;
+        };
+        if dependents.is_empty() {
+            ui.label("No dependents");
+            return;
         }
 
-        for (category, entities) in &category_map {
-            ui.label(category.label());
-
-            for (e, site_id) in entities {
-                ui.horizontal(|ui| {
-                    SelectionWidget::new(*e, site_id.map(SiteID), params.icons.as_ref(), events)
-                        .show(ui);
-                });
+        let mut category_map: BTreeMap<Category, BTreeSet<Entity>> = BTreeMap::new();
+        for e in &dependents.0 {
+            if let Ok(category) = params.category.get(*e) {
+                category_map.entry(*category).or_default().insert(*e);
+            } else {
+                error!("Broken reference to entity {e:?}");
             }
         }
-    }
 
-    pub fn show(mut self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            if let Ok(dependents) = self.params.dependents.get(self.anchor) {
-                if dependents.is_empty() {
-                    ui.label("No dependents");
-                } else {
-                    Self::show_dependents(&dependents.0, &self.params, &mut self.events, ui);
+        panel.align(ui, |ui| {
+            ui.heading("Dependencies");
+            for (category, entities) in &category_map {
+                ui.label(category.label());
+                for e in entities {
+                    panel.orthogonal(ui, |ui| {
+                        world.show::<SelectorWidget, _, _>(*e, ui);
+                    });
                 }
-            } else {
-                ui.label("ERROR: Unable to find dependents info for this anchor");
             }
         });
     }
 }
+
+pub struct InspectAnchorResponse {
+    pub replace: bool,
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
index 246777a0..f85298b2 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
@@ -15,7 +15,12 @@
  *
 */
 
-use crate::site::DefaultFile;
+use crate::{
+    site::{Change, DefaultFile, Pending},
+    widgets::{prelude::*, Inspect},
+    CurrentWorkspace,
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, Ui};
 use pathdiff::diff_paths;
 use rmf_site_format::{AssetSource, RecallAssetSource};
@@ -23,13 +28,51 @@ use rmf_site_format::{AssetSource, RecallAssetSource};
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::FileDialog;
 
-pub struct InspectAssetSource<'a> {
+#[derive(SystemParam)]
+pub struct InspectAssetSource<'w, 's> {
+    asset_sources:
+        Query<'w, 's, (&'static AssetSource, &'static RecallAssetSource), Without<Pending>>,
+    change_asset_source: EventWriter<'w, Change<AssetSource>>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    default_file: Query<'w, 's, &'static DefaultFile>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectAssetSource<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((source, recall)) = params.asset_sources.get(selection) else {
+            return;
+        };
+
+        let default_file = params
+            .current_workspace
+            .root
+            .map(|e| params.default_file.get(e).ok())
+            .flatten();
+
+        if let Some(new_source) =
+            InspectAssetSourceComponent::new(source, recall, default_file).show(ui)
+        {
+            params
+                .change_asset_source
+                .send(Change::new(new_source, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectAssetSourceComponent<'a> {
     pub source: &'a AssetSource,
     pub recall: &'a RecallAssetSource,
     pub default_file: Option<&'a DefaultFile>,
 }
 
-impl<'a> InspectAssetSource<'a> {
+impl<'a> InspectAssetSourceComponent<'a> {
     pub fn new(
         source: &'a AssetSource,
         recall: &'a RecallAssetSource,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
index 48450ece..e28d2371 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
@@ -20,7 +20,7 @@ use crate::{
         AssociatedGraphs, Change, ConsiderAssociatedGraph, NameInSite, NavGraphMarker,
         RecallAssociatedGraphs,
     },
-    widgets::{AppEvents, Icons},
+    widgets::{prelude::*, Icons, Inspect},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, ImageButton, Ui};
@@ -28,7 +28,7 @@ use smallvec::SmallVec;
 use std::collections::BTreeMap;
 
 #[derive(SystemParam)]
-pub struct InspectAssociatedGraphsParams<'w, 's> {
+pub struct InspectAssociatedGraphs<'w, 's> {
     associated: Query<
         'w,
         's,
@@ -39,29 +39,25 @@ pub struct InspectAssociatedGraphsParams<'w, 's> {
     >,
     graphs: Query<'w, 's, (Entity, &'static NameInSite), With<NavGraphMarker>>,
     icons: Res<'w, Icons>,
+    consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
+    change_associated_graphs: EventWriter<'w, Change<AssociatedGraphs<Entity>>>,
 }
 
-pub struct InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's2> {
-    pub entity: Entity,
-    pub params: &'a InspectAssociatedGraphsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectAssociatedGraphsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectAssociatedGraphs<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let (associated, recall) = match self.params.associated.get(self.entity) {
+impl<'w, 's> InspectAssociatedGraphs<'w, 's> {
+    fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let (associated, recall) = match self.associated.get(id) {
             Ok(q) => q,
             _ => return,
         };
@@ -87,24 +83,20 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
             AssociatedGraphs::Only(set) | AssociatedGraphs::AllExcept(set) => {
                 let mut removed_graphs: SmallVec<[Entity; 2]> = SmallVec::new();
                 for g in set.iter() {
-                    let (_, name) = match self.params.graphs.get(*g) {
+                    let (_, name) = match self.graphs.get(*g) {
                         Ok(q) => q,
                         _ => continue,
                     };
                     ui.horizontal(|ui| {
-                        if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
-                            .clicked()
-                        {
+                        if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
                             removed_graphs.push(*g);
                         }
                         ui.label(&name.0);
                     });
                 }
 
-                let unused_graphs: BTreeMap<Entity, &NameInSite> = BTreeMap::from_iter(
-                    self.params.graphs.iter().filter(|(e, _)| !set.contains(e)),
-                );
+                let unused_graphs: BTreeMap<Entity, &NameInSite> =
+                    BTreeMap::from_iter(self.graphs.iter().filter(|(e, _)| !set.contains(e)));
 
                 if let Some((first, _)) = unused_graphs.iter().next() {
                     ui.horizontal(|ui| {
@@ -124,16 +116,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
 
                         if add_graph {
                             set.insert(choice);
-                            self.events
-                                .request
-                                .consider_graph
-                                .send(ConsiderAssociatedGraph::new(None, self.entity));
+                            self.consider_graph
+                                .send(ConsiderAssociatedGraph::new(None, id));
                         } else {
                             if Some(choice) != recall.consider {
-                                self.events
-                                    .request
-                                    .consider_graph
-                                    .send(ConsiderAssociatedGraph::new(Some(choice), self.entity));
+                                self.consider_graph
+                                    .send(ConsiderAssociatedGraph::new(Some(choice), id));
                             }
                         }
                     });
@@ -146,10 +134,8 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
         }
 
         if new_associated != *associated {
-            self.events
-                .change
-                .associated_graphs
-                .send(Change::new(new_associated, self.entity));
+            self.change_associated_graphs
+                .send(Change::new(new_associated, id));
         }
 
         ui.add_space(10.0);
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_door.rs b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
index 2710ff67..86e1df17 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_door.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
@@ -15,10 +15,43 @@
  *
 */
 
-use crate::widgets::inspector::{InspectAngle, InspectSide};
+use crate::{
+    site::Change,
+    widgets::{
+        inspector::{InspectAngle, InspectSide},
+        prelude::*,
+        Inspect,
+    },
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, DragValue, Ui};
 use rmf_site_format::{DoorType, RecallDoorType, Swing};
 
+#[derive(SystemParam)]
+pub struct InspectDoor<'w, 's> {
+    doors: Query<'w, 's, (&'static DoorType, &'static RecallDoorType)>,
+    change_door: EventWriter<'w, Change<DoorType>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectDoor<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((door, recall)) = params.doors.get(selection) else {
+            return;
+        };
+
+        if let Some(new_door) = InspectDoorType::new(door, recall).show(ui) {
+            params.change_door.send(Change::new(new_door, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
 pub struct InspectDoorType<'a> {
     pub kind: &'a DoorType,
     pub recall: &'a RecallDoorType,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs b/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs
new file mode 100644
index 00000000..dee238f4
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs
@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{AlignSiteDrawings, BeginEditDrawing, Change, PixelsPerMeter},
+    widgets::{prelude::*, Inspect, InspectValue},
+    AppState, CurrentWorkspace, Icons,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::Button;
+
+#[derive(SystemParam)]
+pub struct InspectDrawing<'w, 's> {
+    pixels_per_meter: Query<'w, 's, &'static PixelsPerMeter>,
+    change_pixels_per_meter: EventWriter<'w, Change<PixelsPerMeter>>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    align_site: EventWriter<'w, AlignSiteDrawings>,
+    app_state: Res<'w, State<AppState>>,
+    icons: Res<'w, Icons>,
+    begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectDrawing<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(ppm) = params.pixels_per_meter.get(selection) else {
+            return;
+        };
+
+        if *params.app_state.get() == AppState::SiteEditor {
+            ui.add_space(10.0);
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.edit.egui(),
+                    "Edit Drawing",
+                ))
+                .clicked()
+            {
+                params.begin_edit_drawing.send(BeginEditDrawing(selection));
+            }
+            ui.add_space(10.0);
+        }
+
+        if *params.app_state.get() != AppState::SiteDrawingEditor {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.alignment.egui(),
+                    "Align Drawings",
+                ))
+                .on_hover_text(
+                    "Align all drawings in the site based on their fiducials and measurements",
+                )
+                .clicked()
+            {
+                if let Some(site) = params.current_workspace.root {
+                    params.align_site.send(AlignSiteDrawings(site));
+                }
+            }
+            ui.add_space(10.0);
+        }
+
+        if let Some(new_ppm) = InspectValue::<f32>::new("Pixels per meter", ppm.0)
+            .clamp_range(0.0001..=std::f32::INFINITY)
+            .tooltip("How many image pixels per meter")
+            .show(ui)
+        {
+            params
+                .change_pixels_per_meter
+                .send(Change::new(PixelsPerMeter(new_ppm), selection));
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
index 280ca60e..b71ea1a1 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
@@ -17,70 +17,65 @@
 
 use crate::{
     interaction::{ChangeMode, SelectAnchor},
-    site::{Category, EdgeLabels, Original},
+    site::{Category, EdgeLabels, Original, SiteID},
     widgets::{
-        inspector::{InspectAnchorParams, InspectAnchorWidget},
-        AppEvents,
+        inspector::{Inspect, InspectAnchor, InspectAnchorInput},
+        prelude::*,
     },
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{Grid, Ui};
 use rmf_site_format::{Edge, Side};
 
-pub struct InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub entity: Entity,
-    pub category: &'a Category,
-    pub edge: &'a Edge<Entity>,
-    pub original: Option<&'a Original<Edge<Entity>>>,
-    pub labels: Option<&'a EdgeLabels>,
-    pub anchor_params: &'a InspectAnchorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectEdge<'w, 's> {
+    edges: Query<
+        'w,
+        's,
+        (
+            &'static Category,
+            &'static Edge<Entity>,
+            Option<&'static Original<Edge<Entity>>>,
+            Option<&'static EdgeLabels>,
+        ),
+    >,
+    change_mode: EventWriter<'w, ChangeMode>,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        category: &'a Category,
-        edge: &'a Edge<Entity>,
-        original: Option<&'a Original<Edge<Entity>>>,
-        labels: Option<&'a EdgeLabels>,
-        anchor_params: &'a InspectAnchorParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            category,
-            edge,
-            original,
-            labels,
-            anchor_params,
-            events,
-        }
-    }
+impl<'w, 's> ShareableWidget for InspectEdge<'w, 's> {}
 
-    pub fn start_text(&self) -> &'static str {
-        self.labels.unwrap_or(&EdgeLabels::default()).start()
-    }
-
-    pub fn end_text(&self) -> &'static str {
-        self.labels.unwrap_or(&EdgeLabels::default()).end()
-    }
+impl<'w, 's> WidgetSystem<Inspect> for InspectEdge<'w, 's> {
+    fn show(
+        Inspect {
+            selection: id,
+            panel,
+            ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let params = state.get_mut(world);
+        let Ok((category, current_edge, original, labels)) = params.edges.get(id) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) {
-        let edge = if let Some(original) = self.original {
-            if original.is_reverse_of(self.edge) {
-                // The user is previewing a flipped edge. To avoid ugly
-                // high frequency UI flipping, we will display the edge
-                // in its original form until the user has committed to
-                // the flip.
-                &original.0
+        let edge = if let Some(original) = original {
+            if original.is_reverse_of(current_edge) {
+                // The user is previewing a flipped edge. To avoid ugly high
+                // frequency UI flipping, we will display the edge in its
+                // original form until the user has committed to the flip.
+                original.0
             } else {
-                self.edge
+                *current_edge
             }
         } else {
-            self.edge
+            *current_edge
         };
 
+        let labels = labels.copied().unwrap_or_default();
+        let category = *category;
+
         Grid::new("inspect_edge").show(ui, |ui| {
             ui.label("");
             ui.label("ID");
@@ -89,39 +84,85 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
             ui.label("y");
             ui.end_row();
 
-            ui.label(self.start_text());
-            let start_response =
-                InspectAnchorWidget::new(edge.start(), self.anchor_params, self.events)
-                    .as_dependency()
-                    .show(ui);
-            ui.end_row();
-            if start_response.replace {
-                if let Some(request) =
-                    SelectAnchor::replace_side(self.entity, Side::Left).for_category(*self.category)
-                {
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
-                }
-            }
+            Self::show_anchor(
+                Side::Left,
+                id,
+                edge,
+                labels,
+                category,
+                panel,
+                ui,
+                state,
+                world,
+            );
+            Self::show_anchor(
+                Side::Right,
+                id,
+                edge,
+                labels,
+                category,
+                panel,
+                ui,
+                state,
+                world,
+            );
+        });
+        ui.add_space(10.0);
+    }
+}
 
-            ui.label(self.end_text());
-            let end_response =
-                InspectAnchorWidget::new(edge.end(), self.anchor_params, self.events)
-                    .as_dependency()
-                    .show(ui);
-            ui.end_row();
-            if end_response.replace {
-                if let Some(request) = SelectAnchor::replace_side(self.entity, Side::Right)
-                    .for_category(*self.category)
-                {
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
+impl<'w, 's> InspectEdge<'w, 's> {
+    fn show_anchor(
+        side: Side,
+        id: Entity,
+        edge: Edge<Entity>,
+        labels: EdgeLabels,
+        category: Category,
+        panel: PanelSide,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        ui.label(labels.side(side));
+        let anchor = edge.side(side);
+        let response = world.show::<InspectAnchor, _, _>(
+            InspectAnchorInput {
+                anchor,
+                is_dependency: true,
+                panel,
+            },
+            ui,
+        );
+        ui.end_row();
+
+        match response {
+            Some(response) => {
+                if response.replace {
+                    if let Some(request) =
+                        SelectAnchor::replace_side(id, side).for_category(category)
+                    {
+                        info!(
+                            "Triggered anchor replacement for side \
+                            {side:?} of edge {edge:?} with category {category:?}"
+                        );
+                        let mut params = state.get_mut(world);
+                        params.change_mode.send(ChangeMode::To(request.into()));
+                    } else {
+                        error!(
+                            "Failed to trigger an anchor replacement for side \
+                            {side:?} of edge {edge:?} with category {category:?}"
+                        );
+                    }
                 }
             }
-        });
+            None => {
+                error!(
+                    "An endpoint in the edge {id:?} (Site ID {:?}) is not an \
+                    anchor: {anchor:?}! This should never happen! Please report \
+                    this to the site editor developers.",
+                    world.get::<SiteID>(anchor),
+                );
+            }
+        }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
index 0a2af2d4..4e78394b 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
@@ -17,7 +17,7 @@
 
 use crate::{
     site::{Affiliation, Change, FiducialGroup, FiducialMarker, FiducialUsage, Group, NameInSite},
-    widgets::{AppEvents, Icons},
+    widgets::{prelude::*, Icons, Inspect, InspectionPlugin},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, ImageButton, Ui};
@@ -57,207 +57,208 @@ impl SearchResult {
     }
 }
 
+#[derive(Default)]
+pub struct InspectFiducialPlugin {}
+
+impl Plugin for InspectFiducialPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<SearchForFiducial>()
+            .add_plugins(InspectionPlugin::<InspectFiducial>::new());
+    }
+}
+
 #[derive(SystemParam)]
-pub struct InspectFiducialParams<'w, 's> {
+pub struct InspectFiducial<'w, 's> {
     fiducials: Query<'w, 's, (&'static Affiliation<Entity>, &'static Parent), With<FiducialMarker>>,
     group_names: Query<'w, 's, &'static NameInSite, (With<Group>, With<FiducialMarker>)>,
     usage: Query<'w, 's, &'static FiducialUsage>,
     icons: Res<'w, Icons>,
+    search_for_fiducial: ResMut<'w, SearchForFiducial>,
+    commands: Commands<'w, 's>,
+    change_affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
 }
 
-pub struct InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
-    entity: Entity,
-    params: &'a InspectFiducialParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectFiducialParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((affiliation, parent)) = self.params.fiducials.get(self.entity) else {
+impl<'w, 's> WidgetSystem<Inspect> for InspectFiducial<'w, 's> {
+    fn show(
+        Inspect {
+            selection, panel, ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((affiliation, parent)) = params.fiducials.get(selection) else {
             return;
         };
-        let Ok(tracker) = self.params.usage.get(parent.get()) else {
+        let Ok(tracker) = params.usage.get(parent.get()) else {
             return;
         };
 
-        ui.separator();
-        ui.label("Affiliation");
-        let get_group_name = |affiliation: Affiliation<Entity>| {
-            if let Some(group) = affiliation.0 {
-                if let Ok(name) = self.params.group_names.get(group) {
-                    Some(name.0.clone())
+        panel.align(ui, |ui| {
+            ui.separator();
+            ui.label("Affiliation");
+            let get_group_name = |affiliation: Affiliation<Entity>| {
+                if let Some(group) = affiliation.0 {
+                    if let Ok(name) = params.group_names.get(group) {
+                        Some(name.0.clone())
+                    } else {
+                        None
+                    }
                 } else {
-                    None
+                    Some("<none>".to_owned())
                 }
-            } else {
-                Some("<none>".to_owned())
-            }
-        };
-        let selected_text =
-            get_group_name(*affiliation).unwrap_or_else(|| "<broken reference>".to_owned());
-
-        ui.horizontal(|ui| {
-            let search = &mut self.events.change.search_for_fiducial.0;
-            let mut result = SearchResult::NoMatch;
-            let mut any_partial_matches = false;
+            };
+            let selected_text =
+                get_group_name(*affiliation).unwrap_or_else(|| "<broken reference>".to_owned());
 
-            if search.is_empty() {
-                // An empty string should not be used
-                result = SearchResult::Empty;
-            }
+            panel.orthogonal(ui, |ui| {
+                let search = &mut params.search_for_fiducial.0;
+                let mut result = SearchResult::NoMatch;
+                let mut any_partial_matches = false;
 
-            if *search == selected_text {
-                result = SearchResult::Current;
-            }
+                if search.is_empty() {
+                    // An empty string should not be used
+                    result = SearchResult::Empty;
+                }
 
-            for (e, name) in tracker.unused().iter() {
-                if *search == *name {
-                    result.consider(*e);
+                if *search == selected_text {
+                    result = SearchResult::Current;
                 }
 
-                if !any_partial_matches {
-                    if name.contains(&*search) {
-                        any_partial_matches = true;
+                for (e, name) in tracker.unused().iter() {
+                    if *search == *name {
+                        result.consider(*e);
                     }
-                }
-            }
 
-            for (e, name) in tracker.used().iter() {
-                if *search == *name && !affiliation.0.is_some_and(|a| a == *e) {
-                    result.conflict("Group name is already taken");
+                    if !any_partial_matches {
+                        if name.contains(&*search) {
+                            any_partial_matches = true;
+                        }
+                    }
                 }
-            }
 
-            if any_partial_matches {
-                if ui
-                    .add(ImageButton::new(self.params.icons.search.egui()))
-                    .on_hover_text("Search results for this text can be found below")
-                    .clicked()
-                {
-                    info!("Use the drop-down box to choose a group for this fiducial");
+                for (e, name) in tracker.used().iter() {
+                    if *search == *name && !affiliation.0.is_some_and(|a| a == *e) {
+                        result.conflict("Group name is already taken");
+                    }
                 }
-            } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui()))
-                    .on_hover_text("No search results can be found for this text");
-            }
 
-            match result {
-                SearchResult::Empty => {
+                if any_partial_matches {
                     if ui
-                        .add(ImageButton::new(self.params.icons.hidden.egui()))
-                        .on_hover_text("An empty string is not a good fiducial group name")
+                        .add(ImageButton::new(params.icons.search.egui()))
+                        .on_hover_text("Search results for this text can be found below")
                         .clicked()
                     {
-                        warn!("You should not use an empty string as a fiducial group name");
+                        info!("Use the drop-down box to choose a group for this fiducial");
                     }
+                } else {
+                    ui.add(ImageButton::new(params.icons.empty.egui()))
+                        .on_hover_text("No search results can be found for this text");
                 }
-                SearchResult::Current => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.selected.egui()))
-                        .on_hover_text("This is the name of the fiducial's current group")
-                        .clicked()
-                    {
-                        info!("This fiducial group is already selected");
+
+                match result {
+                    SearchResult::Empty => {
+                        if ui
+                            .add(ImageButton::new(params.icons.hidden.egui()))
+                            .on_hover_text("An empty string is not a good fiducial group name")
+                            .clicked()
+                        {
+                            warn!("You should not use an empty string as a fiducial group name");
+                        }
                     }
-                }
-                SearchResult::NoMatch => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.add.egui()))
-                        .on_hover_text("Create a new group for this fiducial")
-                        .clicked()
-                    {
-                        let new_group = self
-                            .events
-                            .commands
-                            .spawn(FiducialGroup::new(NameInSite(search.clone())))
-                            .set_parent(tracker.site())
-                            .id();
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(new_group)), self.entity));
+                    SearchResult::Current => {
+                        if ui
+                            .add(ImageButton::new(params.icons.selected.egui()))
+                            .on_hover_text("This is the name of the fiducial's current group")
+                            .clicked()
+                        {
+                            info!("This fiducial group is already selected");
+                        }
                     }
-                }
-                SearchResult::Match(group) => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.confirm.egui()))
-                        .on_hover_text("Select this group")
-                        .clicked()
-                    {
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(group)), self.entity));
+                    SearchResult::NoMatch => {
+                        if ui
+                            .add(ImageButton::new(params.icons.add.egui()))
+                            .on_hover_text("Create a new group for this fiducial")
+                            .clicked()
+                        {
+                            let new_group = params
+                                .commands
+                                .spawn(FiducialGroup::new(NameInSite(search.clone())))
+                                .set_parent(tracker.site())
+                                .id();
+                            params
+                                .change_affiliation
+                                .send(Change::new(Affiliation(Some(new_group)), selection));
+                        }
                     }
-                }
-                SearchResult::Conflict(text) => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.reject.egui()))
-                        .on_hover_text(text)
-                        .clicked()
-                    {
-                        warn!("Cannot set {search} as the fiducial group name: {text}");
+                    SearchResult::Match(group) => {
+                        if ui
+                            .add(ImageButton::new(params.icons.confirm.egui()))
+                            .on_hover_text("Select this group")
+                            .clicked()
+                        {
+                            params
+                                .change_affiliation
+                                .send(Change::new(Affiliation(Some(group)), selection));
+                        }
+                    }
+                    SearchResult::Conflict(text) => {
+                        if ui
+                            .add(ImageButton::new(params.icons.reject.egui()))
+                            .on_hover_text(text)
+                            .clicked()
+                        {
+                            warn!("Cannot set {search} as the fiducial group name: {text}");
+                        }
                     }
                 }
-            }
 
-            ui.text_edit_singleline(search)
-                .on_hover_text("Search or add a group name for this fiducial");
-        });
+                ui.text_edit_singleline(search)
+                    .on_hover_text("Search or add a group name for this fiducial");
+            });
 
-        let mut new_affiliation = affiliation.clone();
-        ui.horizontal(|ui| {
-            if ui
-                .add(ImageButton::new(self.params.icons.exit.egui()))
-                .on_hover_text("Remove this fiducial from its current group")
-                .clicked()
-            {
-                new_affiliation = Affiliation(None);
-            }
+            let mut new_affiliation = affiliation.clone();
+            panel.orthogonal(ui, |ui| {
+                if ui
+                    .add(ImageButton::new(params.icons.exit.egui()))
+                    .on_hover_text("Remove this fiducial from its current group")
+                    .clicked()
+                {
+                    new_affiliation = Affiliation(None);
+                }
 
-            let mut clear_filter = false;
-            ComboBox::from_id_source("fiducial_affiliation")
-                .selected_text(selected_text)
-                .show_ui(ui, |ui| {
-                    if let Some(group_name) = get_group_name(new_affiliation) {
-                        ui.selectable_value(&mut new_affiliation, *affiliation, group_name);
-                    }
+                let mut clear_filter = false;
+                ComboBox::from_id_source("fiducial_affiliation")
+                    .selected_text(selected_text)
+                    .show_ui(ui, |ui| {
+                        if let Some(group_name) = get_group_name(new_affiliation) {
+                            ui.selectable_value(&mut new_affiliation, *affiliation, group_name);
+                        }
 
-                    for (group, name) in tracker.unused() {
-                        if name.contains(&self.events.change.search_for_fiducial.0) {
-                            let select_affiliation = Affiliation(Some(*group));
-                            ui.selectable_value(&mut new_affiliation, select_affiliation, name);
+                        for (group, name) in tracker.unused() {
+                            if name.contains(&params.search_for_fiducial.0) {
+                                let select_affiliation = Affiliation(Some(*group));
+                                ui.selectable_value(&mut new_affiliation, select_affiliation, name);
+                            }
                         }
-                    }
 
-                    if !self.events.change.search_for_fiducial.0.is_empty() {
-                        ui.selectable_value(&mut clear_filter, true, "more...");
-                    }
-                });
+                        if !params.search_for_fiducial.0.is_empty() {
+                            ui.selectable_value(&mut clear_filter, true, "more...");
+                        }
+                    });
 
-            if clear_filter {
-                self.events.change.search_for_fiducial.0.clear();
+                if clear_filter {
+                    params.search_for_fiducial.0.clear();
+                }
+            });
+
+            if new_affiliation != *affiliation {
+                params
+                    .change_affiliation
+                    .send(Change::new(new_affiliation, selection));
             }
+            ui.separator();
         });
-
-        if new_affiliation != *affiliation {
-            self.events
-                .change
-                .affiliation
-                .send(Change::new(new_affiliation, self.entity));
-        }
-        ui.separator();
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_geography.rs b/rmf_site_editor/src/widgets/inspector/inspect_geography.rs
new file mode 100644
index 00000000..9daf5f50
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_geography.rs
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::MoveTo,
+    site::*,
+    widgets::{inspector::*, prelude::*},
+    CurrentWorkspace,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::DragValue;
+
+#[derive(SystemParam)]
+pub struct InspectGeography<'w, 's> {
+    geographical: Query<'w, 's, &'static GeographicComponent>,
+    tfs: Query<'w, 's, &'static Transform, Or<(With<Anchor>, With<Pose>)>>,
+    move_to: EventWriter<'w, MoveTo>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectGeography<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut param = state.get_mut(world);
+        let Some(workspace) = param.current_workspace.root else {
+            return;
+        };
+        let Ok(geo) = param.geographical.get(workspace) else {
+            return;
+        };
+        let Ok(tf) = param.tfs.get(selection) else {
+            return;
+        };
+
+        if let Some(offset) = geo.0 {
+            let (mut lat, mut lon) = match world_to_latlon(tf.translation, offset.anchor) {
+                Ok(values) => values,
+                Err(err) => {
+                    warn!("Unable to obtain latitude and longitude: {err:?}");
+                    return;
+                }
+            };
+
+            let old_lat = lat;
+            let old_lon = lon;
+
+            ui.label("Latitude");
+            ui.add(DragValue::new(&mut lat).speed(0.0));
+            ui.label("Longitude");
+            ui.add(DragValue::new(&mut lon).speed(0.0));
+
+            if old_lat != lat || old_lon != lon {
+                param.move_to.send(MoveTo {
+                    entity: selection,
+                    transform: Transform::from_translation(latlon_to_world(
+                        lat as f32,
+                        lon as f32,
+                        offset.anchor,
+                    )),
+                });
+            }
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_group.rs b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
index 23e25e81..f7b0df47 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_group.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
@@ -16,69 +16,71 @@
 */
 
 use crate::{
-    site::{Affiliation, Change, DefaultFile, Group, Members, SiteID, Texture},
-    widgets::{
-        inspector::{InspectTexture, SelectionWidget},
-        AppEvents,
-    },
-    Icons,
+    site::{Affiliation, Change, DefaultFile, Group, Members, NameInSite, Texture},
+    widgets::{inspector::InspectTexture, prelude::*, Inspect, SelectorWidget},
+    CurrentWorkspace,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{CollapsingHeader, RichText, Ui};
 
 #[derive(SystemParam)]
-pub struct InspectGroupParams<'w, 's> {
-    pub is_group: Query<'w, 's, (), With<Group>>,
-    pub affiliation: Query<'w, 's, &'static Affiliation<Entity>>,
-    pub textures: Query<'w, 's, &'static Texture>,
-    pub members: Query<'w, 's, &'static Members>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub icons: Res<'w, Icons>,
+pub struct InspectGroup<'w, 's> {
+    is_group: Query<'w, 's, (), With<Group>>,
+    affiliation: Query<'w, 's, &'static Affiliation<Entity>>,
+    names: Query<'w, 's, &'static NameInSite>,
+    textures: Query<'w, 's, &'static Texture>,
+    members: Query<'w, 's, &'static Members>,
+    default_file: Query<'w, 's, &'static DefaultFile>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    change_texture: EventWriter<'w, Change<Texture>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectGroup<'a, 'w1, 'w2, 's1, 's2> {
-    group: Entity,
-    selection: Entity,
-    default_file: Option<&'a DefaultFile>,
-    params: &'a InspectGroupParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectGroup<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectGroup<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        group: Entity,
-        selection: Entity,
-        default_file: Option<&'a DefaultFile>,
-        params: &'a InspectGroupParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            group,
-            selection,
-            default_file,
-            params,
-            events,
+impl<'w, 's> InspectGroup<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        if self.is_group.contains(id) {
+            self.show_group_properties(id, ui);
+        }
+
+        if let Ok(Affiliation(Some(group))) = self.affiliation.get(id) {
+            ui.separator();
+            let name = self.names.get(*group).map(|n| n.0.as_str()).unwrap_or("");
+            ui.label(RichText::new(format!("Group Properties of [{}]", name)).size(18.0));
+            ui.add_space(5.0);
+            self.show_group_properties(*group, ui);
         }
     }
 
-    pub fn show(self, ui: &mut Ui) {
-        if let Ok(texture) = self.params.textures.get(self.group) {
+    pub fn show_group_properties(&mut self, id: Entity, ui: &mut Ui) {
+        let default_file = self
+            .current_workspace
+            .root
+            .map(|e| self.default_file.get(e).ok())
+            .flatten();
+
+        if let Ok(texture) = self.textures.get(id) {
             ui.label(RichText::new("Texture Properties").size(18.0));
-            if let Some(new_texture) = InspectTexture::new(texture, self.default_file).show(ui) {
-                self.events
-                    .change
-                    .texture
-                    .send(Change::new(new_texture, self.group));
+            if let Some(new_texture) = InspectTexture::new(texture, default_file).show(ui) {
+                self.change_texture.send(Change::new(new_texture, id));
             }
             ui.add_space(10.0);
         }
-        if let Ok(members) = self.params.members.get(self.group) {
+        if let Ok(members) = self.members.get(id) {
             CollapsingHeader::new("Members").show(ui, |ui| {
                 for member in members.iter() {
-                    let site_id = self.params.site_id.get(self.group).ok().cloned();
-                    SelectionWidget::new(*member, site_id, &self.params.icons, self.events)
-                        .as_selected(self.selection == *member)
-                        .show(ui);
+                    self.selector.show_widget(*member, ui);
                 }
             });
         }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
index 089b0dd8..8f3686eb 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
@@ -16,16 +16,15 @@
 */
 
 use crate::{
-    site::{Dependents, FrameMarker, JointProperties, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents},
-    Icons,
+    site::{Dependents, FrameMarker, JointProperties},
+    widgets::{prelude::*, Inspect, SelectorWidget},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::Ui;
 
 #[derive(SystemParam)]
-pub struct InspectJointParams<'w, 's> {
-    pub joints: Query<
+pub struct InspectJoint<'w, 's> {
+    joints: Query<
         'w,
         's,
         (
@@ -34,53 +33,34 @@ pub struct InspectJointParams<'w, 's> {
             &'static JointProperties,
         ),
     >,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub frames: Query<'w, 's, (), With<FrameMarker>>,
+    frames: Query<'w, 's, (), With<FrameMarker>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectJointWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub joint: Entity,
-    pub params: &'a InspectJointParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectJointWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        joint: Entity,
-        params: &'a InspectJointParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            joint,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectJoint<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((parent, deps, joint_properties)) = self.params.joints.get(self.joint) else {
+impl<'w, 's> InspectJoint<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((parent, deps, joint_properties)) = self.joints.get(id) else {
             return;
         };
 
         ui.label("Parent frame");
-        SelectionWidget::new(
-            **parent,
-            self.params.site_id.get(**parent).ok().cloned(),
-            self.params.icons.as_ref(),
-            self.events,
-        )
-        .show(ui);
+        self.selector.show_widget(**parent, ui);
 
-        if let Some(frame_dep) = deps.iter().find(|d| self.params.frames.get(**d).is_ok()) {
+        if let Some(frame_dep) = deps.iter().find(|d| self.frames.get(**d).is_ok()) {
             ui.label("Child frame");
-            SelectionWidget::new(
-                *frame_dep,
-                self.params.site_id.get(*frame_dep).ok().cloned(),
-                self.params.icons.as_ref(),
-                self.events,
-            )
-            .show(ui);
+            self.selector.show_widget(*frame_dep, ui);
         }
 
         ui.horizontal(|ui| {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
index 5acc28c6..dd3c7790 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
@@ -16,128 +16,182 @@
 */
 
 use crate::{
-    interaction::Hover,
+    interaction::{Hover, Selection},
     site::{
-        BeginEditDrawing, Change, LayerVisibility, PreferredSemiTransparency, SiteID,
-        VisibilityCycle,
+        BeginEditDrawing, Change, DrawingMarker, FloorMarker, LayerVisibility,
+        PreferredSemiTransparency, VisibilityCycle,
     },
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
+    widgets::{inspector::Inspect, prelude::*, Icons, MoveLayer, SelectorWidget},
+    ChangeRank,
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
 
-pub struct InspectLayer<'a, 'w, 's> {
-    pub entity: Entity,
-    pub icons: &'a Icons,
-    /// Does the layer have a custom visibility setting?
-    pub layer_vis: Option<LayerVisibility>,
-    pub default_alpha: f32,
-    // TODO(luca) make this an enum
-    pub is_floor: bool,
-    pub as_selected: bool,
-    /// Outer Option: Can this be selected?
-    /// Inner Option: Does this have a SiteID?
-    pub site_id: Option<Option<SiteID>>,
-    pub events: &'a mut AppEvents<'w, 's>,
+#[derive(SystemParam)]
+pub struct InspectLayer<'w, 's> {
+    pub drawings: Query<'w, 's, (), With<DrawingMarker>>,
+    pub floors: Query<'w, 's, (), With<FloorMarker>>,
+    pub layer: Query<
+        'w,
+        's,
+        (
+            Option<&'static LayerVisibility>,
+            &'static PreferredSemiTransparency,
+        ),
+        Or<(With<FloorMarker>, With<DrawingMarker>)>,
+    >,
+    pub icons: Res<'w, Icons>,
+    pub selection: Res<'w, Selection>,
+    pub begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
+    pub change_layer_visibility: EventWriter<'w, Change<LayerVisibility>>,
+    pub change_preferred_alpha: EventWriter<'w, Change<PreferredSemiTransparency>>,
+    pub floor_change_rank: EventWriter<'w, ChangeRank<FloorMarker>>,
+    pub drawing_change_rank: EventWriter<'w, ChangeRank<DrawingMarker>>,
+    pub commands: Commands<'w, 's>,
+    pub selector: SelectorWidget<'w, 's>,
 }
 
-impl<'a, 'w, 's> InspectLayer<'a, 'w, 's> {
-    pub fn new(
-        entity: Entity,
-        icons: &'a Icons,
-        events: &'a mut AppEvents<'w, 's>,
-        layer_vis: Option<LayerVisibility>,
-        default_alpha: f32,
-        is_floor: bool,
-    ) -> Self {
+impl<'w, 's> WidgetSystem<Inspect> for InspectLayer<'w, 's> {
+    fn show(
+        Inspect { selection: id, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(InspectLayerInput::new(id).with_moving(), ui);
+    }
+}
+
+impl<'w, 's> WidgetSystem<InspectLayerInput> for InspectLayer<'w, 's> {
+    fn show(
+        input: InspectLayerInput,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) -> () {
+        let mut params = state.get_mut(world);
+        params.show_widget(input, ui);
+    }
+}
+
+pub struct InspectLayerInput {
+    pub id: Entity,
+    pub with_selecting: bool,
+    pub with_moving: bool,
+}
+
+impl InspectLayerInput {
+    pub fn new(id: Entity) -> Self {
         Self {
-            entity,
-            icons,
-            events,
-            layer_vis,
-            default_alpha,
-            is_floor,
-            as_selected: false,
-            site_id: None,
+            id,
+            with_selecting: false,
+            with_moving: false,
         }
     }
-    pub fn with_selecting(mut self, site_id: Option<SiteID>) -> Self {
-        self.site_id = Some(site_id);
+
+    pub fn with_selecting(mut self) -> Self {
+        self.with_selecting = true;
         self
     }
 
-    pub fn as_selected(mut self, as_selected: bool) -> Self {
-        self.as_selected = as_selected;
+    pub fn with_moving(mut self) -> Self {
+        self.with_moving = true;
         self
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        if let Some(site_id) = self.site_id {
-            SelectionWidget::new(self.entity, site_id, self.icons, self.events)
-                .as_selected(self.as_selected)
-                .show(ui);
-
-            if !self.is_floor {
-                let response = ui
-                    .add(ImageButton::new(self.events.layers.icons.edit.egui()))
-                    .on_hover_text("Edit Drawing");
+impl<'w, 's> InspectLayer<'w, 's> {
+    pub fn show_widget(
+        &mut self,
+        InspectLayerInput {
+            id,
+            with_selecting,
+            with_moving,
+        }: InspectLayerInput,
+        ui: &mut Ui,
+    ) {
+        if !self.layer.contains(id) {
+            return;
+        }
 
-                if response.hovered() {
-                    self.events.request.hover.send(Hover(Some(self.entity)));
-                }
+        if with_moving {
+            if self.drawings.contains(id) {
+                ui.horizontal(|ui| {
+                    MoveLayer::<DrawingMarker>::new(id, &mut self.drawing_change_rank, &self.icons)
+                        .show(ui);
+                });
+            }
 
-                if response.clicked() {
-                    self.events
-                        .layers
-                        .begin_edit_drawing
-                        .send(BeginEditDrawing(self.entity));
-                }
+            if self.floors.contains(id) {
+                ui.horizontal(|ui| {
+                    MoveLayer::<FloorMarker>::new(id, &mut self.floor_change_rank, &self.icons)
+                        .show(ui);
+                });
             }
         }
 
-        let icon = self.icons.layer_visibility_of(self.layer_vis);
-        let resp = ui.add(ImageButton::new(icon)).on_hover_text(format!(
-            "Change to {}",
-            self.layer_vis.next(self.default_alpha).label()
-        ));
-        if resp.hovered() {
-            self.events.request.hover.send(Hover(Some(self.entity)));
-        }
-        if resp.clicked() {
-            match self.layer_vis.next(self.default_alpha) {
-                Some(v) => {
-                    self.events
-                        .layers
-                        .layer_vis
-                        .send(Change::new(v, self.entity).or_insert());
+        ui.horizontal(|ui| {
+            if with_selecting {
+                self.selector.show_widget(id, ui);
+            }
+
+            if with_selecting {
+                if self.drawings.contains(id) {
+                    let response = ui
+                        .add(ImageButton::new(self.icons.edit.egui()))
+                        .on_hover_text("Edit Drawing");
+
+                    if response.hovered() {
+                        self.selector.hover.send(Hover(Some(id)));
+                    }
+
+                    if response.clicked() {
+                        self.begin_edit_drawing.send(BeginEditDrawing(id));
+                    }
                 }
-                None => {
-                    self.events
-                        .commands
-                        .entity(self.entity)
-                        .remove::<LayerVisibility>();
+            }
+
+            let Ok((vis, default_alpha)) = self.layer.get(id) else {
+                return;
+            };
+            let vis = vis.copied();
+            let default_alpha = default_alpha.0;
+
+            let icon = self.icons.layer_visibility_of(vis);
+            let resp = ui
+                .add(ImageButton::new(icon))
+                .on_hover_text(format!("Change to {}", vis.next(default_alpha).label()));
+            if resp.hovered() {
+                self.selector.hover.send(Hover(Some(id)));
+            }
+            if resp.clicked() {
+                match vis.next(default_alpha) {
+                    Some(v) => {
+                        self.change_layer_visibility
+                            .send(Change::new(v, id).or_insert());
+                    }
+                    None => {
+                        self.commands.entity(id).remove::<LayerVisibility>();
+                    }
                 }
             }
-        }
 
-        if let Some(LayerVisibility::Alpha(mut alpha)) = self.layer_vis {
-            if ui
-                .add(
-                    DragValue::new(&mut alpha)
-                        .clamp_range(0_f32..=1_f32)
-                        .speed(0.01),
-                )
-                .changed()
-            {
-                self.events
-                    .layers
-                    .layer_vis
-                    .send(Change::new(LayerVisibility::Alpha(alpha), self.entity));
-                self.events
-                    .layers
-                    .preferred_alpha
-                    .send(Change::new(PreferredSemiTransparency(alpha), self.entity));
+            if let Some(LayerVisibility::Alpha(mut alpha)) = vis {
+                if ui
+                    .add(
+                        DragValue::new(&mut alpha)
+                            .clamp_range(0_f32..=1_f32)
+                            .speed(0.01),
+                    )
+                    .changed()
+                {
+                    self.change_layer_visibility
+                        .send(Change::new(LayerVisibility::Alpha(alpha), id));
+                    self.change_preferred_alpha
+                        .send(Change::new(PreferredSemiTransparency(alpha), id));
+                }
             }
-        }
+        });
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_lift.rs b/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
index 04a4c7ee..eaeae148 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
@@ -16,48 +16,56 @@
 */
 
 use crate::{
-    site::{CabinDoorId, LevelElevation, NameInSite, SiteID, ToggleLiftDoorAvailability},
+    site::{
+        CabinDoorId, Change, CurrentLevel, LevelElevation, NameInSite, ToggleLiftDoorAvailability,
+    },
     widgets::{
-        inspector::{InspectOptionF32, SelectionWidget},
-        AppEvents, Icons,
+        inspector::InspectOptionF32, prelude::*, Inspect, InspectionPlugin, LevelDisplay,
+        SelectorWidget,
     },
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{CollapsingHeader, DragValue, Ui};
 use rmf_site_format::lift::*;
 
-#[derive(SystemParam)]
-pub struct InspectLiftParams<'w, 's> {
-    pub cabins: Query<'w, 's, (&'static LiftCabin<Entity>, &'static RecallLiftCabin<Entity>)>,
-    pub doors: Query<'w, 's, &'static LevelVisits<Entity>>,
-    pub levels: Query<'w, 's, (&'static NameInSite, &'static LevelElevation)>,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
+#[derive(Default)]
+pub struct InspectLiftPlugin {}
+
+impl Plugin for InspectLiftPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LevelDisplay>()
+            .add_plugins(InspectionPlugin::<InspectLiftCabin>::new());
+    }
 }
 
-pub struct InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
-    pub lift: Entity,
-    pub params: &'a InspectLiftParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectLiftCabin<'w, 's> {
+    cabins: Query<'w, 's, (&'static LiftCabin<Entity>, &'static RecallLiftCabin<Entity>)>,
+    doors: Query<'w, 's, &'static LevelVisits<Entity>>,
+    levels: Query<'w, 's, (&'static NameInSite, &'static LevelElevation)>,
+    display_level: Res<'w, LevelDisplay>,
+    change_lift_cabin: EventWriter<'w, Change<LiftCabin<Entity>>>,
+    selector: SelectorWidget<'w, 's>,
+    toggle_door_levels: EventWriter<'w, ToggleLiftDoorAvailability>,
+    current_level: Res<'w, CurrentLevel>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        lift: Entity,
-        params: &'a InspectLiftParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            lift,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectLiftCabin<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) -> Option<LiftCabin<Entity>> {
-        let (cabin, recall) = match self.params.cabins.get(self.lift) {
-            Ok(r) => r,
-            Err(_) => return None,
+impl<'w, 's> InspectLiftCabin<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((cabin, recall)) = self.cabins.get(id) else {
+            return;
         };
         let mut new_cabin = cabin.clone();
         match &mut new_cabin {
@@ -85,14 +93,14 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 });
 
                 if let Some(new_t) = InspectOptionF32::new(
-                    "Wall Thickness".to_string(),
+                    "Wall Thickness",
                     params.wall_thickness,
                     recall
                         .wall_thickness
                         .unwrap_or(DEFAULT_CABIN_WALL_THICKNESS),
                 )
                 .clamp_range(0.001..=std::f32::INFINITY)
-                .suffix("m".to_string())
+                .suffix("m")
                 .min_decimals(2)
                 .max_decimals(4)
                 .speed(0.001)
@@ -102,12 +110,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 }
 
                 if let Some(new_gap) = InspectOptionF32::new(
-                    "Gap".to_string(),
+                    "Gap",
                     params.gap,
                     recall.gap.unwrap_or(DEFAULT_CABIN_GAP),
                 )
                 .clamp_range(0.001..=std::f32::INFINITY)
-                .suffix("m".to_string())
+                .suffix("m")
                 .min_decimals(2)
                 .max_decimals(4)
                 .speed(0.001)
@@ -116,16 +124,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                     params.gap = new_gap;
                 }
 
-                if let Some(new_shift) = InspectOptionF32::new(
-                    "Shift".to_string(),
-                    params.shift,
-                    recall.shift.unwrap_or(0.0),
-                )
-                .suffix("m".to_string())
-                .min_decimals(2)
-                .max_decimals(4)
-                .speed(0.001)
-                .show(ui)
+                if let Some(new_shift) =
+                    InspectOptionF32::new("Shift", params.shift, recall.shift.unwrap_or(0.0))
+                        .suffix("m")
+                        .min_decimals(2)
+                        .max_decimals(4)
+                        .speed(0.001)
+                        .show(ui)
                 {
                     params.shift = new_shift;
                 }
@@ -137,14 +142,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                         CollapsingHeader::new(format!("{} Door", face.label()))
                             .default_open(false)
                             .show(ui, |ui| {
-                                SelectionWidget::new(
-                                    placement.door,
-                                    self.params.site_id.get(placement.door).copied().ok(),
-                                    &self.params.icons,
-                                    &mut self.events,
-                                )
-                                .show(ui);
-
+                                self.selector.show_widget(placement.door, ui);
                                 ui.horizontal(|ui| {
                                     ui.label("width");
                                     ui.add(
@@ -157,26 +155,23 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                     );
                                 });
 
-                                if let Some(new_shift) = InspectOptionF32::new(
-                                    "Shifted".to_string(),
-                                    placement.shifted,
-                                    0.0,
-                                )
-                                .suffix("m".to_string())
-                                .min_decimals(2)
-                                .max_decimals(4)
-                                .speed(0.005)
-                                .show(ui)
+                                if let Some(new_shift) =
+                                    InspectOptionF32::new("Shifted", placement.shifted, 0.0)
+                                        .suffix("m")
+                                        .min_decimals(2)
+                                        .max_decimals(4)
+                                        .speed(0.005)
+                                        .show(ui)
                                 {
                                     placement.shifted = new_shift;
                                 }
 
                                 if let Some(new_gap) = InspectOptionF32::new(
-                                    "Custom Gap".to_string(),
+                                    "Custom Gap",
                                     placement.custom_gap,
                                     cabin_gap,
                                 )
-                                .suffix("m".to_string())
+                                .suffix("m")
                                 .clamp_range(0.0..=std::f32::INFINITY)
                                 .min_decimals(2)
                                 .max_decimals(4)
@@ -187,11 +182,11 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                 }
 
                                 if let Some(new_t) = InspectOptionF32::new(
-                                    "Thickness".to_string(),
+                                    "Thickness",
                                     placement.thickness,
                                     DEFAULT_CABIN_DOOR_THICKNESS,
                                 )
-                                .suffix("m".to_string())
+                                .suffix("m")
                                 .clamp_range(0.001..=std::f32::INFINITY)
                                 .min_decimals(2)
                                 .max_decimals(4)
@@ -201,26 +196,25 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                     placement.thickness = new_t;
                                 }
 
-                                if let Ok(visits) = self.params.doors.get(placement.door) {
+                                if let Ok(visits) = self.doors.get(placement.door) {
                                     CollapsingHeader::new(format!("Level Access"))
                                         .default_open(true)
                                         .show(ui, |ui| {
-                                            for level in &self.events.display.level.order {
+                                            for level in &self.display_level.order {
                                                 let mut visits_level = visits.contains(level);
                                                 if ui
                                                     .checkbox(
                                                         &mut visits_level,
-                                                        self.params
-                                                            .levels
+                                                        self.levels
                                                             .get(*level)
                                                             .map(|(n, _)| &n.0)
                                                             .unwrap_or(&"<Unknown>".to_owned()),
                                                     )
                                                     .changed()
                                                 {
-                                                    self.events.request.toggle_door_levels.send(
+                                                    self.toggle_door_levels.send(
                                                         ToggleLiftDoorAvailability {
-                                                            for_lift: self.lift,
+                                                            for_lift: id,
                                                             on_level: *level,
                                                             cabin_door: CabinDoorId::RectFace(face),
                                                             door_available: visits_level,
@@ -231,16 +225,14 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                         });
                                 }
                             });
-                    } else if let Some(current_level) = **self.events.request.current_level {
+                    } else if let Some(current_level) = **self.current_level {
                         if ui.button(format!("Add {} Door", face.label())).clicked() {
-                            self.events.request.toggle_door_levels.send(
-                                ToggleLiftDoorAvailability {
-                                    for_lift: self.lift,
-                                    on_level: current_level,
-                                    cabin_door: CabinDoorId::RectFace(face),
-                                    door_available: true,
-                                },
-                            );
+                            self.toggle_door_levels.send(ToggleLiftDoorAvailability {
+                                for_lift: id,
+                                on_level: current_level,
+                                cabin_door: CabinDoorId::RectFace(face),
+                                door_available: true,
+                            });
                         }
                     }
                 }
@@ -261,9 +253,8 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 }
             }
 
-            return Some(new_cabin);
+            self.change_lift_cabin.send(Change::new(new_cabin, id));
         }
-
-        return None;
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_light.rs b/rmf_site_editor/src/widgets/inspector/inspect_light.rs
index a3348bad..58769d12 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_light.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_light.rs
@@ -15,12 +15,41 @@
  *
 */
 
-use crate::site::{LightKind, RecallLightKind};
+use crate::{
+    site::{Change, LightKind, RecallLightKind},
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{
     color_picker::{color_edit_button_rgba, Alpha},
     ComboBox, DragValue, Rgba, Ui,
 };
 
+#[derive(SystemParam)]
+pub struct InspectLight<'w, 's> {
+    lights: Query<'w, 's, (&'static LightKind, &'static RecallLightKind)>,
+    change_light: EventWriter<'w, Change<LightKind>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectLight<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((light, recall)) = params.lights.get(selection) else {
+            return;
+        };
+
+        if let Some(new_light) = InspectLightKind::new(light, recall).show(ui) {
+            params.change_light.send(Change::new(new_light, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
 pub struct InspectLightKind<'a> {
     pub kind: &'a LightKind,
     pub recall: &'a RecallLightKind,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_location.rs b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
index aa21a3eb..177260c9 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_location.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
@@ -16,48 +16,42 @@
 */
 
 use crate::{
-    site::{
-        ConsiderLocationTag, DefaultFile, LocationTag, LocationTags, Model, RecallAssetSource,
-        RecallLocationTags,
-    },
-    widgets::{
-        inspector::{InspectAssetSource, InspectName},
-        AppEvents, Icons,
-    },
+    site::{Change, ConsiderLocationTag, LocationTag, LocationTags, RecallLocationTags},
+    widgets::{prelude::*, Icons, Inspect},
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, ImageButton, RichText, Ui};
 use smallvec::SmallVec;
 
-pub struct InspectLocationWidget<'a, 'w1, 'w2, 's2> {
-    pub entity: Entity,
-    pub tags: &'a LocationTags,
-    pub recall: &'a RecallLocationTags,
-    pub icons: &'a Res<'w1, Icons>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectLocation<'w, 's> {
+    location_tags: Query<'w, 's, (&'static LocationTags, &'static RecallLocationTags)>,
+    icons: Res<'w, Icons>,
+    consider_tag: EventWriter<'w, ConsiderLocationTag>,
+    change_tags: EventWriter<'w, Change<LocationTags>>,
 }
 
-impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
-    pub fn new(
-        entity: Entity,
-        tags: &'a LocationTags,
-        recall: &'a RecallLocationTags,
-        icons: &'a Res<'w1, Icons>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            tags,
-            recall,
-            icons,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectLocation<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
+
+impl<'w, 's> InspectLocation<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((tags, recall)) = self.location_tags.get(id) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) -> Option<LocationTags> {
         ui.label(RichText::new("Location Tags").size(18.0));
         let mut deleted_tag = None;
-        for (i, tag) in self.tags.0.iter().enumerate() {
+        for (i, tag) in tags.0.iter().enumerate() {
             ui.horizontal(|ui| {
                 if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
                     deleted_tag = Some(i);
@@ -74,19 +68,19 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                 let (add, consider) = ui
                     .horizontal(|ui| {
                         let add = ui.button("Confirm").clicked();
-                        let mut consider = self.recall.assume_tag(self.tags);
+                        let mut consider = recall.assume_tag(tags);
                         let mut variants: SmallVec<[LocationTag; 5]> = SmallVec::new();
-                        if self.tags.iter().find(|t| t.is_charger()).is_none() {
+                        if tags.iter().find(|t| t.is_charger()).is_none() {
                             variants.push(LocationTag::Charger);
                         }
-                        if self.tags.iter().find(|t| t.is_parking_spot()).is_none() {
+                        if tags.iter().find(|t| t.is_parking_spot()).is_none() {
                             variants.push(LocationTag::ParkingSpot);
                         }
-                        if self.tags.iter().find(|t| t.is_holding_point()).is_none() {
+                        if tags.iter().find(|t| t.is_holding_point()).is_none() {
                             variants.push(LocationTag::HoldingPoint);
                         }
-                        variants.push(self.recall.assume_spawn_robot());
-                        variants.push(self.recall.assume_workcell());
+                        variants.push(recall.assume_spawn_robot());
+                        variants.push(recall.assume_workcell());
 
                         ComboBox::from_id_source("Add Location Tag")
                             .selected_text(consider.label())
@@ -101,19 +95,14 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                     })
                     .inner;
 
-                let consider_changed = if let Some(original) = &self.recall.consider_tag {
+                let consider_changed = if let Some(original) = &recall.consider_tag {
                     consider != *original
                 } else {
                     true
                 };
                 if consider_changed {
-                    self.events
-                        .request
-                        .consider_tag
-                        .send(ConsiderLocationTag::new(
-                            Some(consider.clone()),
-                            self.entity,
-                        ));
+                    self.consider_tag
+                        .send(ConsiderLocationTag::new(Some(consider.clone()), id));
                 }
 
                 if add {
@@ -126,7 +115,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
             .flatten();
 
         if deleted_tag.is_some() || added_tag.is_some() {
-            let mut new_tags = self.tags.clone();
+            let mut new_tags = tags.clone();
             if let Some(i) = deleted_tag {
                 new_tags.remove(i);
             }
@@ -135,36 +124,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                 new_tags.push(new_tag);
             }
 
-            Some(new_tags)
-        } else {
-            None
-        }
-    }
-
-    #[allow(dead_code)]
-    fn inspect_model(
-        &self,
-        ui: &mut Ui,
-        model: &Model,
-        recall_asset: &RecallAssetSource,
-        default_file: Option<&'a DefaultFile>,
-    ) -> Option<Model> {
-        let new_name = InspectName::new(&model.name).show(ui);
-        let new_source =
-            InspectAssetSource::new(&model.source, &recall_asset, default_file).show(ui);
-
-        if new_name.is_some() || new_source.is_some() {
-            let mut new_model = model.clone();
-            if let Some(new_name) = new_name {
-                new_model.name = new_name;
-            }
-            if let Some(new_source) = new_source {
-                new_model.source = new_source;
-            }
-
-            Some(new_model)
-        } else {
-            None
+            self.change_tags.send(Change::new(new_tags, id));
         }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs b/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs
new file mode 100644
index 00000000..be1b7aea
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{Change, Distance},
+    widgets::{prelude::*, Inspect, InspectOptionF32},
+};
+use bevy::prelude::*;
+
+#[derive(SystemParam)]
+pub struct InspectMeasurement<'w, 's> {
+    distances: Query<'w, 's, &'static Distance>,
+    change_distance: EventWriter<'w, Change<Distance>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectMeasurement<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(distance) = params.distances.get(selection) else {
+            return;
+        };
+
+        if let Some(new_distance) = InspectOptionF32::new("Distance", distance.0, 10.0)
+            .clamp_range(0.0..=10000.0)
+            .min_decimals(2)
+            .max_decimals(2)
+            .speed(0.01)
+            .suffix(" m")
+            .show(ui)
+        {
+            params
+                .change_distance
+                .send(Change::new(Distance(new_distance), selection));
+        }
+        ui.add_space(10.0);
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs b/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
index a590310a..9197373f 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
@@ -15,84 +15,64 @@
  *
 */
 
-use bevy_egui::egui::Ui;
+use crate::widgets::{prelude::*, Inspect, SelectorWidget};
+use bevy::prelude::*;
 use rmf_site_format::*;
-use std::collections::{BTreeMap, HashSet};
+use std::collections::{BTreeMap, BTreeSet};
 
-use crate::{
-    site::{Category, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
-};
-use bevy::{ecs::system::SystemParam, prelude::*};
+use crate::site::Category;
 
 #[derive(SystemParam)]
-pub struct InspectModelDependentsParams<'w, 's> {
-    pub dependents: Query<'w, 's, &'static ConstraintDependents, With<ModelMarker>>,
-    pub info: Query<'w, 's, (&'static Category, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
+pub struct InspectModelDependents<'w, 's> {
+    dependents: Query<'w, 's, &'static ConstraintDependents, With<ModelMarker>>,
+    categories: Query<'w, 's, &'static Category>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectModelDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub model: Entity,
-    pub params: &'a InspectModelDependentsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectModelDependents<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectModelDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        model: Entity,
-        params: &'a InspectModelDependentsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            model,
-            params,
-            events,
-        }
-    }
+impl<'w, 's> InspectModelDependents<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok(dependents) = self.dependents.get(id) else {
+            return;
+        };
 
-    fn show_dependents(
-        dependents: &HashSet<Entity>,
-        params: &InspectModelDependentsParams<'w1, 's1>,
-        events: &mut AppEvents<'w2, 's2>,
-        ui: &mut Ui,
-    ) {
-        ui.heading("Constraint Dependents");
-        let mut category_map: BTreeMap<Category, BTreeMap<Entity, Option<u32>>> = BTreeMap::new();
-        for e in dependents {
-            if let Ok((category, site_id)) = params.info.get(*e) {
-                category_map
-                    .entry(*category)
-                    .or_default()
-                    .insert(*e, site_id.map(|s| s.0));
+        ui.vertical(|ui| {
+            if dependents.0.is_empty() {
+                ui.label("No dependents");
             } else {
-                ui.label(format!("ERROR: Broken reference to entity {e:?}"));
-            }
-        }
-
-        for (category, entities) in &category_map {
-            ui.label(category.label());
+                ui.heading("Constraint Dependents");
+                let mut category_map: BTreeMap<Category, BTreeSet<Entity>> = BTreeMap::new();
+                for e in &dependents.0 {
+                    if let Ok(category) = self.categories.get(*e) {
+                        category_map.entry(*category).or_default().insert(*e);
+                    } else {
+                        ui.label(format!("ERROR: Broken reference to entity {e:?}"));
+                    }
+                }
 
-            for (e, site_id) in entities {
-                ui.horizontal(|ui| {
-                    SelectionWidget::new(*e, site_id.map(SiteID), params.icons.as_ref(), events)
-                        .show(ui);
-                });
-            }
-        }
-    }
+                for (category, entities) in &category_map {
+                    ui.label(category.label());
 
-    pub fn show(mut self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            if let Ok(dependents) = self.params.dependents.get(self.model) {
-                if dependents.0.is_empty() {
-                    ui.label("No dependents");
-                } else {
-                    Self::show_dependents(&dependents.0, &self.params, &mut self.events, ui);
+                    for e in entities {
+                        ui.horizontal(|ui| {
+                            self.selector.show_widget(*e, ui);
+                        });
+                    }
                 }
-            } else {
-                ui.label("ERROR: Unable to find dependents info for this model");
             }
         });
+
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_motion.rs b/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
index b5810410..73dc1453 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
@@ -15,18 +15,138 @@
  *
 */
 
-use crate::widgets::inspector::{InspectAngle, InspectOptionF32};
+use crate::{
+    site::Change,
+    widgets::{
+        inspector::{InspectAngle, InspectOptionF32},
+        prelude::*,
+        Inspect,
+    },
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, RichText, Ui};
 use rmf_site_format::{
     Angle, Dock, Motion, OrientationConstraint, RecallMotion, RecallReverseLane, ReverseLane,
 };
 
-pub struct InspectMotionWidget<'a> {
+#[derive(SystemParam)]
+pub struct InspectMotion<'w, 's> {
+    forward: InspectForwardMotion<'w, 's>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.forward.show_widget(selection, ui);
+    }
+}
+
+#[derive(SystemParam)]
+pub struct InspectForwardMotion<'w, 's> {
+    motions: Query<'w, 's, (&'static Motion, &'static RecallMotion)>,
+    change_lane_motion: EventWriter<'w, Change<Motion>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectForwardMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
+}
+
+impl<'w, 's> InspectForwardMotion<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((motion, recall)) = self.motions.get(id) else {
+            return;
+        };
+
+        if let Some(new_motion) = InspectMotionComponent::new(motion, recall).show(ui) {
+            self.change_lane_motion.send(Change::new(new_motion, id));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+#[derive(SystemParam)]
+pub struct InspectReverseMotion<'w, 's> {
+    reverse_motions: Query<'w, 's, (&'static ReverseLane, &'static RecallReverseLane)>,
+    change_lane_reverse: EventWriter<'w, Change<ReverseLane>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectReverseMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
+}
+
+impl<'w, 's> InspectReverseMotion<'w, 's> {
+    fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((reverse, recall)) = self.reverse_motions.get(id) else {
+            return;
+        };
+
+        let assumed_motion = reverse
+            .different_motion()
+            .cloned()
+            .unwrap_or(recall.motion.clone().unwrap_or(Motion::default()));
+
+        let mut new_reverse = reverse.clone();
+        ui.label(RichText::new("Reverse Motion").size(18.0));
+        ComboBox::from_id_source("Reverse Lane")
+            .selected_text(new_reverse.label())
+            .show_ui(ui, |ui| {
+                for variant in &[
+                    ReverseLane::Same,
+                    ReverseLane::Disable,
+                    ReverseLane::Different(assumed_motion),
+                ] {
+                    ui.selectable_value(&mut new_reverse, variant.clone(), variant.label());
+                }
+            });
+
+        match &mut new_reverse {
+            ReverseLane::Different(motion) => {
+                ui.add_space(10.0);
+                if let Some(new_motion) =
+                    InspectMotionComponent::new(motion, &recall.previous).show(ui)
+                {
+                    new_reverse = ReverseLane::Different(new_motion);
+                }
+            }
+            _ => {
+                // Do nothing
+            }
+        }
+
+        if new_reverse != *reverse {
+            self.change_lane_reverse.send(Change::new(new_reverse, id));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectMotionComponent<'a> {
     pub motion: &'a Motion,
     pub recall: &'a RecallMotion,
 }
 
-impl<'a> InspectMotionWidget<'a> {
+impl<'a> InspectMotionComponent<'a> {
     pub fn new(motion: &'a Motion, recall: &'a RecallMotion) -> Self {
         Self { motion, recall }
     }
@@ -84,7 +204,7 @@ impl<'a> InspectMotionWidget<'a> {
 
         ui.add_space(10.0);
         let new_speed = InspectOptionF32::new(
-            "Speed Limit".to_string(),
+            "Speed Limit",
             self.motion.speed_limit,
             self.recall.speed_limit.unwrap_or(1.0),
         )
@@ -92,7 +212,7 @@ impl<'a> InspectMotionWidget<'a> {
         .min_decimals(2)
         .max_decimals(2)
         .speed(0.01)
-        .suffix(" m/s".to_string())
+        .suffix(" m/s")
         .show(ui);
 
         ui.add_space(10.0);
@@ -120,7 +240,7 @@ impl<'a> InspectMotionWidget<'a> {
             });
 
             let new_duration = InspectOptionF32::new(
-                "Duration".to_string(),
+                "Duration",
                 dock.duration,
                 self.recall.dock_duration.unwrap_or(30.0),
             )
@@ -128,8 +248,8 @@ impl<'a> InspectMotionWidget<'a> {
             .min_decimals(0)
             .max_decimals(1)
             .speed(1.0)
-            .suffix(" s".to_string())
-            .tooltip("How long does the docking take?".to_string())
+            .suffix(" s")
+            .tooltip("How long does the docking take?")
             .show(ui);
 
             if let Some(new_duration) = new_duration {
@@ -169,59 +289,3 @@ impl<'a> InspectMotionWidget<'a> {
         return None;
     }
 }
-
-pub struct InspectReverseWidget<'a> {
-    pub reverse: &'a ReverseLane,
-    pub recall: &'a RecallReverseLane,
-}
-
-impl<'a> InspectReverseWidget<'a> {
-    pub fn new(reverse: &'a ReverseLane, previous: &'a RecallReverseLane) -> Self {
-        Self {
-            reverse,
-            recall: previous,
-        }
-    }
-
-    pub fn show(self, ui: &mut Ui) -> Option<ReverseLane> {
-        let assumed_motion = self
-            .reverse
-            .different_motion()
-            .cloned()
-            .unwrap_or(self.recall.motion.clone().unwrap_or(Motion::default()));
-
-        let mut new_reverse = self.reverse.clone();
-        ui.label(RichText::new("Reverse Motion").size(18.0));
-        ComboBox::from_id_source("Reverse Lane")
-            .selected_text(new_reverse.label())
-            .show_ui(ui, |ui| {
-                for variant in &[
-                    ReverseLane::Same,
-                    ReverseLane::Disable,
-                    ReverseLane::Different(assumed_motion),
-                ] {
-                    ui.selectable_value(&mut new_reverse, variant.clone(), variant.label());
-                }
-            });
-
-        match &mut new_reverse {
-            ReverseLane::Different(motion) => {
-                ui.add_space(10.0);
-                if let Some(new_motion) =
-                    InspectMotionWidget::new(motion, &self.recall.previous).show(ui)
-                {
-                    new_reverse = ReverseLane::Different(new_motion);
-                }
-            }
-            _ => {
-                // Do nothing
-            }
-        }
-
-        if new_reverse != *self.reverse {
-            Some(new_reverse)
-        } else {
-            None
-        }
-    }
-}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_name.rs b/rmf_site_editor/src/widgets/inspector/inspect_name.rs
index 9ce0457a..3b5af089 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_name.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_name.rs
@@ -15,78 +15,71 @@
  *
 */
 
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::Ui;
 use rmf_site_format::{NameInSite, NameInWorkcell, NameOfWorkcell};
 
-// TODO(luca) refactor all these into a generic name inspection widget
-pub struct InspectName<'a> {
-    pub name: &'a NameInSite,
+#[derive(SystemParam)]
+pub struct InspectName<'w, 's> {
+    names_in_site: Query<'w, 's, &'static NameInSite>,
+    change_name_in_site: EventWriter<'w, Change<NameInSite>>,
+    names_in_workcell: Query<'w, 's, &'static NameInWorkcell>,
+    change_name_in_workcell: EventWriter<'w, Change<NameInWorkcell>>,
+    names_of_workcells: Query<'w, 's, &'static NameOfWorkcell>,
+    change_name_of_workcell: EventWriter<'w, Change<NameOfWorkcell>>,
 }
 
-impl<'a> InspectName<'a> {
-    pub fn new(name: &'a NameInSite) -> Self {
-        Self { name }
-    }
+impl<'w, 's> ShareableWidget for InspectName<'w, 's> {}
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameInSite> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+impl<'w, 's> WidgetSystem<Inspect> for InspectName<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        if let Ok(name) = params.names_in_site.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_in_site
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
-    }
-}
-
-pub struct InspectNameInWorkcell<'a> {
-    pub name: &'a NameInWorkcell,
-}
-
-impl<'a> InspectNameInWorkcell<'a> {
-    pub fn new(name: &'a NameInWorkcell) -> Self {
-        Self { name }
-    }
+        }
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameInWorkcell> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+        if let Ok(name) = params.names_in_workcell.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_in_workcell
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
-    }
-}
-
-pub struct InspectNameOfWorkcell<'a> {
-    pub name: &'a NameOfWorkcell,
-}
-
-impl<'a> InspectNameOfWorkcell<'a> {
-    pub fn new(name: &'a NameOfWorkcell) -> Self {
-        Self { name }
-    }
+        }
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameOfWorkcell> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+        if let Ok(name) = params.names_of_workcells.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name of workcell");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_of_workcell
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
+        }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs b/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
index 9582cca3..d67c0264 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
@@ -18,20 +18,20 @@
 use bevy_egui::egui::{DragValue, Ui};
 use std::ops::RangeInclusive;
 
-pub struct InspectOptionF32 {
-    title: String,
+pub struct InspectOptionF32<'a> {
+    title: &'a str,
     current_value: Option<f32>,
     assumed_value: f32,
     range: RangeInclusive<f32>,
     min_decimals: usize,
     max_decimals: Option<usize>,
     speed: f64,
-    suffix: String,
-    tooltip: Option<String>,
+    suffix: &'a str,
+    tooltip: Option<&'a str>,
 }
 
-impl InspectOptionF32 {
-    pub fn new(title: String, current_value: Option<f32>, assumed_value: f32) -> Self {
+impl<'a> InspectOptionF32<'a> {
+    pub fn new(title: &'a str, current_value: Option<f32>, assumed_value: f32) -> Self {
         Self {
             title,
             current_value,
@@ -65,12 +65,12 @@ impl InspectOptionF32 {
         self
     }
 
-    pub fn suffix(mut self, suffix: String) -> Self {
+    pub fn suffix(mut self, suffix: &'a str) -> Self {
         self.suffix = suffix;
         self
     }
 
-    pub fn tooltip(mut self, tooltip: String) -> Self {
+    pub fn tooltip(mut self, tooltip: &'a str) -> Self {
         self.tooltip = Some(tooltip);
         self
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs b/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
index e6992e40..3100e1ad 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
@@ -15,46 +15,56 @@
  *
 */
 
-use crate::inspector::{InspectAngle, InspectValue};
-use crate::widgets::egui::RichText;
+use crate::{
+    inspector::{Inspect, InspectAngle, InspectValue},
+    site::Change,
+    widgets::{egui::RichText, prelude::*},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{Grid, Ui};
 use rmf_site_format::PhysicalCameraProperties;
 
-pub struct InspectPhysicalCameraProperties<'a> {
-    pub properties: &'a PhysicalCameraProperties,
+#[derive(SystemParam)]
+pub struct InspectPhysicalCameraProperties<'w, 's> {
+    physical_camera_properties: Query<'w, 's, &'static PhysicalCameraProperties>,
+    change_physical_camera_properties: EventWriter<'w, Change<PhysicalCameraProperties>>,
 }
 
-impl<'a> InspectPhysicalCameraProperties<'a> {
-    pub fn new(properties: &'a PhysicalCameraProperties) -> Self {
-        Self { properties }
-    }
+impl<'w, 's> WidgetSystem<Inspect> for InspectPhysicalCameraProperties<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(properties) = params.physical_camera_properties.get(selection) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) -> Option<PhysicalCameraProperties> {
-        let mut new_properties = self.properties.clone();
+        let mut new_properties = properties.clone();
         ui.label(RichText::new("Camera Properties").size(18.0));
         Grid::new("physical_camera_properties").show(ui, |ui| {
-            if let Some(new_width) =
-                InspectValue::<u32>::new(String::from("Width"), new_properties.width)
-                    .clamp_range(1..=std::u32::MAX)
-                    .tooltip("Image width in pixels".to_string())
-                    .show(ui)
+            if let Some(new_width) = InspectValue::<u32>::new("Width", new_properties.width)
+                .clamp_range(1..=std::u32::MAX)
+                .tooltip("Image width in pixels")
+                .show(ui)
             {
                 new_properties.width = new_width;
             }
             ui.end_row();
-            if let Some(new_height) =
-                InspectValue::<u32>::new(String::from("Height"), new_properties.height)
-                    .clamp_range(1..=std::u32::MAX)
-                    .tooltip("Image height in pixels".to_string())
-                    .show(ui)
+            if let Some(new_height) = InspectValue::<u32>::new("Height", new_properties.height)
+                .clamp_range(1..=std::u32::MAX)
+                .tooltip("Image height in pixels")
+                .show(ui)
             {
                 new_properties.height = new_height;
             }
             ui.end_row();
             if let Some(new_frame_rate) =
-                InspectValue::<f32>::new(String::from("Frame rate"), new_properties.frame_rate)
+                InspectValue::<f32>::new("Frame rate", new_properties.frame_rate)
                     .clamp_range(0.0..=std::f32::MAX)
-                    .tooltip("Frame rate in images per second".to_string())
+                    .tooltip("Frame rate in images per second")
                     .show(ui)
             {
                 new_properties.frame_rate = new_frame_rate;
@@ -68,14 +78,15 @@ impl<'a> InspectPhysicalCameraProperties<'a> {
                 .range_degrees(0.0..=180.0)
                 .show(ui);
         });
-        if new_properties.width != self.properties.width
-            || new_properties.height != self.properties.height
-            || new_properties.horizontal_fov != self.properties.horizontal_fov
-            || new_properties.frame_rate != self.properties.frame_rate
+        if new_properties.width != properties.width
+            || new_properties.height != properties.height
+            || new_properties.horizontal_fov != properties.horizontal_fov
+            || new_properties.frame_rate != properties.frame_rate
         {
-            Some(new_properties)
-        } else {
-            None
+            params
+                .change_physical_camera_properties
+                .send(Change::new(new_properties, selection));
         }
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_pose.rs b/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
index 36f5b77e..86491c7b 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
@@ -15,17 +15,44 @@
  *
 */
 
-use crate::widgets::inspector::InspectAngle;
-use bevy::math::Quat;
+use crate::{
+    site::Change,
+    widgets::{inspector::InspectAngle, prelude::*, Inspect},
+};
+use bevy::{math::Quat, prelude::*};
 use bevy_egui::egui::{ComboBox, DragValue, Grid, Ui};
 use rmf_site_format::{Pose, Rotation};
 
-pub struct InspectPose<'a> {
+#[derive(SystemParam)]
+pub struct InspectPose<'w, 's> {
+    poses: Query<'w, 's, &'static Pose>,
+    change_pose: EventWriter<'w, Change<Pose>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPose<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(pose) = params.poses.get(selection) else {
+            return;
+        };
+        if let Some(new_pose) = InspectPoseComponent::new(pose).show(ui) {
+            params.change_pose.send(Change::new(new_pose, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectPoseComponent<'a> {
     pub pose: &'a Pose,
     pub for_rotation: &'a bool,
 }
 
-impl<'a> InspectPose<'a> {
+impl<'a> InspectPoseComponent<'a> {
     pub fn new(pose: &'a Pose) -> Self {
         Self {
             pose,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_preview.rs b/rmf_site_editor/src/widgets/inspector/inspect_preview.rs
new file mode 100644
index 00000000..dddee4cf
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_preview.rs
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::SpawnPreview,
+    site::PreviewableMarker,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
+
+#[derive(SystemParam)]
+pub struct InspectPreview<'w, 's> {
+    previewable: Query<'w, 's, &'static PreviewableMarker>,
+    spawn_preview: EventWriter<'w, SpawnPreview>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPreview<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        if params.previewable.contains(selection) {
+            if ui.button("Preview").clicked() {
+                params
+                    .spawn_preview
+                    .send(SpawnPreview::new(Some(selection)));
+            }
+            ui.add_space(10.0);
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
index 919578ff..a5500d8e 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
@@ -15,15 +15,46 @@
  *
 */
 
-use bevy_egui::egui::Ui;
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use rmf_site_format::{PrimitiveShape, RecallPrimitiveShape};
 
-pub struct InspectPrimitiveShape<'a> {
+#[derive(SystemParam)]
+pub struct InspectPrimitiveShape<'w, 's> {
+    primitive_shapes: Query<'w, 's, (&'static PrimitiveShape, &'static RecallPrimitiveShape)>,
+    change_primitive_shape: EventWriter<'w, Change<PrimitiveShape>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPrimitiveShape<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((shape, recall)) = params.primitive_shapes.get(selection) else {
+            return;
+        };
+
+        if let Some(new_shape) = InspectPrimitiveShapeComponent::new(shape, recall).show(ui) {
+            params
+                .change_primitive_shape
+                .send(Change::new(new_shape, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectPrimitiveShapeComponent<'a> {
     pub primitive: &'a PrimitiveShape,
     pub recall: &'a RecallPrimitiveShape,
 }
 
-impl<'a> InspectPrimitiveShape<'a> {
+impl<'a> InspectPrimitiveShapeComponent<'a> {
     pub fn new(primitive: &'a PrimitiveShape, recall: &'a RecallPrimitiveShape) -> Self {
         Self { primitive, recall }
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_scale.rs b/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
index 46d11c79..173dd319 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
@@ -15,14 +15,44 @@
  *
 */
 
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{DragValue, Grid, Ui};
 use rmf_site_format::Scale;
 
-pub struct InspectScale<'a> {
+#[derive(SystemParam)]
+pub struct InspectScale<'w, 's> {
+    scales: Query<'w, 's, &'static Scale>,
+    change_scale: EventWriter<'w, Change<Scale>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectScale<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(scale) = params.scales.get(selection) else {
+            return;
+        };
+
+        if let Some(new_scale) = InspectScaleComponent::new(scale).show(ui) {
+            params.change_scale.send(Change::new(new_scale, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectScaleComponent<'a> {
     pub scale: &'a Scale,
 }
 
-impl<'a> InspectScale<'a> {
+impl<'a> InspectScaleComponent<'a> {
     pub fn new(scale: &'a Scale) -> Self {
         Self { scale }
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
index ab87e3d5..9bf6dbce 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
@@ -16,9 +16,10 @@
 */
 
 use crate::{
-    inspector::{InspectAssetSource, InspectValue, SearchResult},
+    inspector::{InspectAssetSourceComponent, InspectValue, SearchResult},
     site::{Category, Change, DefaultFile},
-    AppEvents, Icons, WorkspaceMarker,
+    widgets::{prelude::*, Inspect, InspectionPlugin},
+    Icons, WorkspaceMarker,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, Grid, ImageButton, Ui};
@@ -27,11 +28,18 @@ use rmf_site_format::{
     WallMarker,
 };
 
-#[derive(Resource, Default)]
-pub struct SearchForTexture(pub String);
+#[derive(Default)]
+pub struct InspectTexturePlugin {}
+
+impl Plugin for InspectTexturePlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<SearchForTexture>()
+            .add_plugins(InspectionPlugin::<InspectTextureAffiliation>::new());
+    }
+}
 
 #[derive(SystemParam)]
-pub struct InspectTextureAffiliationParams<'w, 's> {
+pub struct InspectTextureAffiliation<'w, 's> {
     with_texture: Query<
         'w,
         's,
@@ -42,38 +50,35 @@ pub struct InspectTextureAffiliationParams<'w, 's> {
     parents: Query<'w, 's, &'static Parent>,
     sites: Query<'w, 's, &'static Children, With<WorkspaceMarker>>,
     icons: Res<'w, Icons>,
+    search_for_texture: ResMut<'w, SearchForTexture>,
+    commands: Commands<'w, 's>,
+    change_affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
 }
 
-pub struct InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
-    entity: Entity,
-    params: &'a InspectTextureAffiliationParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectTextureAffiliationParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectTextureAffiliation<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((category, affiliation)) = self.params.with_texture.get(self.entity) else {
+impl<'w, 's> InspectTextureAffiliation<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((category, affiliation)) = self.with_texture.get(id) else {
             return;
         };
-        let mut site = self.entity;
+        let mut site = id;
         let children = loop {
-            if let Ok(children) = self.params.sites.get(site) {
+            if let Ok(children) = self.sites.get(site) {
                 break children;
             }
 
-            if let Ok(parent) = self.params.parents.get(site) {
+            if let Ok(parent) = self.parents.get(site) {
                 site = parent.get();
             } else {
                 return;
@@ -81,12 +86,12 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         };
         let site = site;
 
-        let search = &mut self.events.change.search_for_texture.0;
+        let search = &mut self.search_for_texture.0;
 
         let mut any_partial_matches = false;
         let mut result = SearchResult::NoMatch;
         for child in children {
-            let Ok((name, _)) = self.params.texture_groups.get(*child) else {
+            let Ok((name, _)) = self.texture_groups.get(*child) else {
                 continue;
             };
             if name.0.contains(&*search) {
@@ -114,21 +119,21 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         ui.horizontal(|ui| {
             if any_partial_matches {
                 if ui
-                    .add(ImageButton::new(self.params.icons.search.egui()))
+                    .add(ImageButton::new(self.icons.search.egui()))
                     .on_hover_text("Search results for this text can be found below")
                     .clicked()
                 {
                     info!("Use the drop-down box to choose a texture");
                 }
             } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui()))
+                ui.add(ImageButton::new(self.icons.empty.egui()))
                     .on_hover_text("No search results can be found for this text");
             }
 
             match result {
                 SearchResult::Empty => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.hidden.egui()))
+                        .add(ImageButton::new(self.icons.hidden.egui()))
                         .on_hover_text("An empty string is not a good texture name")
                         .clicked()
                     {
@@ -137,7 +142,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Current => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.selected.egui()))
+                        .add(ImageButton::new(self.icons.selected.egui()))
                         .on_hover_text("This is the name of the currently selected texture")
                         .clicked()
                     {
@@ -146,7 +151,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::NoMatch => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.add.egui()))
+                        .add(ImageButton::new(self.icons.add.egui()))
                         .on_hover_text(if affiliation.0.is_some() {
                             "Create a new copy of the current texture"
                         } else {
@@ -156,7 +161,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                     {
                         let new_texture = if let Some((_, t)) = affiliation
                             .0
-                            .map(|a| self.params.texture_groups.get(a).ok())
+                            .map(|a| self.texture_groups.get(a).ok())
                             .flatten()
                         {
                             t.clone()
@@ -165,7 +170,6 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                         };
 
                         let new_texture_group = self
-                            .events
                             .commands
                             .spawn(TextureGroup {
                                 name: NameInSite(search.clone()),
@@ -174,27 +178,23 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                             })
                             .set_parent(site)
                             .id();
-                        self.events.change.affiliation.send(Change::new(
-                            Affiliation(Some(new_texture_group)),
-                            self.entity,
-                        ));
+                        self.change_affiliation
+                            .send(Change::new(Affiliation(Some(new_texture_group)), id));
                     }
                 }
                 SearchResult::Match(group) => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.confirm.egui()))
+                        .add(ImageButton::new(self.icons.confirm.egui()))
                         .on_hover_text("Select this texture")
                         .clicked()
                     {
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(group)), self.entity));
+                        self.change_affiliation
+                            .send(Change::new(Affiliation(Some(group)), id));
                     }
                 }
                 SearchResult::Conflict(text) => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.reject.egui()))
+                        .add(ImageButton::new(self.icons.reject.egui()))
                         .on_hover_text(text)
                         .clicked()
                     {
@@ -208,8 +208,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         });
 
         let (current_texture_name, _current_texture) = if let Some(a) = affiliation.0 {
-            self.params
-                .texture_groups
+            self.texture_groups
                 .get(a)
                 .ok()
                 .map(|(n, t)| (n.0.as_str(), Some((a, t))))
@@ -221,7 +220,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         let mut new_affiliation = affiliation.clone();
         ui.horizontal(|ui| {
             if ui
-                .add(ImageButton::new(self.params.icons.exit.egui()))
+                .add(ImageButton::new(self.icons.exit.egui()))
                 .on_hover_text(format!("Remove this texture from the {}", category.label()))
                 .clicked()
             {
@@ -237,34 +236,35 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                             continue;
                         }
 
-                        if let Ok((n, _)) = self.params.texture_groups.get(*child) {
-                            if n.0.contains(&self.events.change.search_for_texture.0) {
+                        if let Ok((n, _)) = self.texture_groups.get(*child) {
+                            if n.0.contains(&self.search_for_texture.0) {
                                 let select_affiliation = Affiliation(Some(*child));
                                 ui.selectable_value(&mut new_affiliation, select_affiliation, &n.0);
                             }
                         }
                     }
 
-                    if !self.events.change.search_for_texture.0.is_empty() {
+                    if !self.search_for_texture.0.is_empty() {
                         ui.selectable_value(&mut clear_filter, true, "more...");
                     }
                 });
 
             if clear_filter {
-                self.events.change.search_for_texture.0.clear();
+                self.search_for_texture.0.clear();
             }
         });
 
         if new_affiliation != *affiliation {
-            self.events
-                .change
-                .affiliation
-                .send(Change::new(new_affiliation, self.entity));
+            self.change_affiliation
+                .send(Change::new(new_affiliation, id));
         }
         ui.add_space(10.0);
     }
 }
 
+#[derive(Resource, Default)]
+pub struct SearchForTexture(pub String);
+
 pub struct InspectTexture<'a> {
     texture: &'a Texture,
     default_file: Option<&'a DefaultFile>,
@@ -282,7 +282,7 @@ impl<'a> InspectTexture<'a> {
         let mut new_texture = self.texture.clone();
 
         // TODO(luca) recall
-        if let Some(new_source) = InspectAssetSource::new(
+        if let Some(new_source) = InspectAssetSourceComponent::new(
             &new_texture.source,
             &RecallAssetSource::default(),
             self.default_file,
@@ -294,10 +294,10 @@ impl<'a> InspectTexture<'a> {
         ui.add_space(10.0);
         Grid::new("texture_properties").show(ui, |ui| {
             if let Some(width) = new_texture.width {
-                if let Some(new_width) = InspectValue::<f32>::new(String::from("Width"), width)
+                if let Some(new_width) = InspectValue::<f32>::new("Width", width)
                     .clamp_range(0.001..=std::f32::MAX)
                     .speed(0.01)
-                    .tooltip("Texture width in meters".to_string())
+                    .tooltip("Texture width in meters")
                     .show(ui)
                 {
                     new_texture.width = Some(new_width);
@@ -305,10 +305,10 @@ impl<'a> InspectTexture<'a> {
                 ui.end_row();
             }
             if let Some(height) = new_texture.height {
-                if let Some(new_height) = InspectValue::<f32>::new(String::from("Height"), height)
+                if let Some(new_height) = InspectValue::<f32>::new("Height", height)
                     .clamp_range(0.001..=std::f32::MAX)
                     .speed(0.01)
-                    .tooltip("Texture height in meters".to_string())
+                    .tooltip("Texture height in meters")
                     .show(ui)
                 {
                     new_texture.height = Some(new_height);
@@ -316,10 +316,10 @@ impl<'a> InspectTexture<'a> {
                 ui.end_row();
             }
             if let Some(alpha) = new_texture.alpha {
-                if let Some(new_alpha) = InspectValue::<f32>::new(String::from("Alpha"), alpha)
+                if let Some(new_alpha) = InspectValue::<f32>::new("Alpha", alpha)
                     .clamp_range(0.0..=1.0)
                     .speed(0.1)
-                    .tooltip("Transparency (0 = transparent, 1 = opaque)".to_string())
+                    .tooltip("Transparency (0 = transparent, 1 = opaque)")
                     .show(ui)
                 {
                     new_texture.alpha = Some(new_alpha);
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_value.rs b/rmf_site_editor/src/widgets/inspector/inspect_value.rs
index e0a7b975..0b1ff2a1 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_value.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_value.rs
@@ -19,19 +19,19 @@ use bevy_egui::egui::emath::Numeric;
 use bevy_egui::egui::{DragValue, Ui};
 use std::ops::RangeInclusive;
 
-pub struct InspectValue<T> {
-    title: String,
+pub struct InspectValue<'a, T> {
+    title: &'a str,
     current_value: T,
     range: RangeInclusive<T>,
     min_decimals: usize,
     max_decimals: Option<usize>,
     speed: f64,
-    suffix: String,
-    tooltip: Option<String>,
+    suffix: &'a str,
+    tooltip: Option<&'a str>,
 }
 
-impl<T: Numeric> InspectValue<T> {
-    pub fn new(title: String, current_value: T) -> Self {
+impl<'a, T: Numeric> InspectValue<'a, T> {
+    pub fn new(title: &'a str, current_value: T) -> Self {
         Self {
             title,
             current_value,
@@ -68,12 +68,12 @@ impl<T: Numeric> InspectValue<T> {
     }
 
     #[allow(dead_code)]
-    pub fn suffix(mut self, suffix: String) -> Self {
+    pub fn suffix(mut self, suffix: &'a str) -> Self {
         self.suffix = suffix;
         self
     }
 
-    pub fn tooltip(mut self, tooltip: String) -> Self {
+    pub fn tooltip(mut self, tooltip: &'a str) -> Self {
         self.tooltip = Some(tooltip);
         self
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
index 74693344..4f8fd877 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
@@ -17,16 +17,16 @@
 
 use crate::{
     interaction::{ChangeMode, Hover, SelectAnchor3D},
-    site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
+    site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell},
+    widgets::{prelude::*, Icons, Inspect, SelectorWidget},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ImageButton, Ui};
 
 #[derive(SystemParam)]
-pub struct InspectWorkcellParentParams<'w, 's> {
-    pub parents: Query<'w, 's, &'static Parent>,
-    pub workcell_elements: Query<
+pub struct InspectWorkcellParent<'w, 's> {
+    parents: Query<'w, 's, &'static Parent>,
+    workcell_elements: Query<
         'w,
         's,
         Entity,
@@ -36,62 +36,42 @@ pub struct InspectWorkcellParentParams<'w, 's> {
             With<NameOfWorkcell>,
         )>,
     >,
-    pub mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub icons: Res<'w, Icons>,
+    mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
+    icons: Res<'w, Icons>,
+    selector: SelectorWidget<'w, 's>,
+    change_mode: ResMut<'w, Events<ChangeMode>>,
 }
 
-pub struct InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub entity: Entity,
-    pub params: &'a InspectWorkcellParentParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectWorkcellParentParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectWorkcellParent<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w, 's> InspectWorkcellParent<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
         // If the parent is a frame it should be reassignable
         if let Ok(parent) = self
-            .params
             .parents
-            .get(self.entity)
-            .and_then(|p| self.params.workcell_elements.get(**p))
+            .get(id)
+            .and_then(|p| self.workcell_elements.get(**p))
         {
             ui.vertical(|ui| {
-                if let Ok(c) = self.params.mesh_constraints.get(self.entity) {
+                if let Ok(c) = self.mesh_constraints.get(id) {
                     ui.label("Mesh Parent");
-                    SelectionWidget::new(
-                        c.entity,
-                        self.params.site_id.get(c.entity).ok().cloned(),
-                        self.params.icons.as_ref(),
-                        self.events,
-                    )
-                    .show(ui);
+                    self.selector.show_widget(c.entity, ui);
                 }
                 ui.label("Parent Frame");
-                SelectionWidget::new(
-                    parent,
-                    self.params.site_id.get(parent).ok().cloned(),
-                    self.params.icons.as_ref(),
-                    self.events,
-                )
-                .show(ui);
-
-                let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
-
+                self.selector.show_widget(parent, ui);
+                let assign_response = ui.add(ImageButton::new(self.icons.edit.egui()));
                 if assign_response.hovered() {
-                    self.events.request.hover.send(Hover(Some(self.entity)));
+                    self.selector.hover.send(Hover(Some(id)));
                 }
 
                 let parent_replace = assign_response.clicked();
@@ -99,11 +79,8 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2>
 
                 if parent_replace {
                     let request =
-                        SelectAnchor3D::replace_point(self.entity, parent).for_anchor(Some(parent));
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
+                        SelectAnchor3D::replace_point(id, parent).for_anchor(Some(parent));
+                    self.change_mode.send(ChangeMode::To(request.into()));
                 }
             });
         }
diff --git a/rmf_site_editor/src/widgets/inspector/mod.rs b/rmf_site_editor/src/widgets/inspector/mod.rs
index 74b0447e..544549de 100644
--- a/rmf_site_editor/src/widgets/inspector/mod.rs
+++ b/rmf_site_editor/src/widgets/inspector/mod.rs
@@ -30,12 +30,18 @@ pub use inspect_asset_source::*;
 pub mod inspect_door;
 pub use inspect_door::*;
 
+pub mod inspect_drawing;
+pub use inspect_drawing::*;
+
 pub mod inspect_edge;
 pub use inspect_edge::*;
 
 pub mod inspect_fiducial;
 pub use inspect_fiducial::*;
 
+pub mod inspect_geography;
+pub use inspect_geography::*;
+
 pub mod inspect_group;
 pub use inspect_group::*;
 
@@ -66,6 +72,9 @@ pub use inspect_mesh_constraint::*;
 pub mod inspect_primitive_shape;
 pub use inspect_primitive_shape::*;
 
+pub mod inspect_measurement;
+pub use inspect_measurement::*;
+
 pub mod inspect_motion;
 pub use inspect_motion::*;
 
@@ -81,6 +90,9 @@ pub use inspect_physical_camera_properties::*;
 pub mod inspect_pose;
 pub use inspect_pose::*;
 
+pub mod inspect_preview;
+pub use inspect_preview::*;
+
 pub mod inspect_scale;
 pub use inspect_scale::*;
 
@@ -96,545 +108,242 @@ pub use inspect_value::*;
 pub mod inspect_workcell_parent;
 pub use inspect_workcell_parent::*;
 
-pub mod selection_widget;
-pub use selection_widget::*;
-
-use super::move_layer::MoveLayer;
-
 use crate::{
-    interaction::{Selection, SpawnPreview},
-    site::{
-        AlignSiteDrawings, BeginEditDrawing, Category, Change, DefaultFile, DrawingMarker,
-        EdgeLabels, LayerVisibility, Original, SiteID,
-    },
-    widgets::AppEvents,
+    interaction::Selection,
+    site::{Category, SiteID},
+    widgets::prelude::*,
     AppState,
 };
-use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, RichText, Ui};
+use bevy::{
+    ecs::system::{SystemParam, SystemState},
+    prelude::*,
+};
+use bevy_egui::egui::{CollapsingHeader, Ui};
 use rmf_site_format::*;
+use smallvec::SmallVec;
+
+/// Use this plugin to add a single inspection tile into the [`MainInspector`]
+/// widget.
+///
+/// ```no_run
+/// use bevy::prelude::{App, Query, Entity, Res};
+/// use librmf_site_editor::{SiteEditor, site::NameInSite, widgets::prelude::*};
+///
+/// #[derive(SystemParam)]
+/// pub struct HelloSelection<'w, 's> {
+///     names: Query<'w, 's, &'static NameInSite>,
+/// }
+///
+/// impl<'w, 's> WidgetSystem<Inspect> for HelloSelection<'w, 's> {
+///     fn show(
+///         Inspect { selection, .. }: Inspect,
+///         ui: &mut Ui,
+///         state: &mut SystemState<Self>,
+///         world: &mut World,
+///     ) {
+///         let mut params = state.get_mut(world);
+///         let name = params.names.get(selection)
+///             .map(|name| name.as_str())
+///             .unwrap_or("<unknown>");
+///         ui.add_space(20.0);
+///         ui.heading(format!("Hello, {name}!"));
+///         ui.add_space(20.0);
+///     }
+/// }
+///
+/// fn main() {
+///     let mut app = App::new();
+///     app.add_plugins((
+///         SiteEditor::default(),
+///         InspectionPlugin::<HelloSelection>::new(),
+///     ));
+///
+///     app.run();
+/// }
+/// ```
+pub struct InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    _ignore: std::marker::PhantomData<W>,
+}
 
-// Bevy seems to have a limit of 16 fields in a SystemParam struct, so we split
-// some of the InspectorParams fields into the InspectorComponentParams struct.
-#[derive(SystemParam)]
-pub struct InspectorParams<'w, 's> {
-    pub selection: Res<'w, Selection>,
-    pub heading: Query<'w, 's, (Option<&'static Category>, Option<&'static SiteID>)>,
-    pub anchor_params: InspectAnchorParams<'w, 's>,
-    pub anchor_dependents_params: InspectAnchorDependentsParams<'w, 's>,
-    pub workcell_params: InspectorWorkcellParams<'w, 's>,
-    pub component: InspectorComponentParams<'w, 's>,
-    pub drawing: InspectDrawingParams<'w, 's>,
-    // TODO(luca) move to new systemparam, reached 16 limit on main one
-    pub primitive_shapes: Query<'w, 's, (&'static PrimitiveShape, &'static RecallPrimitiveShape)>,
-    pub scales: Query<'w, 's, &'static Scale>,
-    pub layer: InspectorLayerParams<'w, 's>,
-    pub texture: InspectTextureAffiliationParams<'w, 's>,
-    pub groups: InspectGroupParams<'w, 's>,
-    pub default_file: Query<'w, 's, &'static DefaultFile>,
+/// Use this to create a standard inspector plugin that covers the common use
+/// cases of the site editor.
+#[derive(Default)]
+pub struct StandardInspectorPlugin {}
+
+impl Plugin for StandardInspectorPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(MinimalInspectorPlugin::default())
+            .add_plugins((
+                InspectionPlugin::<InspectName>::new(),
+                InspectionPlugin::<InspectAnchor>::new(),
+                InspectionPlugin::<InspectAnchorDependents>::new(),
+                InspectionPlugin::<InspectEdge>::new(),
+                InspectionPlugin::<InspectGeography>::new(),
+                InspectFiducialPlugin::default(),
+                InspectionPlugin::<InspectLayer>::new(),
+                InspectionPlugin::<InspectDrawing>::new(),
+                InspectionPlugin::<InspectAssociatedGraphs>::new(),
+                InspectionPlugin::<InspectLocation>::new(),
+                InspectTexturePlugin::default(),
+                InspectionPlugin::<InspectMotion>::new(),
+                InspectionPlugin::<InspectPose>::new(),
+                InspectionPlugin::<InspectScale>::new(),
+                InspectionPlugin::<InspectLight>::new(),
+                // Reached the tuple limit
+            ))
+            .add_plugins((
+                InspectionPlugin::<InspectDoor>::new(),
+                InspectionPlugin::<InspectAssetSource>::new(),
+                InspectionPlugin::<InspectPrimitiveShape>::new(),
+                InspectionPlugin::<InspectModelDependents>::new(),
+                InspectionPlugin::<InspectWorkcellParent>::new(),
+                InspectionPlugin::<InspectJoint>::new(),
+                InspectionPlugin::<InspectMeasurement>::new(),
+                InspectionPlugin::<InspectPhysicalCameraProperties>::new(),
+                InspectLiftPlugin::default(),
+                InspectionPlugin::<InspectPreview>::new(),
+                InspectionPlugin::<InspectGroup>::new(),
+            ));
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectorWorkcellParams<'w, 's> {
-    pub joints: InspectJointParams<'w, 's>,
-    pub constraint_dependents_params: InspectModelDependentsParams<'w, 's>,
-    pub names_in_workcell: Query<'w, 's, &'static NameInWorkcell>,
-    pub workcell_names: Query<'w, 's, &'static NameOfWorkcell>,
-    pub parent_params: InspectWorkcellParentParams<'w, 's>,
+/// Use this to create a minimal inspector plugin. You will be able to add your
+/// own [`InspectionPlugin`]s to the application, but none of the standard
+/// inspection plugins will be included.
+#[derive(Default)]
+pub struct MinimalInspectorPlugin {}
+
+impl Plugin for MinimalInspectorPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<MainInspector>();
+    }
 }
 
-// NOTE: We may need to split this struct into multiple structs if we ever need
-// it to have more than 16 fields.
-#[derive(SystemParam)]
-pub struct InspectorComponentParams<'w, 's> {
-    pub edges: Query<
-        'w,
-        's,
-        (
-            &'static Edge<Entity>,
-            Option<&'static Original<Edge<Entity>>>,
-            Option<&'static EdgeLabels>,
-            &'static Category,
-        ),
-    >,
-    pub associated_graphs: InspectAssociatedGraphsParams<'w, 's>,
-    pub location_tags: Query<'w, 's, (&'static LocationTags, &'static RecallLocationTags)>,
-    pub motions: Query<'w, 's, (&'static Motion, &'static RecallMotion)>,
-    pub reverse_motions: Query<'w, 's, (&'static ReverseLane, &'static RecallReverseLane)>,
-    pub names: Query<'w, 's, &'static NameInSite>,
-    pub doors: Query<'w, 's, (&'static DoorType, &'static RecallDoorType)>,
-    pub lifts: InspectLiftParams<'w, 's>,
-    pub poses: Query<'w, 's, &'static Pose>,
-    pub asset_sources:
-        Query<'w, 's, (&'static AssetSource, &'static RecallAssetSource), Without<Pending>>,
-    pub constraint_dependents: Query<'w, 's, With<ConstraintDependents>>,
-    pub pixels_per_meter: Query<'w, 's, &'static PixelsPerMeter>,
-    pub physical_camera_properties: Query<'w, 's, &'static PhysicalCameraProperties>,
-    pub lights: Query<'w, 's, (&'static LightKind, &'static RecallLightKind)>,
-    pub previewable: Query<'w, 's, &'static PreviewableMarker>,
+impl<W> InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    pub fn new() -> Self {
+        Self {
+            _ignore: Default::default(),
+        }
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectDrawingParams<'w, 's> {
-    pub distance: Query<'w, 's, &'static Distance>,
-    pub fiducial: InspectFiducialParams<'w, 's>,
+impl<W> Plugin for InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    fn build(&self, app: &mut App) {
+        let inspector = app.world.resource::<MainInspector>().id;
+        let widget = Widget::<Inspect>::new::<W>(&mut app.world);
+        app.world.spawn(widget).set_parent(inspector);
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectorLayerParams<'w, 's> {
-    pub floors: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-        With<FloorMarker>,
-    >,
-    pub drawings: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-        With<DrawingMarker>,
-    >,
-    pub levels: Query<
-        'w,
-        's,
-        (
-            &'static GlobalFloorVisibility,
-            &'static GlobalDrawingVisibility,
-        ),
-    >,
+/// This is the input type for inspection widgets. Use [`InspectionPlugin`] to
+/// add the widget to the application.
+#[derive(Clone, Copy)]
+pub struct Inspect {
+    /// What entity should be treated as selected.
+    pub selection: Entity,
+    /// What entity is the current inspection widget attached to.
+    pub inspection: Entity,
+    /// What kind of panel is the inspector rendered on.
+    pub panel: PanelSide,
 }
 
-pub struct InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub params: &'a InspectorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+/// This contains a reference to the main inspector widget of the application.
+#[derive(Resource)]
+pub struct MainInspector {
+    id: Entity,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(params: &'a InspectorParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl MainInspector {
+    pub fn get(&self) -> Entity {
+        self.id
     }
+}
 
-    fn heading(&self, selection: Entity, ui: &mut Ui) {
-        let (label, site_id) = if let Ok((category, site_id)) = self.params.heading.get(selection) {
-            (
-                category.map(|x| x.label()).unwrap_or("<Unknown Type>"),
-                site_id,
-            )
-        } else {
-            ("<Unknown Type>", None)
-        };
-
-        if let Some(site_id) = site_id {
-            ui.heading(format!("{} #{}", label, site_id.0));
-        } else {
-            ui.heading(format!("{} (unsaved)", label));
-        }
+impl FromWorld for MainInspector {
+    fn from_world(world: &mut World) -> Self {
+        let widget = Widget::new::<Inspector>(world);
+        let properties_panel = world.resource::<PropertiesPanel>().id();
+        let id = world.spawn(widget).set_parent(properties_panel).id();
+        Self { id }
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) {
-        let default_file = self
-            .events
-            .request
-            .current_workspace
-            .root
-            .map(|e| self.params.default_file.get(e).ok())
-            .flatten();
-
-        if let Some(selection) = self.params.selection.0 {
-            self.heading(selection, ui);
-            if self.params.anchor_params.anchors.contains(selection) {
-                ui.horizontal(|ui| {
-                    InspectAnchorWidget::new(selection, &self.params.anchor_params, self.events)
-                        .show(ui);
-                });
-                ui.separator();
-                InspectAnchorDependentsWidget::new(
-                    selection,
-                    &self.params.anchor_dependents_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectFiducialWidget::new(selection, &self.params.drawing.fiducial, &mut self.events)
-                .show(ui);
-
-            if let Ok(name) = self.params.component.names.get(selection) {
-                if let Some(new_name) = InspectName::new(name).show(ui) {
-                    self.events
-                        .change
-                        .name
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(name) = self.params.workcell_params.names_in_workcell.get(selection) {
-                if let Some(new_name) = InspectNameInWorkcell::new(name).show(ui) {
-                    self.events
-                        .workcell_change
-                        .name_in_workcell
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(name) = self.params.workcell_params.workcell_names.get(selection) {
-                if let Some(new_name) = InspectNameOfWorkcell::new(name).show(ui) {
-                    self.events
-                        .workcell_change
-                        .workcell_name
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((floor_vis, alpha)) = self.params.layer.floors.get(selection) {
-                ui.horizontal(|ui| {
-                    MoveLayer::new(
-                        selection,
-                        &mut self.events.layers.floors,
-                        &self.events.layers.icons,
-                    )
-                    .show(ui);
-                });
-                ui.horizontal(|ui| {
-                    InspectLayer::new(
-                        selection,
-                        &self.params.anchor_params.icons,
-                        self.events,
-                        floor_vis.copied(),
-                        alpha.0,
-                        true,
-                    )
-                    .show(ui);
-                });
-            }
-
-            if let Ok((drawing_vis, alpha)) = self.params.layer.drawings.get(selection) {
-                ui.horizontal(|ui| {
-                    MoveLayer::new(
-                        selection,
-                        &mut self.events.layers.drawings,
-                        &self.events.layers.icons,
-                    )
-                    .show(ui);
-                });
-                ui.horizontal(|ui| {
-                    InspectLayer::new(
-                        selection,
-                        &self.params.anchor_params.icons,
-                        self.events,
-                        drawing_vis.copied(),
-                        alpha.0,
-                        false,
-                    )
-                    .show(ui);
-                });
-            }
-
-            if let Ok(ppm) = self.params.component.pixels_per_meter.get(selection) {
-                if *self.events.app_state.get() == AppState::SiteEditor {
-                    ui.add_space(10.0);
-                    if ui
-                        .add(Button::image_and_text(
-                            self.events.layers.icons.edit.egui(),
-                            "Edit Drawing",
-                        ))
-                        .clicked()
-                    {
-                        self.events
-                            .layers
-                            .begin_edit_drawing
-                            .send(BeginEditDrawing(selection));
-                    }
-                }
-                ui.add_space(10.0);
-                if ui
-                    .add(Button::image_and_text(
-                        self.events.layers.icons.alignment.egui(),
-                        "Align Drawings",
-                    ))
-                    .on_hover_text(
-                        "Align all drawings in the site based on their fiducials and measurements",
-                    )
-                    .clicked()
-                {
-                    if let Some(site) = self.events.request.current_workspace.root {
-                        self.events.request.align_site.send(AlignSiteDrawings(site));
-                    }
-                }
-                ui.add_space(10.0);
-                if let Some(new_ppm) =
-                    InspectValue::<f32>::new(String::from("Pixels per meter"), ppm.0)
-                        .clamp_range(0.0001..=std::f32::INFINITY)
-                        .tooltip("How many image pixels per meter".to_string())
-                        .show(ui)
-                {
-                    self.events
-                        .change
-                        .pixels_per_meter
-                        .send(Change::new(PixelsPerMeter(new_ppm), selection));
-                }
-            }
-
-            if let Ok((edge, original, labels, category)) =
-                self.params.component.edges.get(selection)
-            {
-                InspectEdgeWidget::new(
-                    selection,
-                    category,
-                    edge,
-                    original,
-                    labels,
-                    &self.params.anchor_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectAssociatedGraphsWidget::new(
-                selection,
-                &self.params.component.associated_graphs,
-                self.events,
-            )
-            .show(ui);
-
-            if let Ok((tags, recall)) = self.params.component.location_tags.get(selection) {
-                if let Some(new_tags) = InspectLocationWidget::new(
-                    selection,
-                    tags,
-                    recall,
-                    &self.params.anchor_params.icons,
-                    self.events,
-                )
-                .show(ui)
-                {
-                    self.events
-                        .change
-                        .location_tags
-                        .send(Change::new(new_tags, selection));
-                }
-            }
+#[derive(SystemParam)]
+pub struct Inspector<'w, 's> {
+    children: Query<'w, 's, &'static Children>,
+    heading: Query<'w, 's, (Option<&'static Category>, Option<&'static SiteID>)>,
+}
 
-            InspectTextureAffiliation::new(selection, &self.params.texture, self.events).show(ui);
+impl<'w, 's> WidgetSystem<Tile> for Inspector<'w, 's> {
+    fn show(
+        Tile { id, panel }: Tile,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        match world.resource::<State<AppState>>().get() {
+            AppState::SiteEditor | AppState::SiteDrawingEditor | AppState::WorkcellEditor => {}
+            _ => return,
+        }
 
-            if let Ok((motion, recall)) = self.params.component.motions.get(selection) {
-                ui.label(RichText::new("Forward Motion").size(18.0));
-                if let Some(new_motion) = InspectMotionWidget::new(motion, recall).show(ui) {
-                    self.events
-                        .change
-                        .lane_motion
-                        .send(Change::new(new_motion, selection));
+        CollapsingHeader::new("Inspect")
+            .default_open(true)
+            .show(ui, |ui| {
+                let Some(selection) = world.get_resource::<Selection>() else {
+                    ui.label("ERROR: Selection resource is not available");
+                    return;
+                };
+
+                let Some(selection) = selection.0 else {
+                    ui.label("Nothing selected");
+                    return;
+                };
+
+                let params = state.get(world);
+
+                let (label, site_id) =
+                    if let Ok((category, site_id)) = params.heading.get(selection) {
+                        (
+                            category.map(|x| x.label()).unwrap_or("<Unknown Type>"),
+                            site_id,
+                        )
+                    } else {
+                        ("<Unknown Type>", None)
+                    };
+
+                if let Some(site_id) = site_id {
+                    ui.heading(format!("{} #{}", label, site_id.0));
+                } else {
+                    ui.heading(format!("{} (unsaved)", label));
                 }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((reverse, recall)) = self.params.component.reverse_motions.get(selection) {
-                ui.separator();
-                ui.push_id("Reverse Motion", |ui| {
-                    if let Some(new_reverse) = InspectReverseWidget::new(reverse, recall).show(ui) {
-                        self.events
-                            .change
-                            .lane_reverse
-                            .send(Change::new(new_reverse, selection));
+
+                let children: Result<SmallVec<[_; 16]>, _> = params
+                    .children
+                    .get(id)
+                    .map(|children| children.iter().copied().collect());
+                let Ok(children) = children else {
+                    return;
+                };
+
+                panel.align(ui, |ui| {
+                    for child in children {
+                        let inspect = Inspect {
+                            selection,
+                            inspection: child,
+                            panel,
+                        };
+                        let _ = world.try_show_in(child, inspect, ui);
                     }
                 });
-                ui.add_space(10.0);
-            }
-
-            if let Ok(pose) = self.params.component.poses.get(selection) {
-                if let Some(new_pose) = InspectPose::new(pose).show(ui) {
-                    self.events
-                        .change
-                        .pose
-                        .send(Change::new(new_pose, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(scale) = self.params.scales.get(selection) {
-                if let Some(new_scale) = InspectScale::new(scale).show(ui) {
-                    self.events
-                        .workcell_change
-                        .scale
-                        .send(Change::new(new_scale, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((light, recall)) = self.params.component.lights.get(selection) {
-                if let Some(new_light) = InspectLightKind::new(light, recall).show(ui) {
-                    self.events
-                        .change
-                        .light
-                        .send(Change::new(new_light, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((door, recall)) = self.params.component.doors.get(selection) {
-                if let Some(new_door) = InspectDoorType::new(door, recall).show(ui) {
-                    self.events
-                        .change
-                        .door
-                        .send(Change::new(new_door, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((source, recall)) = self.params.component.asset_sources.get(selection) {
-                if let Some(new_asset_source) =
-                    InspectAssetSource::new(source, recall, default_file).show(ui)
-                {
-                    self.events
-                        .change
-                        .asset_source
-                        .send(Change::new(new_asset_source, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((source, recall)) = self.params.primitive_shapes.get(selection) {
-                if let Some(new_primitive_shape) =
-                    InspectPrimitiveShape::new(source, recall).show(ui)
-                {
-                    self.events
-                        .workcell_change
-                        .primitive_shapes
-                        .send(Change::new(new_primitive_shape, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if self
-                .params
-                .component
-                .constraint_dependents
-                .get(selection)
-                .is_ok()
-            {
-                InspectModelDependentsWidget::new(
-                    selection,
-                    &self.params.workcell_params.constraint_dependents_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectWorkcellParentWidget::new(
-                selection,
-                &self.params.workcell_params.parent_params,
-                &mut self.events,
-            )
-            .show(ui);
-            InspectJointWidget::new(
-                selection,
-                &self.params.workcell_params.joints,
-                &mut self.events,
-            )
-            .show(ui);
-
-            if let Ok(distance) = self.params.drawing.distance.get(selection) {
-                if let Some(new_distance) =
-                    InspectOptionF32::new("Distance".to_string(), distance.0, 10.0)
-                        .clamp_range(0.0..=10000.0)
-                        .min_decimals(2)
-                        .max_decimals(2)
-                        .speed(0.01)
-                        .suffix(" m".to_string())
-                        .show(ui)
-                {
-                    self.events
-                        .change
-                        .distance
-                        .send(Change::new(Distance(new_distance), selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(camera_properties) = self
-                .params
-                .component
-                .physical_camera_properties
-                .get(selection)
-            {
-                if let Some(new_camera_properties) =
-                    InspectPhysicalCameraProperties::new(camera_properties).show(ui)
-                {
-                    self.events
-                        .change
-                        .physical_camera_properties
-                        .send(Change::new(new_camera_properties, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Some(new_cabin) =
-                InspectLiftCabin::new(selection, &self.params.component.lifts, &mut self.events)
-                    .show(ui)
-            {
-                self.events
-                    .change
-                    .lift_cabin
-                    .send(Change::new(new_cabin, selection));
-                ui.add_space(10.0);
-            }
-
-            if let Ok(_previewable) = self.params.component.previewable.get(selection) {
-                if ui.button("Preview").clicked() {
-                    self.events
-                        .request
-                        .spawn_preview
-                        .send(SpawnPreview::new(Some(selection)));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(Affiliation(Some(group))) = self.params.groups.affiliation.get(selection) {
-                ui.separator();
-                let empty = String::new();
-                let name = self
-                    .params
-                    .component
-                    .names
-                    .get(*group)
-                    .map(|n| &n.0)
-                    .unwrap_or(&empty);
-
-                ui.label(RichText::new(format!("Group Properties of [{}]", name)).size(18.0));
-                ui.add_space(5.0);
-                InspectGroup::new(
-                    *group,
-                    selection,
-                    default_file,
-                    &self.params.groups,
-                    self.events,
-                )
-                .show(ui);
-            }
-
-            if self.params.groups.is_group.contains(selection) {
-                InspectGroup::new(
-                    selection,
-                    selection,
-                    default_file,
-                    &self.params.groups,
-                    self.events,
-                )
-                .show(ui);
-            }
-        } else {
-            ui.label("Nothing selected");
-        }
+            });
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/selection_widget.rs b/rmf_site_editor/src/widgets/inspector/selection_widget.rs
deleted file mode 100644
index 7d05c4aa..00000000
--- a/rmf_site_editor/src/widgets/inspector/selection_widget.rs
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright (C) 2022 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-use crate::{
-    interaction::{Hover, Select},
-    site::SiteID,
-    widgets::{AppEvents, Icons},
-};
-use bevy::prelude::*;
-use bevy_egui::egui::{Button, Ui};
-
-pub struct SelectionWidget<'a, 'w, 's> {
-    entity: Entity,
-    site_id: Option<SiteID>,
-    icons: &'a Icons,
-    events: &'a mut AppEvents<'w, 's>,
-    as_selected: bool,
-}
-
-impl<'a, 'w, 's> SelectionWidget<'a, 'w, 's> {
-    pub fn new(
-        entity: Entity,
-        site_id: Option<SiteID>,
-        icons: &'a Icons,
-        events: &'a mut AppEvents<'w, 's>,
-    ) -> Self {
-        Self {
-            entity,
-            site_id,
-            icons,
-            events,
-            as_selected: false,
-        }
-    }
-
-    pub fn as_selected(mut self, as_selected: bool) -> Self {
-        self.as_selected = as_selected;
-        self
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        let text = match self.site_id {
-            Some(id) => format!("#{}", id.0),
-            None => "*".to_string(),
-        };
-
-        let icon = if self.as_selected {
-            self.icons.selected.egui()
-        } else {
-            self.icons.select.egui()
-        };
-
-        let response = ui.add(Button::image_and_text(icon, text));
-
-        if response.clicked() {
-            self.events.request.select.send(Select(Some(self.entity)));
-        } else if response.hovered() {
-            self.events.request.hover.send(Hover(Some(self.entity)));
-        }
-
-        response.on_hover_text("Select");
-    }
-}
diff --git a/rmf_site_editor/src/widgets/menu_bar.rs b/rmf_site_editor/src/widgets/menu_bar.rs
index dfcb9a40..98d2bc4f 100644
--- a/rmf_site_editor/src/widgets/menu_bar.rs
+++ b/rmf_site_editor/src/widgets/menu_bar.rs
@@ -15,16 +15,32 @@
  *
 */
 
-use crate::{AppState, CreateNewWorkspace, FileEvents, LoadWorkspace, MenuParams, SaveWorkspace};
+use crate::{widgets::prelude::*, AppState, CreateNewWorkspace, LoadWorkspace, SaveWorkspace};
 
 use bevy::ecs::query::Has;
 use bevy::prelude::*;
-use bevy_egui::egui::{self, Button, Context, Ui};
+use bevy_egui::egui::{self, Button, Ui};
 
 use std::collections::HashSet;
 
-/// Adding this to an entity to an entity with the MenuItem component
-/// will grey out and disable a MenuItem.
+/// Add the standard menu bar to the application.
+#[derive(Default)]
+pub struct MenuBarPlugin {}
+
+impl Plugin for MenuBarPlugin {
+    fn build(&self, app: &mut App) {
+        let widget = PanelWidget::new(top_menu_bar, &mut app.world);
+        app.world.spawn(widget);
+
+        app.add_event::<MenuEvent>()
+            .init_resource::<FileMenu>()
+            .init_resource::<ToolMenu>()
+            .init_resource::<ViewMenu>();
+    }
+}
+
+/// Adding this to an entity to an entity with the [`MenuItem`] component
+/// will grey out and disable a [`MenuItem`].
 #[derive(Component)]
 pub struct MenuDisabled;
 
@@ -165,17 +181,6 @@ impl MenuEvent {
     }
 }
 
-pub struct MenuPluginManager;
-
-impl Plugin for MenuPluginManager {
-    fn build(&self, app: &mut App) {
-        app.add_event::<MenuEvent>()
-            .init_resource::<FileMenu>()
-            .init_resource::<ToolMenu>()
-            .init_resource::<ViewMenu>();
-    }
-}
-
 /// Helper function to render a submenu starting at the entity.
 fn render_sub_menu(
     state: &State<AppState>,
@@ -258,19 +263,31 @@ fn render_sub_menu(
     }
 }
 
-pub fn top_menu_bar(
-    egui_context: &mut Context,
-    file_events: &mut FileEvents,
-    file_menu: &Res<FileMenu>,
-    top_level_components: &Query<(), Without<Parent>>,
-    children: &Query<&Children>,
-    menu_params: &mut MenuParams,
+#[derive(SystemParam)]
+struct MenuParams<'w, 's> {
+    state: Res<'w, State<AppState>>,
+    menus: Query<'w, 's, (&'static Menu, Entity)>,
+    menu_items: Query<'w, 's, (&'static mut MenuItem, Has<MenuDisabled>)>,
+    menu_states: Query<'w, 's, Option<&'static MenuVisualizationStates>>,
+    extension_events: EventWriter<'w, MenuEvent>,
+    view_menu: Res<'w, ViewMenu>,
+}
+
+fn top_menu_bar(
+    In(input): In<PanelWidgetInput>,
+    mut new_workspace: EventWriter<CreateNewWorkspace>,
+    mut save: EventWriter<SaveWorkspace>,
+    mut load_workspace: EventWriter<LoadWorkspace>,
+    file_menu: Res<FileMenu>,
+    top_level_components: Query<(), Without<Parent>>,
+    children: Query<&Children>,
+    mut menu_params: MenuParams,
 ) {
-    egui::TopBottomPanel::top("top_panel").show(egui_context, |ui| {
+    egui::TopBottomPanel::top("top_panel").show(&input.context, |ui| {
         egui::menu::bar(ui, |ui| {
             ui.menu_button("File", |ui| {
                 if ui.add(Button::new("New").shortcut_text("Ctrl+N")).clicked() {
-                    file_events.new_workspace.send(CreateNewWorkspace);
+                    new_workspace.send(CreateNewWorkspace);
                 }
                 #[cfg(not(target_arch = "wasm32"))]
                 {
@@ -278,29 +295,27 @@ pub fn top_menu_bar(
                         .add(Button::new("Save").shortcut_text("Ctrl+S"))
                         .clicked()
                     {
-                        file_events
-                            .save
-                            .send(SaveWorkspace::new().to_default_file());
+                        save.send(SaveWorkspace::new().to_default_file());
                     }
                     if ui
                         .add(Button::new("Save As").shortcut_text("Ctrl+Shift+S"))
                         .clicked()
                     {
-                        file_events.save.send(SaveWorkspace::new().to_dialog());
+                        save.send(SaveWorkspace::new().to_dialog());
                     }
                 }
                 if ui
                     .add(Button::new("Open").shortcut_text("Ctrl+O"))
                     .clicked()
                 {
-                    file_events.load_workspace.send(LoadWorkspace::Dialog);
+                    load_workspace.send(LoadWorkspace::Dialog);
                 }
 
                 render_sub_menu(
                     &menu_params.state,
                     ui,
                     &file_menu.get(),
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
@@ -313,7 +328,7 @@ pub fn top_menu_bar(
                     &menu_params.state,
                     ui,
                     &menu_params.view_menu.get(),
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
@@ -330,7 +345,7 @@ pub fn top_menu_bar(
                     &menu_params.state,
                     ui,
                     &entity,
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index 1004d7f9..5868d60d 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -15,47 +15,103 @@
  *
 */
 
+//! The site editor allows you to insert your own egui widgets into the UI.
+//! Simple examples of custom widgets can be found in the docs for
+//! [`PropertiesTilePlugin`] and [`InspectionPlugin`].
+//!
+//! There are three categories of widgets that the site editor provides
+//! out-of-the-box support for inserting, but the widget system itself is
+//! highly extensible, allowing you to define your own categories of widgets.
+//!
+//! The three categories provided out of the box include:
+//! - [Panel widget][1]: Add a new panel to the UI.
+//! - Tile widget: Add a tile into a [panel of tiles][2] such as the [`PropertiesPanel`]. Use [`PropertiesTilePlugin`] to make a new tile widget that goes inside of the standard `PropertiesPanel`.
+//! - [`InspectionPlugin`]: Add a widget to the [`MainInspector`] to display more information about the currently selected entity.
+//!
+//! In our terminology, there are two kinds of panels:
+//! - Side panels: A vertical column widget on the left or right side of the screen.
+//!   - [`PropertiesPanel`] is usually a side panel placed on the right side of the screen.
+//!   - [`FuelAssetBrowser`] is a side panel typically placed on the left side of the screen.
+//!   - [`Diagnostics`] is a side panel that interactively flags issues that have been found in the site.
+//! - Top / Bottom Panels:
+//!   - The [`MenuBarPlugin`] provides a menu bar at the top of the screen.
+//!     - Create an entity with a [`Menu`] component to create a new menu inside the menu bar.
+//!     - Add an entity with a [`MenuItem`] component as a child to a menu entity to add a new item into a menu.
+//!     - The [`FileMenu`], [`ToolMenu`], and [`ViewMenu`] are resources that provide access to various standard menus.
+//!   - The [`ConsoleWidgetPlugin`] provides a console at the bottom of the screen to display information, warning, and error messages.
+//!
+//! [1]: crate::widgets::PanelWidget
+//! [2]: crate::widgets::show_panel_of_tiles
+
 use crate::{
-    interaction::{
-        ChangeMode, HeadlightToggle, Hover, MoveTo, PickingBlockers, Select, SpawnPreview,
-    },
-    log::LogHistory,
-    occupancy::CalculateGrid,
-    recency::ChangeRank,
-    site::{
-        AlignSiteDrawings, AssociatedGraphs, BeginEditDrawing, Change, ConsiderAssociatedGraph,
-        ConsiderLocationTag, CurrentLevel, Delete, DrawingMarker, ExportLights, FinishEditDrawing,
-        GlobalDrawingVisibility, GlobalFloorVisibility, JointProperties, LayerVisibility,
-        MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture, ToggleLiftDoorAvailability,
+    interaction::{Hover, PickingBlockers},
+    AppState,
+};
+use bevy::{
+    ecs::{
+        system::{SystemParam, SystemState},
+        world::EntityWorldMut,
     },
-    workcell::CreateJoint,
-    AppState, CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
-    ValidateWorkspace,
+    prelude::*,
 };
-use bevy::{asset::embedded_asset, ecs::query::Has, ecs::system::SystemParam, prelude::*};
 use bevy_egui::{
-    egui::{self, Button, CollapsingHeader},
+    egui::{self, Ui},
     EguiContexts,
 };
-use rmf_site_format::*;
 
-pub mod create;
-use create::*;
+pub mod building_preview;
+use building_preview::*;
+
+pub mod console;
+use console::*;
+
+pub mod creation;
+use creation::*;
+
+pub mod diagnostics;
+use diagnostics::*;
+
+pub mod fuel_asset_browser;
+pub use fuel_asset_browser::*;
+
+pub mod icons;
+pub use icons::*;
+
+pub mod inspector;
+pub use inspector::*;
 
 pub mod menu_bar;
-use menu_bar::*;
+pub use menu_bar::*;
+
+pub mod move_layer;
+pub use move_layer::*;
+
+pub mod panel_of_tiles;
+pub use panel_of_tiles::*;
+
+pub mod panel;
+pub use panel::*;
+
+pub mod properties_panel;
+pub use properties_panel::*;
+
+pub mod sdf_export_menu;
+pub use sdf_export_menu::*;
+
+pub mod selector_widget;
+pub use selector_widget::*;
+
+pub mod user_camera_display;
+pub use user_camera_display::*;
 
 pub mod view_groups;
 use view_groups::*;
 
-pub mod diagnostic_window;
-use diagnostic_window::*;
-
 pub mod view_layers;
 use view_layers::*;
 
 pub mod view_levels;
-use view_levels::{LevelDisplay, LevelParams, ViewLevels};
+use view_levels::*;
 
 pub mod view_lights;
 use view_lights::*;
@@ -66,644 +122,307 @@ use view_nav_graphs::*;
 pub mod view_occupancy;
 use view_occupancy::*;
 
-pub mod console;
-pub use console::*;
-
-pub mod icons;
-pub use icons::*;
-
-pub mod inspector;
-use inspector::{InspectorParams, InspectorWidget, SearchForFiducial, SearchForTexture};
-
-pub mod move_layer;
-pub use move_layer::*;
-
-pub mod new_model;
-pub use new_model::*;
-
-#[derive(Resource, Clone, Default)]
-pub struct PendingDrawing {
-    pub source: AssetSource,
-    pub recall_source: RecallAssetSource,
-}
-
-#[derive(Resource, Clone, Default)]
-pub struct PendingModel {
-    pub source: AssetSource,
-    pub recall_source: RecallAssetSource,
-    pub scale: Scale,
-}
-
-#[derive(Resource, Clone, Default)]
-pub struct UncoveredWindow {
-    pub area: Rect,
+pub mod prelude {
+    //! This module gives easy access to the traits, structs, and plugins that
+    //! we expect downstream users are likely to want easy access to if they are
+    //! implementing and inserting their own widgets.
+
+    pub use super::{
+        properties_panel::*, Inspect, InspectionPlugin, PanelSide, PanelWidget, PanelWidgetInput,
+        PropertiesPanel, PropertiesTilePlugin, ShareableWidget, ShowError, ShowResult,
+        ShowSharedWidget, Tile, TryShowWidgetEntity, TryShowWidgetWorld, Widget, WidgetSystem,
+    };
+    pub use bevy::ecs::{
+        system::{SystemParam, SystemState},
+        world::World,
+    };
+    pub use bevy_egui::egui::Ui;
 }
 
+/// This plugin provides the standard UI layout that was designed for the common
+/// use cases of the site editor.
 #[derive(Default)]
-pub struct StandardUiLayout;
+pub struct StandardUiPlugin {}
 
-fn add_widgets_icons(app: &mut App) {
-    // Taken from https://github.com/bevyengine/bevy/issues/10377#issuecomment-1858797002
-    // TODO(luca) remove once we migrate to Bevy 0.13 that includes the fix
-    #[cfg(any(not(target_family = "windows"), target_env = "gnu"))]
-    {
-        embedded_asset!(app, "src/", "icons/add.png");
-        embedded_asset!(app, "src/", "icons/alignment.png");
-        embedded_asset!(app, "src/", "icons/alpha.png");
-        embedded_asset!(app, "src/", "icons/confirm.png");
-        embedded_asset!(app, "src/", "icons/down.png");
-        embedded_asset!(app, "src/", "icons/edit.png");
-        embedded_asset!(app, "src/", "icons/empty.png");
-        embedded_asset!(app, "src/", "icons/exit.png");
-        embedded_asset!(app, "src/", "icons/global.png");
-        embedded_asset!(app, "src/", "icons/hidden.png");
-        embedded_asset!(app, "src/", "icons/hide.png");
-        embedded_asset!(app, "src/", "icons/merge.png");
-        embedded_asset!(app, "src/", "icons/opaque.png");
-        embedded_asset!(app, "src/", "icons/reject.png");
-        embedded_asset!(app, "src/", "icons/search.png");
-        embedded_asset!(app, "src/", "icons/select.png");
-        embedded_asset!(app, "src/", "icons/selected.png");
-        embedded_asset!(app, "src/", "icons/to_bottom.png");
-        embedded_asset!(app, "src/", "icons/to_top.png");
-        embedded_asset!(app, "src/", "icons/trash.png");
-        embedded_asset!(app, "src/", "icons/up.png");
-    }
-    #[cfg(all(target_family = "windows", not(target_env = "gnu")))]
-    {
-        embedded_asset!(app, "src\\", "icons\\add.png");
-        embedded_asset!(app, "src\\", "icons\\alignment.png");
-        embedded_asset!(app, "src\\", "icons\\alpha.png");
-        embedded_asset!(app, "src\\", "icons\\confirm.png");
-        embedded_asset!(app, "src\\", "icons\\down.png");
-        embedded_asset!(app, "src\\", "icons\\edit.png");
-        embedded_asset!(app, "src\\", "icons\\empty.png");
-        embedded_asset!(app, "src\\", "icons\\exit.png");
-        embedded_asset!(app, "src\\", "icons\\global.png");
-        embedded_asset!(app, "src\\", "icons\\hidden.png");
-        embedded_asset!(app, "src\\", "icons\\hide.png");
-        embedded_asset!(app, "src\\", "icons\\merge.png");
-        embedded_asset!(app, "src\\", "icons\\opaque.png");
-        embedded_asset!(app, "src\\", "icons\\reject.png");
-        embedded_asset!(app, "src\\", "icons\\search.png");
-        embedded_asset!(app, "src\\", "icons\\select.png");
-        embedded_asset!(app, "src\\", "icons\\selected.png");
-        embedded_asset!(app, "src\\", "icons\\to_bottom.png");
-        embedded_asset!(app, "src\\", "icons\\to_top.png");
-        embedded_asset!(app, "src\\", "icons\\trash.png");
-        embedded_asset!(app, "src\\", "icons\\up.png");
-    }
-}
-
-impl Plugin for StandardUiLayout {
+impl Plugin for StandardUiPlugin {
     fn build(&self, app: &mut App) {
-        add_widgets_icons(app);
-        app.init_resource::<Icons>()
-            .init_resource::<LevelDisplay>()
-            .init_resource::<NavGraphDisplay>()
-            .init_resource::<LightDisplay>()
-            .init_resource::<AssetGalleryStatus>()
-            .init_resource::<OccupancyDisplay>()
-            .init_resource::<DiagnosticWindowState>()
-            .init_resource::<PendingDrawing>()
-            .init_resource::<PendingModel>()
-            .init_resource::<UncoveredWindow>()
-            .init_resource::<SearchForFiducial>()
-            .add_plugins(MenuPluginManager)
-            .init_resource::<SearchForTexture>()
-            .init_resource::<GroupViewModes>()
-            .add_systems(Startup, init_ui_style)
-            .add_systems(
-                Update,
-                site_ui_layout.run_if(in_state(AppState::SiteEditor)),
-            )
-            .add_systems(
-                Update,
-                workcell_ui_layout.run_if(in_state(AppState::WorkcellEditor)),
-            )
-            .add_systems(
-                Update,
-                site_drawing_ui_layout.run_if(in_state(AppState::SiteDrawingEditor)),
-            )
-            .add_systems(
-                Update,
-                site_visualizer_ui_layout.run_if(in_state(AppState::SiteVisualizer)),
+        app.add_plugins((
+            IconsPlugin::default(),
+            MenuBarPlugin::default(),
+            SdfExportMenuPlugin::default(),
+            StandardPropertiesPanelPlugin::default(),
+            FuelAssetBrowserPlugin::default(),
+            DiagnosticsPlugin::default(),
+            ConsoleWidgetPlugin::default(),
+            UserCameraDisplayPlugin::default(),
+        ))
+        .add_systems(Startup, init_ui_style)
+        .add_systems(
+            Update,
+            site_ui_layout
+            .in_set(RenderUiSet)
+            .run_if(AppState::in_displaying_mode()),
+        )
+        .add_systems(
+            PostUpdate,
+            (
+                resolve_light_export_file,
+                resolve_nav_graph_import_export_files,
             )
-            .add_systems(
-                Update,
-                update_uncovered_window
-                    .after(site_ui_layout)
-                    .after(workcell_ui_layout)
-                    .after(site_drawing_ui_layout)
-                    .after(site_visualizer_ui_layout),
-            )
-            .add_systems(
-                PostUpdate,
-                (
-                    resolve_light_export_file,
-                    resolve_nav_graph_import_export_files,
-                )
-                    .run_if(AppState::in_site_mode()),
-            );
+                .run_if(AppState::in_site_mode()),
+        );
     }
 }
 
-#[derive(SystemParam)]
-pub struct ChangeEvents<'w> {
-    pub lane_motion: EventWriter<'w, Change<Motion>>,
-    pub lane_reverse: EventWriter<'w, Change<ReverseLane>>,
-    pub name: EventWriter<'w, Change<NameInSite>>,
-    pub pose: EventWriter<'w, Change<Pose>>,
-    pub door: EventWriter<'w, Change<DoorType>>,
-    pub lift_cabin: EventWriter<'w, Change<LiftCabin<Entity>>>,
-    pub asset_source: EventWriter<'w, Change<AssetSource>>,
-    pub pixels_per_meter: EventWriter<'w, Change<PixelsPerMeter>>,
-    pub physical_camera_properties: EventWriter<'w, Change<PhysicalCameraProperties>>,
-    pub light: EventWriter<'w, Change<LightKind>>,
-    pub level_elevation: EventWriter<'w, Change<LevelElevation>>,
-    pub color: EventWriter<'w, Change<DisplayColor>>,
-    pub visibility: EventWriter<'w, Change<Visibility>>,
-    pub associated_graphs: EventWriter<'w, Change<AssociatedGraphs<Entity>>>,
-    pub location_tags: EventWriter<'w, Change<LocationTags>>,
-    pub affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
-    pub search_for_fiducial: ResMut<'w, SearchForFiducial>,
-    pub search_for_texture: ResMut<'w, SearchForTexture>,
-    pub distance: EventWriter<'w, Change<Distance>>,
-    pub texture: EventWriter<'w, Change<Texture>>,
-    pub joint_properties: EventWriter<'w, Change<JointProperties>>,
-    pub merge_groups: EventWriter<'w, MergeGroups>,
-    pub filtered_issues: EventWriter<'w, Change<FilteredIssues<Entity>>>,
-    pub filtered_issue_kinds: EventWriter<'w, Change<FilteredIssueKinds>>,
-}
-
-#[derive(SystemParam)]
-pub struct WorkcellChangeEvents<'w> {
-    pub mesh_constraints: EventWriter<'w, Change<MeshConstraint<Entity>>>,
-    pub name_in_workcell: EventWriter<'w, Change<NameInWorkcell>>,
-    pub workcell_name: EventWriter<'w, Change<NameOfWorkcell>>,
-    pub scale: EventWriter<'w, Change<Scale>>,
-    pub primitive_shapes: EventWriter<'w, Change<PrimitiveShape>>,
+/// This component should be given to an entity that needs to be rendered as a
+/// nested widget in the UI.
+///
+/// For standard types of widgets you don't need to create this component yourself,
+/// instead use one of the generic convenience plugins:
+/// - [`InspectionPlugin`]
+/// - [`PropertiesTilePlugin`]
+#[derive(Component)]
+pub struct Widget<Input = (), Output = ()> {
+    inner: Option<Box<dyn ExecuteWidget<Input, Output> + 'static + Send + Sync>>,
+    _ignore: std::marker::PhantomData<(Input, Output)>,
 }
 
-#[derive(SystemParam)]
-pub struct FileEvents<'w> {
-    pub save: EventWriter<'w, SaveWorkspace>,
-    pub load_workspace: EventWriter<'w, LoadWorkspace>,
-    pub new_workspace: EventWriter<'w, CreateNewWorkspace>,
-    pub diagnostic_window: ResMut<'w, DiagnosticWindowState>,
+impl<Input, Output> Widget<Input, Output>
+where
+    Input: 'static + Send + Sync,
+    Output: 'static + Send + Sync,
+{
+    pub fn new<W>(world: &mut World) -> Self
+    where
+        W: WidgetSystem<Input, Output> + 'static + Send + Sync,
+    {
+        let inner = InnerWidget::<Input, Output, W> {
+            state: SystemState::new(world),
+            _ignore: Default::default(),
+        };
+
+        Self {
+            inner: Some(Box::new(inner)),
+            _ignore: Default::default(),
+        }
+    }
 }
 
-#[derive(SystemParam)]
-pub struct PanelResources<'w> {
-    pub level: ResMut<'w, LevelDisplay>,
-    pub nav_graph: ResMut<'w, NavGraphDisplay>,
-    pub light: ResMut<'w, LightDisplay>,
-    pub occupancy: ResMut<'w, OccupancyDisplay>,
-    pub log_history: ResMut<'w, LogHistory>,
-    pub pending_model: ResMut<'w, PendingModel>,
-    pub pending_drawings: ResMut<'w, PendingDrawing>,
-    pub uncovered_window: ResMut<'w, UncoveredWindow>,
+/// Do not implement this widget directly. Instead create a struct that derives
+/// [`SystemParam`] and then implement [`WidgetSystem`] for that struct.
+pub trait ExecuteWidget<Input, Output> {
+    fn show(&mut self, input: Input, ui: &mut Ui, world: &mut World) -> Output;
 }
 
-#[derive(SystemParam)]
-pub struct Requests<'w> {
-    pub hover: ResMut<'w, Events<Hover>>,
-    pub select: ResMut<'w, Events<Select>>,
-    pub move_to: EventWriter<'w, MoveTo>,
-    pub current_level: ResMut<'w, CurrentLevel>,
-    pub current_workspace: ResMut<'w, CurrentWorkspace>,
-    pub change_mode: ResMut<'w, Events<ChangeMode>>,
-    pub delete: EventWriter<'w, Delete>,
-    pub toggle_door_levels: EventWriter<'w, ToggleLiftDoorAvailability>,
-    pub toggle_headlights: ResMut<'w, HeadlightToggle>,
-    pub toggle_physical_lights: ResMut<'w, PhysicalLightToggle>,
-    pub spawn_preview: EventWriter<'w, SpawnPreview>,
-    pub export_lights: EventWriter<'w, ExportLights>,
-    pub save_nav_graphs: EventWriter<'w, SaveNavGraphs>,
-    pub calculate_grid: EventWriter<'w, CalculateGrid>,
-    pub consider_tag: EventWriter<'w, ConsiderLocationTag>,
-    pub consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
-    pub align_site: EventWriter<'w, AlignSiteDrawings>,
-    pub validate_workspace: EventWriter<'w, ValidateWorkspace>,
-    pub create_joint: EventWriter<'w, CreateJoint>,
+/// Implement this on a [`SystemParam`] struct to make it a widget that can be
+/// plugged into the site editor UI.
+///
+/// See documentation of [`PropertiesTilePlugin`] or [`InspectionPlugin`] to see
+/// examples of using this.
+pub trait WidgetSystem<Input = (), Output = ()>: SystemParam {
+    fn show(input: Input, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> Output;
 }
 
-#[derive(SystemParam)]
-pub struct LayerEvents<'w> {
-    pub floors: EventWriter<'w, ChangeRank<FloorMarker>>,
-    pub drawings: EventWriter<'w, ChangeRank<DrawingMarker>>,
-    pub nav_graphs: EventWriter<'w, ChangeRank<NavGraphMarker>>,
-    pub layer_vis: EventWriter<'w, Change<LayerVisibility>>,
-    pub preferred_alpha: EventWriter<'w, Change<PreferredSemiTransparency>>,
-    pub global_floor_vis: EventWriter<'w, Change<GlobalFloorVisibility>>,
-    pub global_drawing_vis: EventWriter<'w, Change<GlobalDrawingVisibility>>,
-    pub begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
-    pub finish_edit_drawing: EventWriter<'w, FinishEditDrawing>,
-    pub icons: Res<'w, Icons>,
+struct InnerWidget<Input, Output, W: WidgetSystem<Input, Output> + 'static> {
+    state: SystemState<W>,
+    _ignore: std::marker::PhantomData<(Input, Output)>,
 }
 
-#[derive(SystemParam)]
-pub struct MenuParams<'w, 's> {
-    state: Res<'w, State<AppState>>,
-    menus: Query<'w, 's, (&'static Menu, Entity)>,
-    menu_items: Query<'w, 's, (&'static mut MenuItem, Has<MenuDisabled>)>,
-    menu_states: Query<'w, 's, Option<&'static MenuVisualizationStates>>,
-    extension_events: EventWriter<'w, MenuEvent>,
-    view_menu: Res<'w, ViewMenu>,
+impl<Input, Output, W> ExecuteWidget<Input, Output> for InnerWidget<Input, Output, W>
+where
+    W: WidgetSystem<Input, Output>,
+{
+    fn show(&mut self, input: Input, ui: &mut Ui, world: &mut World) -> Output {
+        let u = W::show(input, ui, &mut self.state, world);
+        self.state.apply(world);
+        u
+    }
 }
 
-/// We collect all the events into its own SystemParam because we are not
-/// allowed to receive more than one EventWriter of a given type per system call
-/// (for borrow-checker reasons). Bundling them all up into an AppEvents
-/// parameter at least makes the EventWriters easy to pass around.
-#[derive(SystemParam)]
-pub struct AppEvents<'w, 's> {
-    pub commands: Commands<'w, 's>,
-    pub change: ChangeEvents<'w>,
-    pub workcell_change: WorkcellChangeEvents<'w>,
-    pub display: PanelResources<'w>,
-    pub request: Requests<'w>,
-    pub file_events: FileEvents<'w>,
-    pub layers: LayerEvents<'w>,
-    pub new_model: NewModelParams<'w>,
-    pub app_state: Res<'w, State<AppState>>,
-    pub next_app_state: ResMut<'w, NextState<AppState>>,
+pub type ShowResult<T = ()> = Result<T, ShowError>;
+
+/// Errors that can happen while attempting to show a widget.
+#[derive(Debug)]
+pub enum ShowError {
+    /// The entity whose widget you are trying to show is missing from the world
+    EntityMissing,
+    /// There is no [`Widget`] component for the entity
+    WidgetMissing,
+    /// The entity has a [`Widget`] component, but the widget is already in use,
+    /// which implies that we are trying to render the widget recursively, and
+    /// that is not supported due to soundness issues.
+    Recursion,
 }
 
-fn site_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    open_sites: Query<Entity, With<NameOfSite>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    levels: LevelParams,
-    lights: LightParams,
-    nav_graphs: NavGraphParams,
-    diagnostic_params: DiagnosticParams,
-    layers: LayersParams,
-    mut groups: GroupParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    children: Query<&Children>,
-    top_level_components: Query<(), Without<Parent>>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .default_width(300.0)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Levels")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewLevels::new(&levels, &mut events)
-                                    .for_editing_visibility()
-                                    .show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Navigation Graphs")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewNavGraphs::new(&nav_graphs, &mut events).show(ui, &open_sites);
-                            });
-                        ui.separator();
-                        // TODO(MXG): Consider combining Nav Graphs and Layers
-                        CollapsingHeader::new("Layers")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewLayers::new(&layers, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Groups")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewGroups::new(&mut groups, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Lights")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewLights::new(&lights, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Occupancy")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewOccupancy::new(&mut events).show(ui);
-                            });
-                        if ui.add(Button::new("Building preview")).clicked() {
-                            events.next_app_state.set(AppState::SiteVisualizer);
-                        }
-                    });
-                });
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    if events.file_events.diagnostic_window.show {
-        egui::SidePanel::left("diagnostic_window")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                DiagnosticWindow::new(&mut events, &diagnostic_params).show(ui);
-            });
+/// Trait implemented on [`World`] to let it render child widgets. Note that
+/// this is not able to render widgets recursively, so you should make sure not
+/// to have circular dependencies in your widget structure.
+pub trait TryShowWidgetWorld {
+    /// Try to show a widget that has `()` for input and output belonging to the
+    /// specified entity.
+    fn try_show(&mut self, entity: Entity, ui: &mut Ui) -> ShowResult<()> {
+        self.try_show_out(entity, (), ui)
     }
-    if events.new_model.asset_gallery_status.show {
-        egui::SidePanel::left("asset_gallery")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                NewModel::new(&mut events).show(ui);
-            });
+
+    /// Same as [`Self::try_show`] but takes an input that will be fed to the widget.
+    fn try_show_in<Input>(&mut self, entity: Entity, input: Input, ui: &mut Ui) -> ShowResult<()>
+    where
+        Input: 'static + Send + Sync,
+    {
+        self.try_show_out(entity, input, ui)
     }
 
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
+    /// Same as [`Self::try_show`] but takes an input for the widget and provides
+    /// an output from the widget.
+    fn try_show_out<Output, Input>(
+        &mut self,
+        entity: Entity,
+        input: Input,
+        ui: &mut Ui,
+    ) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync;
+}
 
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
+impl TryShowWidgetWorld for World {
+    fn try_show_out<Output, Input>(
+        &mut self,
+        entity: Entity,
+        input: Input,
+        ui: &mut Ui,
+    ) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync,
+    {
+        let Some(mut entity_mut) = self.get_entity_mut(entity) else {
+            return Err(ShowError::EntityMissing);
+        };
+        entity_mut.try_show_out(input, ui)
     }
+}
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
-        }
+/// Same as [`TryShowWidgetWorld`] but is implemented for [`EntityWorldMut`] so
+/// you do not need to specify the target entity.
+pub trait TryShowWidgetEntity {
+    /// Try to show a widget that has `()` for input and output
+    fn try_show(&mut self, ui: &mut Ui) -> ShowResult<()> {
+        self.try_show_out((), ui)
     }
-}
 
-fn site_drawing_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    children: Query<&Children>,
-    top_level_components: Query<(), Without<Parent>>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        if ui
-                            .add(Button::image_and_text(
-                                events.layers.icons.exit.egui(),
-                                "Return to site editor",
-                            ))
-                            .clicked()
-                        {
-                            events
-                                .layers
-                                .finish_edit_drawing
-                                .send(FinishEditDrawing(None));
-                        }
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
-
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
+    fn try_show_in<Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<()>
+    where
+        Input: 'static + Send + Sync,
+    {
+        self.try_show_out(input, ui)
     }
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+    fn try_show_out<Output, Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync;
+}
+
+impl<'w> TryShowWidgetEntity for EntityWorldMut<'w> {
+    fn try_show_out<Output, Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync,
+    {
+        let Some(mut widget) = self.get_mut::<Widget<Input, Output>>() else {
+            return Err(ShowError::WidgetMissing);
+        };
+
+        let Some(mut inner) = widget.inner.take() else {
+            return Err(ShowError::Recursion);
+        };
+
+        let output = self.world_scope(|world| inner.show(input, ui, world));
+
+        if let Some(mut widget) = self.get_mut::<Widget<Input, Output>>() {
+            widget.inner = Some(inner);
         }
+
+        Ok(output)
     }
 }
 
-fn site_visualizer_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    mut events: AppEvents,
-    levels: LevelParams,
-    file_menu: Res<FileMenu>,
-    top_level_components: Query<(), Without<Parent>>,
-    children: Query<&Children>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .default_width(300.0)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Levels")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewLevels::new(&levels, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        if ui.add(Button::image_and_text(
-                            events.layers.icons.alignment.egui(),
-                            "Align Drawings",
-                        ))
-                            .on_hover_text("Align all drawings in the site based on their fiducials and measurements")
-                            .clicked()
-                        {
-                            if let Some(site) = events.request.current_workspace.root {
-                                events.request.align_site.send(AlignSiteDrawings(site));
-                            }
-                        }
-                        if ui.add(Button::image_and_text(
-                            events.layers.icons.exit.egui(),
-                            "Return to site editor"
-                        )).clicked() {
-                            events.next_app_state.set(AppState::SiteEditor);
-                        }
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
-
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
-    }
+/// This is a marker trait to indicate that the system state of a widget can be
+/// safely shared across multiple renders of the widget. For example, the system
+/// parameters do not use the [`Changed`] filter. It is the responsibility of
+/// the user to ensure that sharing this widget will not have any bad side
+/// effects.
+///
+/// [`ShareableWidget`]s can be used by the [`ShowSharedWidget`] trait which is
+/// implemented for the [`World`] struct.
+pub trait ShareableWidget {}
+
+/// A resource to store a widget so that it can be reused multiple times in one
+/// render pass.
+#[derive(Resource)]
+pub struct SharedWidget<W: SystemParam + ShareableWidget + 'static> {
+    state: SystemState<W>,
+}
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+/// This gives a convenient function for rendering a widget using a world.
+pub trait ShowSharedWidget {
+    fn show<W, Output, Input>(&mut self, input: Input, ui: &mut Ui) -> Output
+    where
+        W: ShareableWidget + WidgetSystem<Input, Output> + 'static;
+}
+
+impl ShowSharedWidget for World {
+    fn show<W, Output, Input>(&mut self, input: Input, ui: &mut Ui) -> Output
+    where
+        W: ShareableWidget + WidgetSystem<Input, Output> + 'static,
+    {
+        if !self.contains_resource::<SharedWidget<W>>() {
+            let widget = SharedWidget::<W> {
+                state: SystemState::new(self),
+            };
+            self.insert_resource(widget);
         }
+
+        self.resource_scope::<SharedWidget<W>, Output>(|world, mut widget| {
+            let u = W::show(input, ui, &mut widget.state, world);
+            widget.state.apply(world);
+            u
+        })
     }
 }
 
-fn workcell_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    top_level_components: Query<(), Without<Parent>>,
-    children: Query<&Children>,
-    mut menu_params: MenuParams,
+/// This set is for systems that impact rendering the UI using egui. The
+/// [`UserCameraDisplay`] resource waits until after this set is finished before
+/// computing the user camera area.
+#[derive(SystemSet, Hash, PartialEq, Eq, Debug, Clone)]
+pub struct RenderUiSet;
+
+/// This system renders all UI panels in the application and makes sure that the
+/// UI rendering works correctly with the picking system, and any other systems
+/// as needed.
+pub fn site_ui_layout(
+    world: &mut World,
+    panel_widgets: &mut QueryState<(Entity, &mut PanelWidget)>,
+    egui_context_state: &mut SystemState<EguiContexts>,
 ) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    if events.new_model.asset_gallery_status.show {
-        egui::SidePanel::left("asset_gallery")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                NewModel::new(&mut events).show(ui);
-            });
-    }
+    render_panels(world, panel_widgets, egui_context_state);
 
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
+    let mut egui_context = egui_context_state.get_mut(world);
+    let ctx = egui_context.ctx_mut();
+    let ui_has_focus =
+        ctx.wants_pointer_input() || ctx.wants_keyboard_input() || ctx.is_pointer_over_area();
 
-    if let Some(picking_blocker) = &mut picking_blocker {
+    if let Some(mut picking_blocker) = world.get_resource_mut::<PickingBlockers>() {
         picking_blocker.ui = ui_has_focus;
     }
 
     if ui_has_focus {
         // If the UI has focus and there were no hover events emitted by the UI,
         // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+        let mut hover = world.resource_mut::<Events<Hover>>();
+        if hover.is_empty() {
+            hover.send(Hover(None));
         }
     }
 }
@@ -715,16 +434,3 @@ fn init_ui_style(mut egui_context: EguiContexts) {
     visuals.override_text_color = Some(egui::Color32::from_rgb(250, 250, 250));
     egui_context.ctx_mut().set_visuals(visuals);
 }
-
-fn update_uncovered_window(
-    mut uncovered_window: ResMut<UncoveredWindow>,
-    mut egui_context: EguiContexts,
-) {
-    let available_rect = egui_context.ctx_mut().available_rect();
-    uncovered_window.area = Rect::new(
-        available_rect.min.x,
-        available_rect.min.y,
-        available_rect.max.x,
-        available_rect.max.y,
-    );
-}
diff --git a/rmf_site_editor/src/widgets/move_layer.rs b/rmf_site_editor/src/widgets/move_layer.rs
index b8f018b2..c85940dd 100644
--- a/rmf_site_editor/src/widgets/move_layer.rs
+++ b/rmf_site_editor/src/widgets/move_layer.rs
@@ -22,6 +22,7 @@ use crate::{
 use bevy::prelude::*;
 use bevy_egui::egui::{ImageButton, Ui};
 
+/// A widget that helps move layers up or down in their ranking.
 pub struct MoveLayer<'a, 'w, T: Component> {
     entity: Entity,
     rank_events: &'a mut EventWriter<'w, ChangeRank<T>>,
@@ -43,11 +44,8 @@ impl<'a, 'w, 's, T: Component> MoveLayer<'a, 'w, T> {
 
     pub fn show(self, ui: &mut Ui) {
         MoveLayerButton::to_top(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::up(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::down(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::to_bottom(self.entity, self.rank_events, self.icons).show(ui);
     }
 }
diff --git a/rmf_site_editor/src/widgets/panel.rs b/rmf_site_editor/src/widgets/panel.rs
new file mode 100644
index 00000000..f60d6636
--- /dev/null
+++ b/rmf_site_editor/src/widgets/panel.rs
@@ -0,0 +1,197 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::{
+    ecs::system::{BoxedSystem, SystemState},
+    prelude::*,
+};
+use bevy_egui::{
+    egui::{self, Ui},
+    EguiContexts,
+};
+use smallvec::SmallVec;
+
+/// To create a panel widget (a widget that renders itself directly to one of
+/// the egui side or top/bottom panels), add this component to an entity.
+///
+/// Use the context field of the input to create a panel with one of the following:
+/// - [`EguiPanel::show`]
+/// - [`egui::SidePanel::left`]
+/// - [`egui::SidePanel::right`]
+/// - [`egui::TopBottomPanel::top`]
+/// - [`egui::TopBottomPanel::bottom`]
+#[derive(Component)]
+pub struct PanelWidget {
+    inner: Option<BoxedSystem<PanelWidgetInput>>,
+}
+
+/// Input provided to panel widgets.
+pub struct PanelWidgetInput {
+    /// The entity of the panel widget.
+    pub id: Entity,
+    /// The context that the panel should use for rendering.
+    pub context: egui::Context,
+}
+
+impl PanelWidget {
+    /// Pass in a system that takes takes [`PanelWidgetInput`] as its input parameter.
+    pub fn new<M, S: IntoSystem<PanelWidgetInput, (), M>>(system: S, world: &mut World) -> Self {
+        let mut system = Box::new(IntoSystem::into_system(system));
+        system.initialize(world);
+        Self {
+            inner: Some(system),
+        }
+    }
+}
+
+/// This function can be used to render all panels in an application, either by
+/// adding this function to a schedule as a system or by calling it from inside
+/// of an exclusive system. Note that this is automatically run by
+/// [`site_ui_layout`][1] so there is no need to use this function yourself
+/// unless you are not using the [`StandardUiPlugin`][2].
+///
+/// [1]: crate::widgets::site_ui_layout
+/// [2]: crate::widgets::StandardUiPlugin
+pub fn render_panels(
+    world: &mut World,
+    panel_widgets: &mut QueryState<(Entity, &mut PanelWidget)>,
+    egui_contexts: &mut SystemState<EguiContexts>,
+) {
+    let context = egui_contexts.get_mut(world).ctx_mut().clone();
+    let mut panels: SmallVec<[_; 16]> = panel_widgets
+        .iter_mut(world)
+        .map(|(entity, mut widget)| {
+            (
+                entity,
+                widget
+                    .inner
+                    .take()
+                    .expect("Inner system of PanelWidget is missing"),
+            )
+        })
+        .collect();
+
+    for (e, inner) in &mut panels {
+        inner.run(
+            PanelWidgetInput {
+                id: *e,
+                context: context.clone(),
+            },
+            world,
+        );
+        inner.apply_deferred(world);
+    }
+
+    for (e, inner) in panels {
+        if let Some(mut widget) = world.get_mut::<PanelWidget>(e) {
+            let _ = widget.inner.insert(inner);
+        }
+    }
+}
+
+/// Indicate which side a panel is on
+#[derive(Clone, Copy, Debug, Component)]
+pub enum PanelSide {
+    Top,
+    Bottom,
+    Left,
+    Right,
+}
+
+/// Wrapper to hold either a vertical or horizontal egui panel
+pub enum EguiPanel {
+    Vertical(egui::SidePanel),
+    Horizontal(egui::TopBottomPanel),
+}
+
+impl EguiPanel {
+    /// Modify this panel if it's a vertical panel
+    pub fn map_vertical(self, f: impl FnOnce(egui::SidePanel) -> egui::SidePanel) -> Self {
+        match self {
+            Self::Vertical(panel) => Self::Vertical(f(panel)),
+            other => other,
+        }
+    }
+
+    /// Modify this panel if it's a horizontal panel
+    pub fn map_horizontal(
+        self,
+        f: impl FnOnce(egui::TopBottomPanel) -> egui::TopBottomPanel,
+    ) -> Self {
+        match self {
+            Self::Horizontal(panel) => Self::Horizontal(f(panel)),
+            other => other,
+        }
+    }
+
+    /// Display something in this panel.
+    pub fn show<R>(
+        self,
+        ctx: &egui::Context,
+        add_content: impl FnOnce(&mut Ui) -> R,
+    ) -> egui::InnerResponse<R> {
+        match self {
+            Self::Vertical(panel) => panel.show(ctx, add_content),
+            Self::Horizontal(panel) => panel.show(ctx, add_content),
+        }
+    }
+}
+
+impl PanelSide {
+    /// Is the long direction of the panel horizontal
+    pub fn is_horizontal(&self) -> bool {
+        matches!(self, Self::Top | Self::Bottom)
+    }
+
+    /// Is the long direction of the panel vertical
+    pub fn is_vertical(&self) -> bool {
+        matches!(self, Self::Left | Self::Right)
+    }
+
+    /// Align the Ui to line up with the long direction of the panel
+    pub fn align<R>(self, ui: &mut Ui, f: impl FnOnce(&mut Ui) -> R) -> egui::InnerResponse<R> {
+        if self.is_horizontal() {
+            ui.horizontal(f)
+        } else {
+            ui.vertical(f)
+        }
+    }
+
+    /// Align the Ui to run orthogonal to long direction of the panel,
+    /// i.e. the Ui will run along the short direction of the panel.
+    pub fn orthogonal<R>(
+        self,
+        ui: &mut Ui,
+        f: impl FnOnce(&mut Ui) -> R,
+    ) -> egui::InnerResponse<R> {
+        if self.is_horizontal() {
+            ui.vertical(f)
+        } else {
+            ui.horizontal(f)
+        }
+    }
+
+    /// Get the egui panel that is associated with this panel type.
+    pub fn get_panel(self) -> EguiPanel {
+        match self {
+            Self::Left => EguiPanel::Vertical(egui::SidePanel::left("left_panel")),
+            Self::Right => EguiPanel::Vertical(egui::SidePanel::right("right_panel")),
+            Self::Top => EguiPanel::Horizontal(egui::TopBottomPanel::top("top_panel")),
+            Self::Bottom => EguiPanel::Horizontal(egui::TopBottomPanel::bottom("bottom_panel")),
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/panel_of_tiles.rs b/rmf_site_editor/src/widgets/panel_of_tiles.rs
new file mode 100644
index 00000000..57f5d40b
--- /dev/null
+++ b/rmf_site_editor/src/widgets/panel_of_tiles.rs
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::widgets::prelude::*;
+use bevy::prelude::*;
+use bevy_egui::egui;
+use smallvec::SmallVec;
+
+/// Input type for [`WidgetSystem`]s that can be put into a "Panel of Tiles"
+/// widget, such as the [`PropertiesPanel`]. See [`PropertiesTilePlugin`] for a
+/// usage example.
+pub struct Tile {
+    /// The entity of the tile widget which is being rendered. This lets you
+    /// store additional component data inside the entity which may be relevant
+    /// to your widget.
+    pub id: Entity,
+    /// What kind of panel is this tile inside of. Use this if you want your
+    /// widget layout to be different based on what kind of panel it was placed
+    /// in.
+    pub panel: PanelSide,
+}
+
+/// Reusable widget that defines a panel with "tiles" where each tile is a child widget.
+pub fn show_panel_of_tiles(
+    In(PanelWidgetInput { id, context }): In<PanelWidgetInput>,
+    world: &mut World,
+) {
+    let children: Option<SmallVec<[Entity; 16]>> = world
+        .get::<Children>(id)
+        .map(|children| children.iter().copied().collect());
+
+    let Some(children) = children else {
+        return;
+    };
+    if children.is_empty() {
+        // Do not even begin to create a panel if there are no children to render
+        return;
+    }
+
+    let Some(side) = world.get::<PanelSide>(id) else {
+        error!("Side component missing for panel_of_tiles_widget {id:?}");
+        return;
+    };
+
+    let side = *side;
+    side.get_panel()
+        .map_vertical(|panel| {
+            // TODO(@mxgrey): Make this configurable via a component
+            panel.resizable(true).default_width(300.0)
+        })
+        .show(&context, |ui| {
+            egui::ScrollArea::both()
+                .auto_shrink([false, false])
+                .show(ui, |ui| {
+                    for child in children {
+                        let tile = Tile {
+                            id: child,
+                            panel: side,
+                        };
+                        if let Err(err) = world.try_show_in(child, tile, ui) {
+                            error!(
+                                "Could not render child widget {child:?} in \
+                                tile panel {id:?} on side {side:?}: {err:?}"
+                            );
+                        }
+                    }
+                });
+        });
+}
diff --git a/rmf_site_editor/src/widgets/properties_panel.rs b/rmf_site_editor/src/widgets/properties_panel.rs
new file mode 100644
index 00000000..f99e218b
--- /dev/null
+++ b/rmf_site_editor/src/widgets/properties_panel.rs
@@ -0,0 +1,158 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::widgets::{
+    show_panel_of_tiles, BuildingPreviewPlugin, CreationPlugin, PanelSide, PanelWidget,
+    StandardInspectorPlugin, Tile, ViewGroupsPlugin, ViewLayersPlugin, ViewLevelsPlugin,
+    ViewLightsPlugin, ViewNavGraphsPlugin, ViewOccupancyPlugin, Widget, WidgetSystem,
+};
+use bevy::prelude::*;
+
+/// This plugins produces the standard properties panel. This is the panel which
+/// includes widgets to display and edit all the properties in a site that we
+/// expect are needed by common use cases of the editor.
+#[derive(Default)]
+pub struct StandardPropertiesPanelPlugin {}
+
+impl Plugin for StandardPropertiesPanelPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((
+            PropertiesPanelPlugin::new(PanelSide::Right),
+            ViewLevelsPlugin::default(),
+            ViewNavGraphsPlugin::default(),
+            ViewLayersPlugin::default(),
+            StandardInspectorPlugin::default(),
+            CreationPlugin::default(),
+            ViewGroupsPlugin::default(),
+            ViewLightsPlugin::default(),
+            ViewOccupancyPlugin::default(),
+            BuildingPreviewPlugin::default(),
+        ));
+    }
+}
+
+/// Use this plugin to add a single tile into the properties panel.
+///
+/// ```no_run
+/// use bevy::prelude::{App, Query, Entity, Res};
+/// use librmf_site_editor::{
+///     SiteEditor, workspace::CurrentWorkspace,
+///     site::NameOfSite,
+///     widgets::prelude::*,
+/// };
+///
+/// #[derive(SystemParam)]
+/// pub struct HelloSiteWidget<'w, 's> {
+///     sites: Query<'w, 's, &'static NameOfSite>,
+///     current: Res<'w, CurrentWorkspace>,
+/// }
+///
+/// impl<'w, 's> WidgetSystem<Tile> for HelloSiteWidget<'w, 's> {
+///     fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+///         let mut params = state.get_mut(world);
+///         if let Some(name) = params.current.root.map(|e| params.sites.get(e).ok()).flatten() {
+///             ui.add_space(20.0);
+///             ui.heading(format!("Hello, {}!", name.0));
+///         }
+///     }
+/// }
+///
+/// fn main() {
+///     let mut app = App::new();
+///     app.add_plugins((
+///         SiteEditor::default(),
+///         PropertiesTilePlugin::<HelloSiteWidget>::new(),
+///     ));
+///
+///     app.run();
+/// }
+/// ```
+pub struct PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    _ignore: std::marker::PhantomData<W>,
+}
+
+impl<W> PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    pub fn new() -> Self {
+        Self {
+            _ignore: Default::default(),
+        }
+    }
+}
+
+impl<W> Plugin for PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    fn build(&self, app: &mut App) {
+        let widget = Widget::<Tile>::new::<W>(&mut app.world);
+        let properties_panel = app.world.resource::<PropertiesPanel>().id;
+        app.world.spawn(widget).set_parent(properties_panel);
+    }
+}
+
+/// Get the ID of the properties panel.
+#[derive(Resource)]
+pub struct PropertiesPanel {
+    side: PanelSide,
+    id: Entity,
+}
+
+impl PropertiesPanel {
+    pub fn side(&self) -> PanelSide {
+        self.side
+    }
+
+    pub fn id(&self) -> Entity {
+        self.id
+    }
+}
+
+/// This plugin builds a properties panel for the editor. It is usually recommended
+/// to use [`StandardPropertiesPanelPlugin`] unless you need very specific
+/// customization of the properties panel.
+pub struct PropertiesPanelPlugin {
+    side: PanelSide,
+}
+
+impl PropertiesPanelPlugin {
+    pub fn new(side: PanelSide) -> Self {
+        Self { side }
+    }
+}
+
+impl Default for PropertiesPanelPlugin {
+    fn default() -> Self {
+        Self::new(PanelSide::Right)
+    }
+}
+
+impl Plugin for PropertiesPanelPlugin {
+    fn build(&self, app: &mut App) {
+        let widget = PanelWidget::new(show_panel_of_tiles, &mut app.world);
+        let id = app.world.spawn((widget, self.side)).id();
+        app.world.insert_resource(PropertiesPanel {
+            side: self.side,
+            id,
+        });
+    }
+}
diff --git a/rmf_site_editor/src/widgets/sdf_export_menu.rs b/rmf_site_editor/src/widgets/sdf_export_menu.rs
new file mode 100644
index 00000000..4b8ff591
--- /dev/null
+++ b/rmf_site_editor/src/widgets/sdf_export_menu.rs
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::menu_bar::{FileMenu, MenuEvent, MenuItem, MenuVisualizationStates};
+use crate::{AppState, ExportFormat, SaveWorkspace, SaveWorkspaceDestination};
+use bevy::prelude::*;
+use std::collections::HashSet;
+
+/// Keeps track of which entity is associated to the export sdf button.
+#[derive(Resource)]
+pub struct SdfExportMenu {
+    export_sdf: Entity,
+}
+
+impl SdfExportMenu {
+    pub fn get(&self) -> Entity {
+        self.export_sdf
+    }
+}
+
+impl FromWorld for SdfExportMenu {
+    fn from_world(world: &mut World) -> Self {
+        let site_states = HashSet::from([
+            AppState::SiteEditor,
+            AppState::SiteVisualizer,
+            AppState::SiteDrawingEditor,
+        ]);
+        let file_header = world.resource::<FileMenu>().get();
+        let export_sdf = world
+            .spawn((
+                MenuItem::Text("Export Sdf".to_string()),
+                MenuVisualizationStates(site_states),
+            ))
+            .set_parent(file_header)
+            .id();
+
+        SdfExportMenu { export_sdf }
+    }
+}
+
+fn handle_export_sdf_menu_events(
+    mut menu_events: EventReader<MenuEvent>,
+    sdf_menu: Res<SdfExportMenu>,
+    mut save_events: EventWriter<SaveWorkspace>,
+) {
+    for event in menu_events.read() {
+        if event.clicked() && event.source() == sdf_menu.get() {
+            save_events.send(SaveWorkspace {
+                destination: SaveWorkspaceDestination::Dialog,
+                format: ExportFormat::Sdf,
+            });
+        }
+    }
+}
+
+#[derive(Default)]
+pub struct SdfExportMenuPlugin {}
+
+impl Plugin for SdfExportMenuPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<SdfExportMenu>().add_systems(
+            Update,
+            handle_export_sdf_menu_events.run_if(AppState::in_site_mode()),
+        );
+    }
+}
diff --git a/rmf_site_editor/src/widgets/selector_widget.rs b/rmf_site_editor/src/widgets/selector_widget.rs
new file mode 100644
index 00000000..5db89737
--- /dev/null
+++ b/rmf_site_editor/src/widgets/selector_widget.rs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::{Hover, Select, Selection},
+    site::SiteID,
+    widgets::{prelude::*, Icons},
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{Button, Ui};
+
+/// A widget that can be used to select entities.
+#[derive(SystemParam)]
+pub struct SelectorWidget<'w, 's> {
+    pub site_id: Query<'w, 's, &'static SiteID>,
+    pub icons: Res<'w, Icons>,
+    pub selection: Res<'w, Selection>,
+    pub select: EventWriter<'w, Select>,
+    pub hover: EventWriter<'w, Hover>,
+}
+
+impl<'w, 's> WidgetSystem<Entity, ()> for SelectorWidget<'w, 's> {
+    fn show(entity: Entity, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        params.show_widget(entity, ui);
+    }
+}
+
+impl<'w, 's> SelectorWidget<'w, 's> {
+    pub fn show_widget(&mut self, entity: Entity, ui: &mut Ui) {
+        let site_id = self.site_id.get(entity).ok().cloned();
+        let is_selected = self.selection.0.is_some_and(|s| s == entity);
+
+        let text = match site_id {
+            Some(id) => format!("#{}", id.0),
+            None => "*".to_owned(),
+        };
+
+        let icon = if is_selected {
+            self.icons.selected.egui()
+        } else {
+            self.icons.select.egui()
+        };
+
+        let response = ui.add(Button::image_and_text(icon, text));
+
+        if response.clicked() {
+            self.select.send(Select(Some(entity)));
+        } else if response.hovered() {
+            self.hover.send(Hover(Some(entity)));
+        }
+
+        response.on_hover_text("Select");
+    }
+}
+
+impl<'w, 's> ShareableWidget for SelectorWidget<'w, 's> {}
diff --git a/rmf_site_editor/src/widgets/user_camera_display.rs b/rmf_site_editor/src/widgets/user_camera_display.rs
new file mode 100644
index 00000000..a20959e1
--- /dev/null
+++ b/rmf_site_editor/src/widgets/user_camera_display.rs
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::prelude::*;
+use bevy_egui::EguiContexts;
+use crate::{AppState, widgets::RenderUiSet};
+
+/// This resource keeps track of the region that the user camera display is
+/// occupying in the window.
+#[derive(Resource, Clone, Default)]
+pub struct UserCameraDisplay {
+    pub region: Rect,
+}
+
+/// Add the [`UserCameraDisplay`] resource to the application, along with the
+/// system that updates it.
+#[derive(Default)]
+pub struct UserCameraDisplayPlugin {}
+
+impl Plugin for UserCameraDisplayPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<UserCameraDisplay>()
+            .add_systems(
+                Update,
+                update_user_camera_display
+                .in_set(UserCameraDisplaySet)
+                .after(RenderUiSet)
+                .run_if(AppState::in_site_mode())
+            );
+    }
+}
+
+/// This set is for systems that update fields of the [`UserCameraDisplay`]
+/// resource.
+#[derive(SystemSet, Hash, PartialEq, Eq, Debug, Clone)]
+pub struct UserCameraDisplaySet;
+
+fn update_user_camera_display(
+    mut user_camera_display: ResMut<UserCameraDisplay>,
+    mut egui_contexts: EguiContexts,
+) {
+    let available_rect = egui_contexts.ctx_mut().available_rect();
+    user_camera_display.region = Rect::new(
+        available_rect.min.x,
+        available_rect.min.y,
+        available_rect.max.x,
+        available_rect.max.y
+    );
+}
diff --git a/rmf_site_editor/src/widgets/view_groups.rs b/rmf_site_editor/src/widgets/view_groups.rs
index f6f0ceaf..b495462a 100644
--- a/rmf_site_editor/src/widgets/view_groups.rs
+++ b/rmf_site_editor/src/widgets/view_groups.rs
@@ -17,82 +17,86 @@
 
 use crate::{
     site::{Change, FiducialMarker, MergeGroups, NameInSite, SiteID, Texture},
-    widgets::{inspector::SelectionWidget, AppEvents},
-    Icons,
+    widgets::{prelude::*, SelectorWidget},
+    AppState, CurrentWorkspace, Icons,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{Button, CollapsingHeader, Ui};
 
-#[derive(Default, Clone, Copy)]
-pub enum GroupViewMode {
-    #[default]
-    View,
-    SelectMergeFrom,
-    MergeFrom(Entity),
-    Delete,
-}
-
-#[derive(Default, Resource)]
-pub struct GroupViewModes {
-    site: Option<Entity>,
-    textures: GroupViewMode,
-    fiducials: GroupViewMode,
-}
+/// Add a widget for viewing different kinds of groups.
+#[derive(Default)]
+pub struct ViewGroupsPlugin {}
 
-impl GroupViewModes {
-    pub fn reset(&mut self, site: Entity) {
-        *self = GroupViewModes::default();
-        self.site = Some(site);
+impl Plugin for ViewGroupsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<GroupViewModes>()
+            .add_plugins(PropertiesTilePlugin::<ViewGroups>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct GroupParams<'w, 's> {
+pub struct ViewGroups<'w, 's> {
     children: Query<'w, 's, &'static Children>,
     textures: Query<'w, 's, (&'static NameInSite, Option<&'static SiteID>), With<Texture>>,
     fiducials: Query<'w, 's, (&'static NameInSite, Option<&'static SiteID>), With<FiducialMarker>>,
     icons: Res<'w, Icons>,
     group_view_modes: ResMut<'w, GroupViewModes>,
+    app_state: Res<'w, State<AppState>>,
+    events: ViewGroupsEvents<'w, 's>,
 }
 
-pub struct ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a mut GroupParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct ViewGroupsEvents<'w, 's> {
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    selector: SelectorWidget<'w, 's>,
+    merge_groups: EventWriter<'w, MergeGroups>,
+    name: EventWriter<'w, Change<NameInSite>>,
+    commands: Commands<'w, 's>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a mut GroupParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewGroups<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Groups")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Some(site) = self.events.request.current_workspace.root else {
+impl<'w, 's> ViewGroups<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let Some(site) = self.events.current_workspace.root else {
             return;
         };
-        let modes = &mut *self.params.group_view_modes;
+        let modes = &mut *self.group_view_modes;
         if !modes.site.is_some_and(|s| s == site) {
             modes.reset(site);
         }
-        let Ok(children) = self.params.children.get(site) else {
+        let Ok(children) = self.children.get(site) else {
             return;
         };
         CollapsingHeader::new("Textures").show(ui, |ui| {
             Self::show_groups(
                 children,
-                &self.params.textures,
+                &self.textures,
                 &mut modes.textures,
-                &self.params.icons,
-                self.events,
+                &self.icons,
+                &mut self.events,
                 ui,
             );
         });
         CollapsingHeader::new("Fiducials").show(ui, |ui| {
             Self::show_groups(
                 children,
-                &self.params.fiducials,
+                &self.fiducials,
                 &mut modes.fiducials,
-                &self.params.icons,
-                self.events,
+                &self.icons,
+                &mut self.events,
                 ui,
             );
         });
@@ -103,7 +107,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
         q_groups: &Query<(&NameInSite, Option<&SiteID>), With<T>>,
         mode: &mut GroupViewMode,
         icons: &Res<Icons>,
-        events: &mut AppEvents,
+        events: &mut ViewGroupsEvents,
         ui: &mut Ui,
     ) {
         ui.horizontal(|ui| match mode {
@@ -155,7 +159,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
             ui.horizontal(|ui| {
                 match mode.clone() {
                     GroupViewMode::View => {
-                        SelectionWidget::new(*child, site_id.cloned(), &icons, events).show(ui);
+                        events.selector.show_widget(*child, ui);
                     }
                     GroupViewMode::SelectMergeFrom => {
                         if ui
@@ -181,7 +185,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                                 .on_hover_text("Merge into this group")
                                 .clicked()
                             {
-                                events.change.merge_groups.send(MergeGroups {
+                                events.merge_groups.send(MergeGroups {
                                     from_group: merge_from,
                                     into_group: *child,
                                 });
@@ -203,12 +207,32 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
 
                 let mut new_name = name.0.clone();
                 if ui.text_edit_singleline(&mut new_name).changed() {
-                    events
-                        .change
-                        .name
-                        .send(Change::new(NameInSite(new_name), *child));
+                    events.name.send(Change::new(NameInSite(new_name), *child));
                 }
             });
         }
     }
 }
+
+#[derive(Default, Clone, Copy)]
+pub enum GroupViewMode {
+    #[default]
+    View,
+    SelectMergeFrom,
+    MergeFrom(Entity),
+    Delete,
+}
+
+#[derive(Default, Resource)]
+pub struct GroupViewModes {
+    site: Option<Entity>,
+    textures: GroupViewMode,
+    fiducials: GroupViewMode,
+}
+
+impl GroupViewModes {
+    pub fn reset(&mut self, site: Entity) {
+        *self = GroupViewModes::default();
+        self.site = Some(site);
+    }
+}
diff --git a/rmf_site_editor/src/widgets/view_layers.rs b/rmf_site_editor/src/widgets/view_layers.rs
index 5ca14202..3b159f7d 100644
--- a/rmf_site_editor/src/widgets/view_layers.rs
+++ b/rmf_site_editor/src/widgets/view_layers.rs
@@ -19,14 +19,29 @@ use crate::{
     interaction::Selection,
     recency::RecencyRanking,
     site::*,
-    widgets::{inspector::InspectLayer, AppEvents, Icons, MoveLayer},
+    widgets::{
+        inspector::{InspectLayer, InspectLayerInput},
+        prelude::*,
+        Icons, MoveLayer,
+    },
+    AppState,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{Button, CollapsingHeader, DragValue, ScrollArea, Ui};
 
+/// Add a widget for viewing a list of layers
+#[derive(Default)]
+pub struct ViewLayersPlugin {}
+
+impl Plugin for ViewLayersPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(PropertiesTilePlugin::<ViewLayers>::new());
+    }
+}
+
 #[derive(SystemParam)]
-pub struct LayersParams<'w, 's> {
-    pub floors: Query<
+pub struct ViewLayers<'w, 's> {
+    floors: Query<
         'w,
         's,
         (
@@ -34,7 +49,7 @@ pub struct LayersParams<'w, 's> {
             &'static GlobalFloorVisibility,
         ),
     >,
-    pub drawings: Query<
+    drawings: Query<
         'w,
         's,
         (
@@ -42,51 +57,43 @@ pub struct LayersParams<'w, 's> {
             &'static GlobalDrawingVisibility,
         ),
     >,
-    pub layer_visibility: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-    >,
-    pub levels: Query<
-        'w,
-        's,
-        (
-            &'static GlobalFloorVisibility,
-            &'static GlobalDrawingVisibility,
-        ),
-    >,
-    pub site_id: Query<'w, 's, Option<&'static SiteID>>,
-    pub icons: Res<'w, Icons>,
-    pub selection: Res<'w, Selection>,
+    icons: Res<'w, Icons>,
+    selection: Res<'w, Selection>,
+    current_level: Res<'w, CurrentLevel>,
+    global_floor_vis: EventWriter<'w, Change<GlobalFloorVisibility>>,
+    global_drawing_vis: EventWriter<'w, Change<GlobalDrawingVisibility>>,
+    view_layer: InspectLayer<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-pub struct ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LayersParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LayersParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewLayers<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        ui.separator();
+        CollapsingHeader::new("Layers")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) {
-        let current_level = match &self.events.request.current_level.0 {
-            Some(s) => *s,
-            None => return,
+impl<'w, 's> ViewLayers<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let Some(current_level) = self.current_level.0 else {
+            return;
         };
 
         let has_drawings = self
-            .params
             .drawings
             .get(current_level)
             .ok()
             .is_some_and(|(ranking, _)| !ranking.is_empty());
 
-        if let Ok((ranking, global)) = self.params.floors.get(current_level) {
+        if let Ok((ranking, global)) = self.floors.get(current_level) {
             CollapsingHeader::new("Floors")
                 .default_open(true)
                 .show(ui, |ui| {
@@ -101,22 +108,25 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                             )
                         };
                         let default_alpha = &mut shown_global.preferred_semi_transparency;
-                        self.show_global(text, vis, default_alpha, ui);
+                        Self::show_global(text, &self.icons, vis, default_alpha, ui);
 
                         if shown_global != *global {
-                            self.events
-                                .layers
-                                .global_floor_vis
+                            self.global_floor_vis
                                 .send(Change::new(shown_global, current_level));
                         }
                     });
                     ui.separator();
-                    if let Some(selected) = self.show_rankings(ranking.entities(), true, ui) {
+                    if let Some(selected) = Self::show_rankings(
+                        ranking.entities(),
+                        &self.selection,
+                        &mut self.view_layer,
+                        ui,
+                    ) {
                         ui.horizontal(|ui| {
                             MoveLayer::new(
                                 selected,
-                                &mut self.events.layers.floors,
-                                &self.events.layers.icons,
+                                &mut self.view_layer.floor_change_rank,
+                                &self.icons,
                             )
                             .show(ui);
                         });
@@ -125,7 +135,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                 });
         }
 
-        if let Ok((ranking, global)) = self.params.drawings.get(current_level) {
+        if let Ok((ranking, global)) = self.drawings.get(current_level) {
             CollapsingHeader::new("Drawings")
                 .default_open(true)
                 .show(ui, |ui| {
@@ -133,12 +143,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                     ui.horizontal(|ui| {
                         let vis = &mut shown_global.general;
                         let default_alpha = &mut shown_global.preferred_general_semi_transparency;
-                        self.show_global("Global (general)", vis, default_alpha, ui);
+                        Self::show_global("Global (general)", &self.icons, vis, default_alpha, ui);
                     });
                     ui.horizontal(|ui| {
                         let vis = &mut shown_global.bottom;
                         let default_alpha = &mut shown_global.preferred_bottom_semi_transparency;
-                        self.show_global("Global (bottom)", vis, default_alpha, ui);
+                        Self::show_global("Global (bottom)", &self.icons, vis, default_alpha, ui);
                     });
                     ui.horizontal(|ui| {
                         ui.label("Bottom Count").on_hover_text(
@@ -155,18 +165,21 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                     });
 
                     if shown_global != *global {
-                        self.events
-                            .layers
-                            .global_drawing_vis
+                        self.global_drawing_vis
                             .send(Change::new(shown_global, current_level));
                     }
 
-                    if let Some(selected) = self.show_rankings(ranking.entities(), false, ui) {
+                    if let Some(selected) = Self::show_rankings(
+                        ranking.entities(),
+                        &self.selection,
+                        &mut self.view_layer,
+                        ui,
+                    ) {
                         ui.horizontal(|ui| {
                             MoveLayer::new(
                                 selected,
-                                &mut self.events.layers.drawings,
-                                &self.events.layers.icons,
+                                &mut self.view_layer.drawing_change_rank,
+                                &self.icons,
                             )
                             .show(ui);
                         });
@@ -176,13 +189,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
     }
 
     fn show_global(
-        &self,
         text: &str,
+        icons: &Icons,
         vis: &mut LayerVisibility,
         default_alpha: &mut f32,
         ui: &mut Ui,
     ) {
-        let icon = self.params.icons.layer_visibility_of(Some(*vis));
+        let icon = icons.layer_visibility_of(Some(*vis));
         if ui
             .add(Button::image_and_text(icon, text))
             .on_hover_text(format!("Change to {}", vis.next(*default_alpha).label()))
@@ -202,35 +215,20 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
     }
 
     fn show_rankings(
-        &mut self,
         ranking: &Vec<Entity>,
-        is_floor: bool,
+        selection: &Selection,
+        view_layer: &mut InspectLayer,
         ui: &mut Ui,
     ) -> Option<Entity> {
         let mut layer_selected = None;
         ui.vertical(|ui| {
             ScrollArea::vertical().show(ui, |ui| {
-                for e in ranking.iter().rev() {
-                    let mut as_selected = false;
-                    if self.params.selection.0.is_some_and(|sel| sel == *e) {
-                        as_selected = true;
-                        layer_selected = Some(*e);
+                for id in ranking.iter().rev().copied() {
+                    if selection.0.is_some_and(|s| s == id) {
+                        layer_selected = Some(id);
                     }
-                    let Ok((vis, alpha)) = self.params.layer_visibility.get(*e) else {
-                        continue;
-                    };
                     ui.horizontal(|ui| {
-                        InspectLayer::new(
-                            *e,
-                            &self.params.icons,
-                            &mut self.events,
-                            vis.copied(),
-                            alpha.0,
-                            is_floor,
-                        )
-                        .with_selecting(self.params.site_id.get(*e).ok().flatten().copied())
-                        .as_selected(as_selected)
-                        .show(ui);
+                        view_layer.show_widget(InspectLayerInput::new(id).with_selecting(), ui);
                     });
                 }
             });
diff --git a/rmf_site_editor/src/widgets/view_levels.rs b/rmf_site_editor/src/widgets/view_levels.rs
index b65c5770..ef7ebb84 100644
--- a/rmf_site_editor/src/widgets/view_levels.rs
+++ b/rmf_site_editor/src/widgets/view_levels.rs
@@ -17,106 +17,106 @@
 
 use crate::{
     site::{
-        Category, Change, Delete, DrawingMarker, FloorMarker, LevelElevation, LevelProperties,
-        NameInSite,
+        Category, Change, CurrentLevel, Delete, DrawingMarker, FloorMarker, LevelElevation,
+        LevelProperties, NameInSite,
     },
-    widgets::{AppEvents, Icons},
-    RecencyRanking,
+    widgets::{prelude::*, Icons},
+    AppState, CurrentWorkspace, RecencyRanking,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{DragValue, ImageButton, Ui};
+use bevy_egui::egui::{CollapsingHeader, DragValue, ImageButton, Ui};
 use std::cmp::{Ordering, Reverse};
 
-#[derive(Resource)]
-pub struct LevelDisplay {
-    pub new_elevation: f32,
-    pub new_name: String,
-    pub order: Vec<Entity>,
-    pub freeze: bool,
-    pub removing: bool,
-}
+/// Add a plugin for viewing and editing a list of all levels
+#[derive(Default)]
+pub struct ViewLevelsPlugin {}
 
-impl Default for LevelDisplay {
-    fn default() -> Self {
-        Self {
-            new_elevation: 0.0,
-            new_name: "<Unnamed>".to_string(),
-            order: Vec::new(),
-            freeze: false,
-            removing: false,
-        }
+impl Plugin for ViewLevelsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LevelDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewLevels>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct LevelParams<'w, 's> {
-    pub levels: Query<'w, 's, (Entity, &'static NameInSite, &'static LevelElevation)>,
-    pub parents: Query<'w, 's, &'static Parent>,
-    pub icons: Res<'w, Icons>,
+pub struct ViewLevels<'w, 's> {
+    levels: Query<'w, 's, (Entity, &'static NameInSite, &'static LevelElevation)>,
+    parents: Query<'w, 's, &'static Parent>,
+    icons: Res<'w, Icons>,
+    display_levels: ResMut<'w, LevelDisplay>,
+    current_level: ResMut<'w, CurrentLevel>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    change_name: EventWriter<'w, Change<NameInSite>>,
+    change_level_elevation: EventWriter<'w, Change<LevelElevation>>,
+    delete: EventWriter<'w, Delete>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-pub struct ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LevelParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-    edit_visibility: bool,
+impl<'w, 's> WidgetSystem<Tile> for ViewLevels<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        CollapsingHeader::new("Levels")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
+    }
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LevelParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self {
-            params,
-            events,
-            edit_visibility: false,
-        }
-    }
+impl<'w, 's> ViewLevels<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let editing = match self.app_state.get() {
+            AppState::SiteEditor => true,
+            AppState::SiteVisualizer => false,
+            _ => return,
+        };
 
-    pub fn for_editing_visibility(mut self) -> Self {
-        self.edit_visibility = true;
-        self
-    }
+        if !editing {
+            self.display_levels.removing = false;
+        }
 
-    pub fn show(self, ui: &mut Ui) {
-        ui.horizontal(|ui| {
-            let make_new_level = ui.button("Add").clicked();
-            let mut show_elevation = self.events.display.level.new_elevation;
-            ui.add(DragValue::new(&mut show_elevation).suffix("m"))
-                .on_hover_text("Elevation for the new level");
-
-            let mut show_name = self.events.display.level.new_name.clone();
-            ui.text_edit_singleline(&mut show_name)
-                .on_hover_text("Name for the new level");
-
-            if make_new_level {
-                let new_level = self
-                    .events
-                    .commands
-                    .spawn((
-                        SpatialBundle::default(),
-                        LevelProperties {
-                            elevation: LevelElevation(show_elevation),
-                            name: NameInSite(show_name.clone()),
-                            ..Default::default()
-                        },
-                        Category::Level,
-                        RecencyRanking::<DrawingMarker>::default(),
-                        RecencyRanking::<FloorMarker>::default(),
-                    ))
-                    .id();
-                self.events.request.current_level.0 = Some(new_level);
-            }
+        if editing {
+            ui.horizontal(|ui| {
+                let make_new_level = ui.button("Add").clicked();
+                let mut show_elevation = self.display_levels.new_elevation;
+                ui.add(DragValue::new(&mut show_elevation).suffix("m"))
+                    .on_hover_text("Elevation for the new level");
+
+                let mut show_name = self.display_levels.new_name.clone();
+                ui.text_edit_singleline(&mut show_name)
+                    .on_hover_text("Name for the new level");
+
+                if make_new_level {
+                    let new_level = self
+                        .commands
+                        .spawn((
+                            SpatialBundle::default(),
+                            LevelProperties {
+                                elevation: LevelElevation(show_elevation),
+                                name: NameInSite(show_name.clone()),
+                                ..Default::default()
+                            },
+                            Category::Level,
+                            RecencyRanking::<DrawingMarker>::default(),
+                            RecencyRanking::<FloorMarker>::default(),
+                        ))
+                        .id();
+                    self.current_level.0 = Some(new_level);
+                }
 
-            self.events.display.level.new_elevation = show_elevation;
-            self.events.display.level.new_name = show_name;
-        });
+                self.display_levels.new_elevation = show_elevation;
+                self.display_levels.new_name = show_name;
+            });
+        }
 
-        if !self.events.display.level.freeze {
+        if !self.display_levels.freeze {
             let mut ordered_level_list: Vec<_> = self
-                .params
                 .levels
                 .iter()
                 .filter(|(e, _, _)| {
-                    AncestorIter::new(&self.params.parents, *e)
-                        .any(|e| Some(e) == self.events.request.current_workspace.root)
+                    AncestorIter::new(&self.parents, *e)
+                        .any(|e| Some(e) == self.current_workspace.root)
                 })
                 .map(|(e, _, elevation)| (Reverse(elevation.0), e))
                 .collect();
@@ -132,51 +132,44 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
                 }
             });
 
-            self.events.display.level.order =
-                ordered_level_list.into_iter().map(|(_, e)| e).collect();
+            self.display_levels.order = ordered_level_list.into_iter().map(|(_, e)| e).collect();
         }
 
-        if self.events.display.level.removing {
+        if self.display_levels.removing {
             ui.horizontal(|ui| {
                 if ui.button("Select").clicked() {
-                    self.events.display.level.removing = false;
+                    self.display_levels.removing = false;
                 }
                 ui.label("Remove");
             });
-        } else {
+        } else if editing {
             ui.horizontal(|ui| {
                 ui.label("Select");
                 if ui.button("Remove").clicked() {
-                    self.events.display.level.removing = true;
+                    self.display_levels.removing = true;
                 }
             });
         }
 
         let mut any_dragging = false;
         let mut any_deleted = false;
-        for e in self.events.display.level.order.iter().copied() {
-            if let Ok((_, name, elevation)) = self.params.levels.get(e) {
+        for e in self.display_levels.order.iter().copied() {
+            if let Ok((_, name, elevation)) = self.levels.get(e) {
                 let mut shown_elevation = elevation.clone().0;
                 let mut shown_name = name.clone().0;
                 ui.horizontal(|ui| {
-                    if self.events.display.level.removing {
+                    if self.display_levels.removing {
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
+                            .add(ImageButton::new(self.icons.trash.egui()))
                             .on_hover_text("Remove this level")
                             .clicked()
                         {
-                            self.events
-                                .request
-                                .delete
-                                .send(Delete::new(e).and_dependents());
+                            self.delete.send(Delete::new(e).and_dependents());
                             any_deleted = true;
                         }
-                    } else if self.edit_visibility == true {
-                        if ui
-                            .radio(Some(e) == **self.events.request.current_level, "")
-                            .clicked()
-                        {
-                            self.events.request.current_level.0 = Some(e);
+                    } else if editing {
+                        if ui.radio(Some(e) == **self.current_level, "").clicked() {
+                            self.current_level.0 = Some(e);
                         }
                     }
 
@@ -192,24 +185,41 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
                 });
 
                 if shown_name != name.0 {
-                    self.events
-                        .change
-                        .name
+                    self.change_name
                         .send(Change::new(NameInSite(shown_name), e));
                 }
 
                 if shown_elevation != elevation.0 {
-                    self.events
-                        .change
-                        .level_elevation
+                    self.change_level_elevation
                         .send(Change::new(LevelElevation(shown_elevation), e));
                 }
             }
         }
 
-        self.events.display.level.freeze = any_dragging;
+        self.display_levels.freeze = any_dragging;
         if any_deleted {
-            self.events.display.level.removing = false;
+            self.display_levels.removing = false;
+        }
+    }
+}
+
+#[derive(Resource)]
+pub struct LevelDisplay {
+    pub new_elevation: f32,
+    pub new_name: String,
+    pub order: Vec<Entity>,
+    pub freeze: bool,
+    pub removing: bool,
+}
+
+impl Default for LevelDisplay {
+    fn default() -> Self {
+        Self {
+            new_elevation: 0.0,
+            new_name: "<Unnamed>".to_string(),
+            order: Vec::new(),
+            freeze: false,
+            removing: false,
         }
     }
 }
diff --git a/rmf_site_editor/src/widgets/view_lights.rs b/rmf_site_editor/src/widgets/view_lights.rs
index 84a87ab5..aa2df1c4 100644
--- a/rmf_site_editor/src/widgets/view_lights.rs
+++ b/rmf_site_editor/src/widgets/view_lights.rs
@@ -16,84 +16,79 @@
 */
 
 use crate::{
-    icons::Icons,
-    interaction::Select,
+    interaction::{HeadlightToggle, Select},
     site::{
-        Angle, Category, ExportLights, Light, LightKind, Pose, Recall, RecallLightKind, Rotation,
-        SiteID,
+        Angle, Category, ExportLights, Light, LightKind, PhysicalLightToggle, Pose, Recall,
+        RecallLightKind, Rotation, SiteID,
     },
     widgets::{
-        inspector::{InspectLightKind, InspectPose, SelectionWidget},
-        AppEvents,
+        inspector::{InspectLightKind, InspectPoseComponent},
+        prelude::*,
+        SelectorWidget,
     },
+    AppState,
 };
 use bevy::{
     ecs::system::SystemParam,
     prelude::*,
     tasks::{AsyncComputeTaskPool, Task},
 };
-use bevy_egui::egui::Ui;
+use bevy_egui::egui::{CollapsingHeader, Ui};
 use futures_lite::future;
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::AsyncFileDialog;
 use std::cmp::Reverse;
 use std::collections::BTreeMap;
 
-#[derive(Resource)]
-pub struct LightDisplay {
-    pub pose: Pose,
-    pub kind: LightKind,
-    pub recall: RecallLightKind,
-    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
-    pub export_file: Option<std::path::PathBuf>,
-}
+/// Add a plugin for viewing and editing a list of all lights
+#[derive(Default)]
+pub struct ViewLightsPlugin {}
 
-impl Default for LightDisplay {
-    fn default() -> Self {
-        Self {
-            pose: Pose {
-                trans: [0.0, 0.0, 2.6],
-                rot: Rotation::EulerExtrinsicXYZ([
-                    Angle::Deg(0.0),
-                    Angle::Deg(0.0),
-                    Angle::Deg(0.0),
-                ]),
-            },
-            kind: Default::default(),
-            recall: Default::default(),
-            choosing_file_for_export: None,
-            export_file: None,
-        }
+impl Plugin for ViewLightsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LightDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewLights>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct LightParams<'w, 's> {
-    pub lights: Query<'w, 's, (Entity, &'static LightKind, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
-}
-
-pub struct ViewLights<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LightParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+pub struct ViewLights<'w, 's> {
+    lights: Query<'w, 's, (Entity, &'static LightKind, Option<&'static SiteID>)>,
+    toggle_headlights: ResMut<'w, HeadlightToggle>,
+    toggle_physical_lights: ResMut<'w, PhysicalLightToggle>,
+    export_lights: EventWriter<'w, ExportLights>,
+    display_light: ResMut<'w, LightDisplay>,
+    selector: SelectorWidget<'w, 's>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LightParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewLights<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Lights")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let mut use_headlight = self.events.request.toggle_headlights.0;
+impl<'w, 's> ViewLights<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let mut use_headlight = self.toggle_headlights.0;
         ui.checkbox(&mut use_headlight, "Use Headlight");
-        if use_headlight != self.events.request.toggle_headlights.0 {
-            self.events.request.toggle_headlights.0 = use_headlight;
+        if use_headlight != self.toggle_headlights.0 {
+            self.toggle_headlights.0 = use_headlight;
         }
 
-        let mut use_physical_lights = self.events.request.toggle_physical_lights.0;
+        let mut use_physical_lights = self.toggle_physical_lights.0;
         ui.checkbox(&mut use_physical_lights, "Use Physical Lights");
-        if use_physical_lights != self.events.request.toggle_physical_lights.0 {
-            self.events.request.toggle_physical_lights.0 = use_physical_lights;
+        if use_physical_lights != self.toggle_physical_lights.0 {
+            self.toggle_physical_lights.0 = use_physical_lights;
         }
 
         ui.separator();
@@ -101,16 +96,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
         #[cfg(not(target_arch = "wasm32"))]
         {
             ui.horizontal(|ui| {
-                if let Some(export_file) = &self.events.display.light.export_file {
+                if let Some(export_file) = &self.display_light.export_file {
                     if ui.button("Export").clicked() {
-                        self.events
-                            .request
-                            .export_lights
-                            .send(ExportLights(export_file.clone()));
+                        self.export_lights.send(ExportLights(export_file.clone()));
                     }
                 }
                 if ui.button("Export Lights As...").clicked() {
-                    match &self.events.display.light.choosing_file_for_export {
+                    match &self.display_light.choosing_file_for_export {
                         Some(_) => {
                             warn!("A file is already being chosen!");
                         }
@@ -123,12 +115,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
 
                                 Some(file.path().to_path_buf())
                             });
-                            self.events.display.light.choosing_file_for_export = Some(future);
+                            self.display_light.choosing_file_for_export = Some(future);
                         }
                     }
                 }
             });
-            match &self.events.display.light.export_file {
+            match &self.display_light.export_file {
                 Some(path) => match path.to_str() {
                     Some(s) => {
                         ui.label(s);
@@ -145,41 +137,37 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
         }
 
         ui.heading("Create new light");
-        if let Some(new_pose) = InspectPose::new(&self.events.display.light.pose).show(ui) {
-            self.events.display.light.pose = new_pose;
+        if let Some(new_pose) = InspectPoseComponent::new(&self.display_light.pose).show(ui) {
+            self.display_light.pose = new_pose;
         }
 
         ui.push_id("Add Light", |ui| {
-            if let Some(new_kind) = InspectLightKind::new(
-                &self.events.display.light.kind,
-                &self.events.display.light.recall,
-            )
-            .show(ui)
+            if let Some(new_kind) =
+                InspectLightKind::new(&self.display_light.kind, &self.display_light.recall).show(ui)
             {
-                self.events.display.light.recall.remember(&new_kind);
-                self.events.display.light.kind = new_kind;
+                self.display_light.recall.remember(&new_kind);
+                self.display_light.kind = new_kind;
             }
         });
 
         // TODO(MXG): Add a + icon to this button to make it more visible
         if ui.button("Add").clicked() {
             let new_light = self
-                .events
                 .commands
                 .spawn(Light {
-                    pose: self.events.display.light.pose,
-                    kind: self.events.display.light.kind,
+                    pose: self.display_light.pose,
+                    kind: self.display_light.kind,
                 })
                 .insert(Category::Light)
                 .id();
-            self.events.request.select.send(Select(Some(new_light)));
+            self.selector.select.send(Select(Some(new_light)));
         }
 
         ui.separator();
 
         let mut unsaved_lights = BTreeMap::new();
         let mut saved_lights = BTreeMap::new();
-        for (e, kind, site_id) in &self.params.lights {
+        for (e, kind, site_id) in &self.lights {
             if let Some(site_id) = site_id {
                 saved_lights.insert(Reverse(site_id.0), (e, kind.label()));
             } else {
@@ -189,26 +177,48 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
 
         for (e, label) in unsaved_lights {
             ui.horizontal(|ui| {
-                SelectionWidget::new(e.0, None, self.params.icons.as_ref(), self.events).show(ui);
+                self.selector.show_widget(e.0, ui);
                 ui.label(label);
             });
         }
 
-        for (site_id, (e, label)) in saved_lights {
+        for (_, (e, label)) in saved_lights {
             ui.horizontal(|ui| {
-                SelectionWidget::new(
-                    e,
-                    Some(SiteID(site_id.0)),
-                    self.params.icons.as_ref(),
-                    self.events,
-                )
-                .show(ui);
+                self.selector.show_widget(e, ui);
                 ui.label(label);
             });
         }
     }
 }
 
+#[derive(Resource)]
+pub struct LightDisplay {
+    pub pose: Pose,
+    pub kind: LightKind,
+    pub recall: RecallLightKind,
+    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
+    pub export_file: Option<std::path::PathBuf>,
+}
+
+impl Default for LightDisplay {
+    fn default() -> Self {
+        Self {
+            pose: Pose {
+                trans: [0.0, 0.0, 2.6],
+                rot: Rotation::EulerExtrinsicXYZ([
+                    Angle::Deg(0.0),
+                    Angle::Deg(0.0),
+                    Angle::Deg(0.0),
+                ]),
+            },
+            kind: Default::default(),
+            recall: Default::default(),
+            choosing_file_for_export: None,
+            export_file: None,
+        }
+    }
+}
+
 pub fn resolve_light_export_file(
     mut light_display: ResMut<LightDisplay>,
     mut export_lights: EventWriter<ExportLights>,
diff --git a/rmf_site_editor/src/widgets/view_nav_graphs.rs b/rmf_site_editor/src/widgets/view_nav_graphs.rs
index 7f4c76b6..80f51bcf 100644
--- a/rmf_site_editor/src/widgets/view_nav_graphs.rs
+++ b/rmf_site_editor/src/widgets/view_nav_graphs.rs
@@ -16,87 +16,82 @@
 */
 
 use crate::{
-    interaction::Selection,
     recency::RecencyRanking,
     site::{
         Change, Delete, DisplayColor, ImportNavGraphs, NameInSite, NameOfSite, NavGraph,
-        NavGraphMarker, SaveNavGraphs, SiteID, DEFAULT_NAV_GRAPH_COLORS,
+        NavGraphMarker, SaveNavGraphs, DEFAULT_NAV_GRAPH_COLORS,
     },
-    widgets::{
-        inspector::{color_edit, selection_widget::SelectionWidget},
-        AppEvents, Icons, MoveLayerButton,
-    },
-    Autoload, CurrentWorkspace,
+    widgets::{inspector::color_edit, prelude::*, Icons, MoveLayerButton, SelectorWidget},
+    AppState, Autoload, ChangeRank, CurrentWorkspace,
 };
 use bevy::{
     ecs::system::SystemParam,
     prelude::*,
     tasks::{AsyncComputeTaskPool, Task},
 };
-use bevy_egui::egui::{ImageButton, Ui};
+use bevy_egui::egui::{CollapsingHeader, ImageButton, Ui};
 use futures_lite::future;
 
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::AsyncFileDialog;
 
-#[derive(Resource)]
-pub struct NavGraphDisplay {
-    pub color: Option<[f32; 4]>,
-    pub name: String,
-    pub removing: bool,
-    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
-    pub export_file: Option<std::path::PathBuf>,
-    pub choosing_file_to_import: Option<Task<Option<(std::path::PathBuf, ImportNavGraphs)>>>,
-}
+/// Add a widget for viewing and editing navigation graphs.
+#[derive(Default)]
+pub struct ViewNavGraphsPlugin {}
 
-impl FromWorld for NavGraphDisplay {
-    fn from_world(world: &mut World) -> Self {
-        let export_file = world
-            .get_resource::<Autoload>()
-            .map(|a| a.import.clone())
-            .flatten();
-        Self {
-            color: None,
-            name: "<Unnamed>".to_string(),
-            removing: false,
-            choosing_file_for_export: None,
-            export_file,
-            choosing_file_to_import: None,
-        }
+impl Plugin for ViewNavGraphsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<NavGraphDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewNavGraphs>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct NavGraphParams<'w, 's> {
-    pub ranking: Query<'w, 's, &'static RecencyRanking<NavGraphMarker>>,
-    pub graphs: Query<
+pub struct ViewNavGraphs<'w, 's> {
+    ranking: Query<'w, 's, &'static RecencyRanking<NavGraphMarker>>,
+    graphs: Query<
         'w,
         's,
         (
             &'static NameInSite,
             &'static DisplayColor,
             &'static Visibility,
-            Option<&'static SiteID>,
         ),
         With<NavGraphMarker>,
     >,
-    pub icons: Res<'w, Icons>,
-    pub selection: Res<'w, Selection>,
-}
-
-pub struct ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a NavGraphParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+    icons: Res<'w, Icons>,
+    open_sites: Query<'w, 's, Entity, With<NameOfSite>>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    display_nav_graph: ResMut<'w, NavGraphDisplay>,
+    delete: EventWriter<'w, Delete>,
+    change_visibility: EventWriter<'w, Change<Visibility>>,
+    change_name: EventWriter<'w, Change<NameInSite>>,
+    change_color: EventWriter<'w, Change<DisplayColor>>,
+    change_rank: EventWriter<'w, ChangeRank<NavGraphMarker>>,
+    save_nav_graphs: EventWriter<'w, SaveNavGraphs>,
+    selector: SelectorWidget<'w, 's>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a NavGraphParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewNavGraphs<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Navigation")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui, open_sites: &Query<Entity, With<NameOfSite>>) {
-        let ranking = match self.events.request.current_workspace.root {
-            Some(c) => match self.params.ranking.get(c) {
+impl<'w, 's> ViewNavGraphs<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let ranking = match self.current_workspace.root {
+            Some(c) => match self.ranking.get(c) {
                 Ok(r) => r,
                 Err(_) => return,
             },
@@ -105,13 +100,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
         let graph_count = ranking.len();
 
         ui.horizontal(|ui| {
-            if self.events.display.nav_graph.removing {
+            if self.display_nav_graph.removing {
                 if ui
                     .button("View")
                     .on_hover_text("Toggle visibility of graphs")
                     .clicked()
                 {
-                    self.events.display.nav_graph.removing = false;
+                    self.display_nav_graph.removing = false;
                 }
                 ui.label("Remove");
             } else {
@@ -121,53 +116,48 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                     .on_hover_text("Choose a graph to remove")
                     .clicked()
                 {
-                    self.events.display.nav_graph.removing = true;
+                    self.display_nav_graph.removing = true;
                 }
             }
         });
 
         ui.horizontal(|ui| {
             let add = ui.button("Add").clicked();
-            if self.events.display.nav_graph.color.is_none() {
+            if self.display_nav_graph.color.is_none() {
                 let next_color_index = graph_count % DEFAULT_NAV_GRAPH_COLORS.len();
-                self.events.display.nav_graph.color =
-                    Some(DEFAULT_NAV_GRAPH_COLORS[next_color_index]);
+                self.display_nav_graph.color = Some(DEFAULT_NAV_GRAPH_COLORS[next_color_index]);
             }
-            if let Some(color) = &mut self.events.display.nav_graph.color {
+            if let Some(color) = &mut self.display_nav_graph.color {
                 color_edit(ui, color);
             }
-            ui.text_edit_singleline(&mut self.events.display.nav_graph.name);
+            ui.text_edit_singleline(&mut self.display_nav_graph.name);
             if add {
-                self.events
-                    .commands
+                self.commands
                     .spawn(SpatialBundle::default())
                     .insert(NavGraph {
-                        name: NameInSite(self.events.display.nav_graph.name.clone()),
-                        color: DisplayColor(self.events.display.nav_graph.color.unwrap().clone()),
+                        name: NameInSite(self.display_nav_graph.name.clone()),
+                        color: DisplayColor(self.display_nav_graph.color.unwrap().clone()),
                         marker: Default::default(),
                     });
-                self.events.display.nav_graph.color = None;
+                self.display_nav_graph.color = None;
             }
         });
 
         let mut selected_graph = None;
         for e in ranking.iter().rev() {
             let e = *e;
-            if self.params.selection.0.is_some_and(|sel| sel == e) {
+            if self.selector.selection.0.is_some_and(|sel| sel == e) {
                 selected_graph = Some(e);
             }
-            let (name, color, vis, site_id) = match self.params.graphs.get(e) {
+            let (name, color, vis) = match self.graphs.get(e) {
                 Ok(g) => g,
                 Err(_) => continue,
             };
             ui.horizontal(|ui| {
-                if self.events.display.nav_graph.removing {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.trash.egui()))
-                        .clicked()
-                    {
-                        self.events.request.delete.send(Delete::new(e));
-                        self.events.display.nav_graph.removing = false;
+                if self.display_nav_graph.removing {
+                    if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
+                        self.delete.send(Delete::new(e));
+                        self.display_nav_graph.removing = false;
                     }
                 } else {
                     let mut is_visible = !matches!(vis, Visibility::Hidden);
@@ -185,51 +175,32 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                         } else {
                             Visibility::Hidden
                         };
-                        self.events
-                            .change
-                            .visibility
-                            .send(Change::new(visibility, e));
+                        self.change_visibility.send(Change::new(visibility, e));
                     }
                 }
 
-                SelectionWidget::new(e, site_id.copied(), &self.params.icons, self.events).show(ui);
+                self.selector.show_widget(e, ui);
 
                 let mut new_color = color.0;
                 color_edit(ui, &mut new_color);
                 if new_color != color.0 {
-                    self.events
-                        .change
-                        .color
+                    self.change_color
                         .send(Change::new(DisplayColor(new_color), e));
                 }
 
                 let mut new_name = name.0.clone();
                 if ui.text_edit_singleline(&mut new_name).changed() {
-                    self.events
-                        .change
-                        .name
-                        .send(Change::new(NameInSite(new_name), e));
+                    self.change_name.send(Change::new(NameInSite(new_name), e));
                 }
             });
         }
 
         if let Some(e) = selected_graph {
             ui.horizontal(|ui| {
-                MoveLayerButton::to_top(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::up(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::down(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::to_bottom(
-                    e,
-                    &mut self.events.layers.nav_graphs,
-                    &self.params.icons,
-                )
-                .show(ui);
+                MoveLayerButton::to_top(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::up(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::down(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::to_bottom(e, &mut self.change_rank, &self.icons).show(ui);
             });
         }
 
@@ -237,38 +208,35 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
         {
             ui.separator();
             if ui.button("Import Graphs...").clicked() {
-                match self.events.request.current_workspace.to_site(open_sites) {
-                    Some(into_site) => {
-                        match &self.events.display.nav_graph.choosing_file_to_import {
-                            Some(_) => {
-                                warn!("A file is already being chosen!");
-                            }
-                            None => {
-                                let future = AsyncComputeTaskPool::get().spawn(async move {
-                                    let file = match AsyncFileDialog::new().pick_file().await {
-                                        Some(file) => file,
-                                        None => return None,
-                                    };
+                match self.current_workspace.to_site(&self.open_sites) {
+                    Some(into_site) => match &self.display_nav_graph.choosing_file_to_import {
+                        Some(_) => {
+                            warn!("A file is already being chosen!");
+                        }
+                        None => {
+                            let future = AsyncComputeTaskPool::get().spawn(async move {
+                                let file = match AsyncFileDialog::new().pick_file().await {
+                                    Some(file) => file,
+                                    None => return None,
+                                };
 
-                                    match rmf_site_format::Site::from_bytes(&file.read().await) {
-                                        Ok(from_site) => Some((
-                                            file.path().to_owned(),
-                                            ImportNavGraphs {
-                                                into_site,
-                                                from_site,
-                                            },
-                                        )),
-                                        Err(err) => {
-                                            error!("Unable to parse file:\n{err}");
-                                            None
-                                        }
+                                match rmf_site_format::Site::from_bytes_ron(&file.read().await) {
+                                    Ok(from_site) => Some((
+                                        file.path().to_owned(),
+                                        ImportNavGraphs {
+                                            into_site,
+                                            from_site,
+                                        },
+                                    )),
+                                    Err(err) => {
+                                        error!("Unable to parse file:\n{err}");
+                                        None
                                     }
-                                });
-                                self.events.display.nav_graph.choosing_file_to_import =
-                                    Some(future);
-                            }
+                                }
+                            });
+                            self.display_nav_graph.choosing_file_to_import = Some(future);
                         }
-                    }
+                    },
                     None => {
                         error!("No current site??");
                     }
@@ -276,12 +244,11 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
             }
             ui.separator();
             ui.horizontal(|ui| {
-                if let Some(export_file) = &self.events.display.nav_graph.export_file {
+                if let Some(export_file) = &self.display_nav_graph.export_file {
                     if ui.button("Export").clicked() {
-                        if let Some(current_site) =
-                            self.events.request.current_workspace.to_site(open_sites)
+                        if let Some(current_site) = self.current_workspace.to_site(&self.open_sites)
                         {
-                            self.events.request.save_nav_graphs.send(SaveNavGraphs {
+                            self.save_nav_graphs.send(SaveNavGraphs {
                                 site: current_site,
                                 to_file: export_file.clone(),
                             })
@@ -291,7 +258,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                     }
                 }
                 if ui.button("Export Graphs As...").clicked() {
-                    match &self.events.display.nav_graph.choosing_file_for_export {
+                    match &self.display_nav_graph.choosing_file_for_export {
                         Some(_) => {
                             warn!("A file is already being chosen!");
                         }
@@ -303,12 +270,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                                 };
                                 Some(file.path().to_path_buf())
                             });
-                            self.events.display.nav_graph.choosing_file_for_export = Some(future);
+                            self.display_nav_graph.choosing_file_for_export = Some(future);
                         }
                     }
                 }
             });
-            if let Some(export_file) = &self.events.display.nav_graph.export_file {
+            if let Some(export_file) = &self.display_nav_graph.export_file {
                 if let Some(export_file) = export_file.as_os_str().to_str() {
                     ui.horizontal(|ui| {
                         ui.label("Chosen file:");
@@ -320,6 +287,33 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
     }
 }
 
+#[derive(Resource)]
+pub struct NavGraphDisplay {
+    pub color: Option<[f32; 4]>,
+    pub name: String,
+    pub removing: bool,
+    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
+    pub export_file: Option<std::path::PathBuf>,
+    pub choosing_file_to_import: Option<Task<Option<(std::path::PathBuf, ImportNavGraphs)>>>,
+}
+
+impl FromWorld for NavGraphDisplay {
+    fn from_world(world: &mut World) -> Self {
+        let export_file = world
+            .get_resource::<Autoload>()
+            .map(|a| a.import.clone())
+            .flatten();
+        Self {
+            color: None,
+            name: "<Unnamed>".to_string(),
+            removing: false,
+            choosing_file_for_export: None,
+            export_file,
+            choosing_file_to_import: None,
+        }
+    }
+}
+
 pub fn resolve_nav_graph_import_export_files(
     mut nav_graph_display: ResMut<NavGraphDisplay>,
     mut save_nav_graphs: EventWriter<SaveNavGraphs>,
diff --git a/rmf_site_editor/src/widgets/view_occupancy.rs b/rmf_site_editor/src/widgets/view_occupancy.rs
index 4cd4ca30..2580c3a8 100644
--- a/rmf_site_editor/src/widgets/view_occupancy.rs
+++ b/rmf_site_editor/src/widgets/view_occupancy.rs
@@ -15,50 +15,64 @@
  *
 */
 
-use crate::{occupancy::CalculateGrid, widgets::AppEvents};
-use bevy::prelude::Resource;
-use bevy_egui::egui::{DragValue, Ui};
+use crate::{occupancy::CalculateGrid, widgets::prelude::*, AppState};
+use bevy::prelude::*;
+use bevy_egui::egui::{CollapsingHeader, DragValue, Ui};
 
-#[derive(Resource)]
-pub struct OccupancyDisplay {
-    pub cell_size: f32,
-}
+/// Add a widget that provides a button for producing an occupancy grid
+/// visualization.
+#[derive(Default)]
+pub struct ViewOccupancyPlugin {}
 
-impl Default for OccupancyDisplay {
-    fn default() -> Self {
-        Self { cell_size: 0.5 }
+impl Plugin for ViewOccupancyPlugin {
+    fn build(&self, app: &mut bevy::prelude::App) {
+        app.init_resource::<OccupancyDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewOccupancy>::new());
     }
 }
 
-pub struct ViewOccupancy<'a, 'w2, 's2> {
-    events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct ViewOccupancy<'w> {
+    calculate_grid: EventWriter<'w, CalculateGrid>,
+    display_occupancy: ResMut<'w, OccupancyDisplay>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w2, 's2> ViewOccupancy<'a, 'w2, 's2> {
-    pub fn new(events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { events }
+impl<'w> WidgetSystem<Tile> for ViewOccupancy<'w> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Occupancy")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w> ViewOccupancy<'w> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
         ui.horizontal(|ui| {
             if ui.button("Calculate Occupancy").clicked() {
-                self.events.request.calculate_grid.send(CalculateGrid {
-                    cell_size: self.events.display.occupancy.cell_size,
+                self.calculate_grid.send(CalculateGrid {
+                    cell_size: self.display_occupancy.cell_size,
                     floor: 0.01,
                     ceiling: 1.5,
                 });
             }
             if ui
                 .add(
-                    DragValue::new(&mut self.events.display.occupancy.cell_size)
+                    DragValue::new(&mut self.display_occupancy.cell_size)
                         .clamp_range(0.01..=f32::INFINITY)
                         .speed(0.01),
                 )
                 .changed()
             {
-                if self.events.display.occupancy.cell_size > 0.1 {
-                    self.events.request.calculate_grid.send(CalculateGrid {
-                        cell_size: self.events.display.occupancy.cell_size,
+                if self.display_occupancy.cell_size > 0.1 {
+                    self.calculate_grid.send(CalculateGrid {
+                        cell_size: self.display_occupancy.cell_size,
                         floor: 0.01,
                         ceiling: 1.5,
                     });
@@ -67,3 +81,14 @@ impl<'a, 'w2, 's2> ViewOccupancy<'a, 'w2, 's2> {
         });
     }
 }
+
+#[derive(Resource)]
+pub struct OccupancyDisplay {
+    pub cell_size: f32,
+}
+
+impl Default for OccupancyDisplay {
+    fn default() -> Self {
+        Self { cell_size: 0.5 }
+    }
+}
diff --git a/rmf_site_editor/src/wireframe.rs b/rmf_site_editor/src/wireframe.rs
index 0af9defc..cde4af12 100644
--- a/rmf_site_editor/src/wireframe.rs
+++ b/rmf_site_editor/src/wireframe.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use crate::menu_bar::{MenuEvent, MenuItem, ViewMenu};
+use crate::widgets::menu_bar::{MenuEvent, MenuItem, ViewMenu};
 use bevy::pbr::wireframe::{Wireframe, WireframePlugin};
 use bevy::prelude::*;
 
diff --git a/rmf_site_editor/src/workcell/keyboard.rs b/rmf_site_editor/src/workcell/keyboard.rs
index 6327d5ae..0832f076 100644
--- a/rmf_site_editor/src/workcell/keyboard.rs
+++ b/rmf_site_editor/src/workcell/keyboard.rs
@@ -16,15 +16,23 @@
 */
 
 use crate::{ExportFormat, SaveWorkspace, SaveWorkspaceDestination};
-use bevy::prelude::*;
+use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_egui::EguiContexts;
 
 pub fn handle_workcell_keyboard_input(
     keyboard_input: Res<Input<KeyCode>>,
     mut egui_context: EguiContexts,
     mut save_events: EventWriter<SaveWorkspace>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
 ) {
-    let egui_context = egui_context.ctx_mut();
+    let Some(egui_context) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
+
     let ui_has_focus = egui_context.wants_pointer_input()
         || egui_context.wants_keyboard_input()
         || egui_context.is_pointer_over_area();
diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
index 4992fbef..9a26296b 100644
--- a/rmf_site_editor/src/workcell/mod.rs
+++ b/rmf_site_editor/src/workcell/mod.rs
@@ -73,8 +73,6 @@ impl Plugin for WorkcellEditorPlugin {
     fn build(&self, app: &mut App) {
         app.add_plugins(InfiniteGridPlugin)
             .add_event::<CreateJoint>()
-            .add_event::<SaveWorkcell>()
-            .add_event::<LoadWorkcell>()
             .add_event::<ChangeCurrentWorkcell>()
             .add_systems(OnEnter(AppState::WorkcellEditor), spawn_grid)
             .add_systems(OnExit(AppState::WorkcellEditor), delete_grid)
diff --git a/rmf_site_editor/src/workcell/save.rs b/rmf_site_editor/src/workcell/save.rs
index d3f880f6..33e15d49 100644
--- a/rmf_site_editor/src/workcell/save.rs
+++ b/rmf_site_editor/src/workcell/save.rs
@@ -336,6 +336,9 @@ pub fn save_workcell(world: &mut World) {
                     }
                 };
             }
+            ExportFormat::Sdf => {
+                warn!("Exporting workcells to sdf is not supported.");
+            }
         }
     }
 }
diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
index abd8316a..57cae9cb 100644
--- a/rmf_site_editor/src/workspace.rs
+++ b/rmf_site_editor/src/workspace.rs
@@ -61,7 +61,8 @@ pub enum LoadWorkspace {
 #[derive(Clone)]
 pub enum WorkspaceData {
     LegacyBuilding(Vec<u8>),
-    Site(Vec<u8>),
+    RonSite(Vec<u8>),
+    JsonSite(Vec<u8>),
     Workcell(Vec<u8>),
     WorkcellUrdf(Vec<u8>),
     LoadSite(LoadSite),
@@ -73,7 +74,9 @@ impl WorkspaceData {
         if filename.ends_with(".building.yaml") {
             Some(WorkspaceData::LegacyBuilding(data))
         } else if filename.ends_with("site.ron") {
-            Some(WorkspaceData::Site(data))
+            Some(WorkspaceData::RonSite(data))
+        } else if filename.ends_with("site.json") {
+            Some(WorkspaceData::JsonSite(data))
         } else if filename.ends_with("workcell.json") {
             Some(WorkspaceData::Workcell(data))
         } else if filename.ends_with("urdf") {
@@ -146,6 +149,11 @@ impl SaveWorkspace {
         self.format = ExportFormat::Urdf;
         self
     }
+
+    pub fn to_sdf(mut self) -> Self {
+        self.format = ExportFormat::Sdf;
+        self
+    }
 }
 
 #[derive(Default, Debug, Clone)]
@@ -161,6 +169,7 @@ pub enum ExportFormat {
     #[default]
     Default,
     Urdf,
+    Sdf,
 }
 
 /// Event used in channels to communicate the file handle that was chosen by the user.
@@ -205,6 +214,8 @@ impl Plugin for WorkspacePlugin {
             .add_event::<CreateNewWorkspace>()
             .add_event::<LoadWorkspace>()
             .add_event::<SaveWorkspace>()
+            .add_event::<SaveWorkcell>()
+            .add_event::<LoadWorkcell>()
             .init_resource::<CurrentWorkspace>()
             .init_resource::<RecallWorkspace>()
             .init_resource::<SaveWorkspaceChannels>()
@@ -315,6 +326,8 @@ pub fn dispatch_load_workspace_events(
                             .send(LoadWorkspaceFile(Some(path.clone()), data))
                             .expect("Failed sending load event");
                     }
+                } else {
+                    warn!("Unable to read file [{path:?}] so it cannot be loaded");
                 }
             }
             LoadWorkspace::Data(data) => {
@@ -363,9 +376,27 @@ fn workspace_file_load_complete(
                     }
                 }
             }
-            WorkspaceData::Site(data) => {
+            WorkspaceData::RonSite(data) => {
                 info!("Opening site file");
-                match Site::from_bytes(&data) {
+                match Site::from_bytes_ron(&data) {
+                    Ok(site) => {
+                        // Switch state
+                        app_state.set(AppState::SiteEditor);
+                        load_site.send(LoadSite {
+                            site,
+                            focus: true,
+                            default_file,
+                        });
+                        interaction_state.set(InteractionState::Enable);
+                    }
+                    Err(err) => {
+                        error!("Failed loading site {:?}", err);
+                    }
+                }
+            }
+            WorkspaceData::JsonSite(data) => {
+                info!("Opening site file");
+                match Site::from_bytes_json(&data) {
                     Ok(site) => {
                         // Switch state
                         app_state.set(AppState::SiteEditor);
@@ -519,6 +550,7 @@ fn workspace_file_save_complete(
                 save_site.send(SaveSite {
                     site: result.root,
                     to_file: result.path,
+                    format: result.format,
                 });
             }
             AppState::MainMenu => { /* Noop */ }
diff --git a/rmf_site_format/Cargo.toml b/rmf_site_format/Cargo.toml
index 775309fd..0de63d22 100644
--- a/rmf_site_format/Cargo.toml
+++ b/rmf_site_format/Cargo.toml
@@ -18,7 +18,11 @@ uuid = { version = "1.1", features = ["v4", "serde"] }
 # add features=["bevy"] to a dependent Cargo.toml to get the bevy-related features
 # We depend on a bugfix released specifically in 0.7.3
 bevy = { version = "0.12", optional = true }
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
+yaserde = "0.7"
 urdf-rs = "0.7.3"
+# Used for lazy initialization of static variable when they are non const
+once_cell = "1"
 pathdiff = "*"
 
 [dev-dependencies]
diff --git a/rmf_site_format/src/alignment.rs b/rmf_site_format/src/alignment.rs
index 776451f8..64977fbd 100644
--- a/rmf_site_format/src/alignment.rs
+++ b/rmf_site_format/src/alignment.rs
@@ -549,25 +549,28 @@ fn traverse_locations<F: FnMut(usize, DVec2, usize, DVec2)>(
 }
 
 fn calculate_center_adjustment(building: &BuildingMap, u: &mut [f64]) {
-    let mut center = DVec2::ZERO;
-    let mut weight = 0.0;
-    for (i, level) in building.levels.values().enumerate() {
-        let range = 4 * i..4 * (i + 1);
-        let vars = LevelVariables::new(&u[range], i);
-        for v in &level.vertices {
-            let v = vars.transform(v.to_vec());
-            center += v;
-            weight += 1.0;
-        }
-    }
-
-    if weight >= 0.0 {
-        center /= weight;
-        for level in 0..u.len() / 4 {
-            let x = 4 * level;
-            let y = 4 * level + 1;
-            u[x] -= center.x;
-            u[y] -= center.y;
-        }
+    if building.levels.is_empty() {
+        return;
+    }
+    let reference_idx = building
+        .reference_level_name
+        .as_ref()
+        .and_then(|name| {
+            building
+                .levels
+                .iter()
+                .position(|(level_name, _)| name == level_name)
+        })
+        .unwrap_or(0);
+    let range = 4 * reference_idx..4 * (reference_idx + 1);
+    let center = LevelVariables::new(&u[range], reference_idx);
+    let dx = center.dx().clone();
+    let dy = center.dy().clone();
+
+    for level in 0..u.len() / 4 {
+        let x = 4 * level;
+        let y = 4 * level + 1;
+        u[x] -= dx;
+        u[y] -= dy;
     }
 }
diff --git a/rmf_site_format/src/camera_poses.rs b/rmf_site_format/src/camera_poses.rs
new file mode 100644
index 00000000..0c7605b2
--- /dev/null
+++ b/rmf_site_format/src/camera_poses.rs
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{Anchor, Category, NameInSite, Pose, Rotation};
+#[cfg(feature = "bevy")]
+use bevy::prelude::{Bundle, Component};
+use glam::{Affine3A, Quat, Vec3};
+use serde::{Deserialize, Serialize};
+
+#[derive(Serialize, Deserialize, Default, Debug, Clone, PartialEq)]
+#[cfg_attr(feature = "bevy", derive(Bundle))]
+pub struct UserCameraPose {
+    pub pose: Pose,
+    pub name: NameInSite,
+    pub marker: UserCameraPoseMarker,
+}
+
+#[derive(Serialize, Deserialize, Default, Debug, Clone, PartialEq)]
+#[cfg_attr(feature = "bevy", derive(Component))]
+pub struct UserCameraPoseMarker;
+
+impl UserCameraPose {
+    pub fn from_anchors<'a, I>(name: &str, anchors: I) -> Self
+    where
+        I: Iterator<Item = &'a Anchor>,
+    {
+        // Center the camera in the centroid of the anchors
+        let mut count = 0;
+        let mut trans = Vec3::default();
+        for anchor in anchors {
+            let anchor_trans = *anchor.translation_for_category(Category::Level);
+            trans[0] = trans[0] + anchor_trans[0];
+            trans[1] = trans[1] + anchor_trans[1];
+            count += 1;
+        }
+        if count > 0 {
+            trans = trans / count as f32;
+        }
+        let offset = Vec3::new(-10.0, -10.0, 10.0);
+        let affine = Affine3A::look_at_rh(trans + offset, trans, Vec3::Z);
+        let rotation = Quat::from_mat3a(&affine.matrix3);
+        // TODO(luca) check why the signs are inverted and fix the API call
+        let mut rot = rotation.to_array();
+        rot[0] = -rot[0];
+        rot[1] = -rot[1];
+        rot[2] = -rot[2];
+
+        let pose = Pose {
+            trans: (trans + offset).into(),
+            rot: Rotation::Quat(rot),
+        };
+        Self {
+            pose,
+            name: NameInSite(name.into()),
+            marker: Default::default(),
+        }
+    }
+}
diff --git a/rmf_site_format/src/legacy/building_map.rs b/rmf_site_format/src/legacy/building_map.rs
index b8c1f903..375477e7 100644
--- a/rmf_site_format/src/legacy/building_map.rs
+++ b/rmf_site_format/src/legacy/building_map.rs
@@ -8,7 +8,7 @@ use crate::{
     Level as SiteLevel, LevelElevation, LevelProperties as SiteLevelProperties, Motion, NameInSite,
     NameOfSite, NavGraph, Navigation, OrientationConstraint, PixelsPerMeter, Pose,
     PreferredSemiTransparency, RankingsInLevel, ReverseLane, Rotation, Site, SiteProperties,
-    Texture as SiteTexture, TextureGroup, DEFAULT_NAV_GRAPH_COLORS,
+    Texture as SiteTexture, TextureGroup, UserCameraPose, DEFAULT_NAV_GRAPH_COLORS,
 };
 use glam::{DAffine2, DMat3, DQuat, DVec2, DVec3, EulerRot};
 use serde::{Deserialize, Serialize};
@@ -33,6 +33,8 @@ pub struct BuildingMap {
     pub name: String,
     #[serde(default)]
     pub coordinate_system: CoordinateSystem,
+    #[serde(default)]
+    pub reference_level_name: Option<String>,
     pub levels: BTreeMap<String, Level>,
     // TODO(MXG): Consider parsing legacy crowdsim data and converting it to
     // a format that will have future support.
@@ -51,6 +53,28 @@ impl BuildingMap {
         }
     }
 
+    /// Collects all vertices that are used in cartesian features (i.e. floors, walls, doors).
+    /// Doesn't include pixel anchors (i.e. drawings)
+    fn collect_level_cartesian_vertices(level: &Level) -> HashSet<usize> {
+        let mut anchors: HashSet<usize> = HashSet::new();
+        for door in &level.doors {
+            anchors.extend([door.0, door.1]);
+        }
+
+        for floor in &level.floors {
+            anchors.extend(&floor.vertices);
+        }
+
+        for wall in &level.walls {
+            anchors.extend([wall.0, wall.1]);
+        }
+
+        for lane in &level.lanes {
+            anchors.extend([lane.0, lane.1]);
+        }
+        anchors
+    }
+
     /// Converts a map from the oldest legacy format, which uses pixel coordinates.
     fn from_pixel_coordinates(mut map: BuildingMap) -> BuildingMap {
         let alignments = align_legacy_building(&map);
@@ -70,8 +94,27 @@ impl BuildingMap {
             let tf = alignment.to_affine();
             level.alignment = Some(alignment.clone());
             // We need to keep the vertices associated with measurements in image coordinates
+            let level_vertices = Self::collect_level_cartesian_vertices(level);
             let mut drawing_vertices = HashSet::new();
-            for measurement in &level.measurements {
+            for measurement in &mut level.measurements {
+                match level_vertices.get(&measurement.0) {
+                    Some(vertex) => {
+                        // Vertex is shared, duplicate it
+                        let idx = level.vertices.len();
+                        level.vertices.push(level.vertices[*vertex].clone());
+                        measurement.0 = idx;
+                    }
+                    None => {}
+                }
+                match level_vertices.get(&measurement.1) {
+                    Some(vertex) => {
+                        // Vertex is shared, duplicate it
+                        let idx = level.vertices.len();
+                        level.vertices.push(level.vertices[*vertex].clone());
+                        measurement.1 = idx;
+                    }
+                    None => {}
+                }
                 drawing_vertices.insert(measurement.0);
                 drawing_vertices.insert(measurement.1);
             }
@@ -153,7 +196,7 @@ impl BuildingMap {
         let mut wall_texture_map: HashMap<WallProperties, u32> = HashMap::new();
         let mut lift_cabin_anchors: BTreeMap<String, Vec<(u32, Anchor)>> = BTreeMap::new();
 
-        let mut building_id_to_nav_graph_id = HashMap::new();
+        let mut building_id_to_nav_graph_id = BTreeMap::new();
 
         let mut fiducial_groups: BTreeMap<u32, FiducialGroup> = BTreeMap::new();
         let mut cartesian_fiducials: HashMap<u32, Vec<DVec2>> = HashMap::new();
@@ -314,19 +357,13 @@ impl BuildingMap {
                 for measurement in &level.measurements {
                     let mut site_measurement = measurement.to_site(&vertex_to_anchor_id)?;
                     let edge = &mut site_measurement.anchors;
-                    let (start_anchor, end_anchor) = (
-                        level_anchors.get(&edge.left()).unwrap(),
-                        level_anchors.get(&edge.right()).unwrap(),
-                    );
-                    // Now get the anchors and duplicate them in the drawing
-                    let anchor_id = site_id.next().unwrap();
-                    drawing_anchors.insert(anchor_id, start_anchor.clone());
-                    *edge.left_mut() = anchor_id;
-                    let anchor_id = site_id.next().unwrap();
-                    drawing_anchors.insert(anchor_id, end_anchor.clone());
-                    *edge.right_mut() = anchor_id;
+                    // Remove the measurement anchors from the level anchors, since they belong to
+                    // the drawing
+                    let left = level_anchors.remove_entry(&edge.left()).unwrap();
+                    let right = level_anchors.remove_entry(&edge.right()).unwrap();
+                    drawing_anchors.insert(left.0, left.1);
+                    drawing_anchors.insert(right.0, right.1);
                     measurements.insert(site_id.next().unwrap(), site_measurement);
-                    // TODO(luca) remove original anchors if they have no other dependents
                     // TODO(MXG): Have rankings for measurements
                 }
 
@@ -349,13 +386,11 @@ impl BuildingMap {
             }
 
             for (name, layer) in &level.layers {
-                // TODO(luca) coordinates in site and traffic editor might be different, use
-                // optimization engine instead of parsing
                 let drawing_id = site_id.next().unwrap();
                 let pose = Pose {
                     trans: [
                         layer.transform.translation_x as f32,
-                        layer.transform.translation_y as f32,
+                        -layer.transform.translation_y as f32,
                         0.0 as f32,
                     ],
                     rot: Rotation::Yaw(Angle::Rad(layer.transform.yaw as f32)),
@@ -492,7 +527,11 @@ impl BuildingMap {
                 walls.insert(site_id.next().unwrap(), site_wall);
             }
 
-            let elevation = level.elevation as f32;
+            let mut user_camera_poses = BTreeMap::new();
+            user_camera_poses.insert(
+                site_id.next().unwrap(),
+                UserCameraPose::from_anchors("default", level_anchors.values()),
+            );
 
             level_name_to_id.insert(level_name.clone(), level_id);
             levels.insert(
@@ -500,7 +539,7 @@ impl BuildingMap {
                 SiteLevel {
                     properties: SiteLevelProperties {
                         name: NameInSite(level_name.clone()),
-                        elevation: LevelElevation(elevation),
+                        elevation: LevelElevation(level.elevation as f32),
                         global_floor_visibility: Default::default(),
                         global_drawing_visibility: Default::default(),
                     },
@@ -513,6 +552,7 @@ impl BuildingMap {
                     physical_cameras,
                     walls,
                     rankings,
+                    user_camera_poses,
                 },
             );
 
@@ -599,7 +639,7 @@ impl BuildingMap {
             nav_graphs.insert(
                 *graph_id,
                 NavGraph {
-                    name: NameInSite("unnamed_graph_#".to_string() + &i.to_string()),
+                    name: NameInSite(i.to_string()),
                     color: DisplayColor(DEFAULT_NAV_GRAPH_COLORS[color_index]),
                     marker: Default::default(),
                 },
@@ -703,7 +743,10 @@ mod tests {
     fn site_conversion() {
         let data = std::fs::read("../assets/demo_maps/office.building.yaml").unwrap();
         let map = BuildingMap::from_bytes(&data).unwrap();
-        println!("{}", map.to_site().unwrap().to_string().unwrap());
+        println!(
+            "{}",
+            String::from_utf8_lossy(&map.to_site().unwrap().to_bytes_json().unwrap())
+        );
     }
 
     #[test]
diff --git a/rmf_site_format/src/level.rs b/rmf_site_format/src/level.rs
index b4486773..6981fc78 100644
--- a/rmf_site_format/src/level.rs
+++ b/rmf_site_format/src/level.rs
@@ -68,6 +68,8 @@ pub struct Level {
     pub walls: BTreeMap<u32, Wall<u32>>,
     #[serde(default, skip_serializing_if = "RankingsInLevel::is_empty")]
     pub rankings: RankingsInLevel,
+    #[serde(default, skip_serializing_if = "BTreeMap::is_empty")]
+    pub user_camera_poses: BTreeMap<u32, UserCameraPose>,
 }
 
 impl Level {
@@ -83,6 +85,7 @@ impl Level {
             models: Default::default(),
             physical_cameras: Default::default(),
             walls: Default::default(),
+            user_camera_poses: Default::default(),
         }
     }
 }
diff --git a/rmf_site_format/src/lib.rs b/rmf_site_format/src/lib.rs
index 336b96b0..cf8f0e49 100644
--- a/rmf_site_format/src/lib.rs
+++ b/rmf_site_format/src/lib.rs
@@ -29,6 +29,9 @@ pub use asset_source::*;
 pub mod category;
 pub use category::*;
 
+pub mod camera_poses;
+pub use camera_poses::*;
+
 pub mod constraint;
 pub use constraint::*;
 
@@ -98,6 +101,9 @@ pub use point::*;
 pub mod recall;
 pub use recall::*;
 
+pub mod sdf;
+pub use sdf::*;
+
 pub mod semver;
 pub use semver::*;
 
diff --git a/rmf_site_format/src/lift.rs b/rmf_site_format/src/lift.rs
index 397d4db1..0dd4bb28 100644
--- a/rmf_site_format/src/lift.rs
+++ b/rmf_site_format/src/lift.rs
@@ -233,6 +233,21 @@ impl<T: RefTrait> LiftCabin<T> {
         };
         Ok(result)
     }
+
+    pub fn moment_of_inertia(&self, mass: f64) -> sdformat_rs::SdfInertialInertia {
+        match self {
+            Self::Rect(params) => sdformat_rs::SdfInertialInertia {
+                ixx: mass / 12.0
+                    * (params.width.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
+                iyy: mass / 12.0
+                    * (params.depth.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
+                izz: mass / 12.0 * (params.width.powi(2) + params.depth.powi(2)) as f64,
+                ixy: 0.0,
+                ixz: 0.0,
+                iyz: 0.0,
+            },
+        }
+    }
 }
 
 #[derive(Clone, Debug)]
diff --git a/rmf_site_format/src/sdf.rs b/rmf_site_format/src/sdf.rs
new file mode 100644
index 00000000..3414f0e6
--- /dev/null
+++ b/rmf_site_format/src/sdf.rs
@@ -0,0 +1,879 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    Anchor, Angle, AssetSource, Category, DoorType, Level, LiftCabin, Pose, Rotation, Site, Swing,
+};
+use glam::Vec3;
+use once_cell::sync::Lazy;
+use sdformat_rs::*;
+use std::collections::BTreeMap;
+use thiserror::Error;
+
+const DEFAULT_CABIN_MASS: f64 = 1200.0;
+
+static WORLD_TEMPLATE: Lazy<SdfRoot> = Lazy::new(|| {
+    yaserde::de::from_str(include_str!("templates/gz_world.sdf"))
+        .expect("Failed deserializing template")
+});
+
+#[derive(Debug, Error)]
+pub enum SdfConversionError {
+    #[error("An asset that can't be converted to an sdf world was found")]
+    UnsupportedAssetType,
+    #[error("Entity [{0}] referenced a non existing anchor")]
+    BrokenAnchorReference(u32),
+    #[error("Entity [{0}] referenced a non existing level")]
+    BrokenLevelReference(u32),
+    #[error("Parsing lift cabin for lift [{0}] failed")]
+    LiftParsingError(String),
+    #[error("Lift [{0}] had no initial level where it could be spawned")]
+    MissingInitialLevel(String),
+}
+
+impl Pose {
+    fn to_sdf(&self) -> SdfPose {
+        let p = &self.trans;
+        let r = match self.rot {
+            Rotation::Yaw(angle) => format!("0 0 {}", angle.radians()),
+            Rotation::EulerExtrinsicXYZ(rpy) => format!(
+                "{} {} {}",
+                rpy[0].radians(),
+                rpy[1].radians(),
+                rpy[2].radians()
+            ),
+            Rotation::Quat(quat) => format!("{} {} {} {}", quat[3], quat[0], quat[1], quat[2]),
+        };
+        SdfPose {
+            data: format!("{} {} {} {}", p[0], p[1], p[2], r),
+            ..Default::default()
+        }
+    }
+}
+
+fn make_sdf_door_link(mesh_prefix: &str, link_name: &str) -> SdfLink {
+    SdfLink {
+        name: link_name.to_string(),
+        collision: vec![SdfCollision {
+            name: format!("{link_name}_collision"),
+            geometry: SdfGeometry::Mesh(SdfMeshShape {
+                uri: format!("meshes/{mesh_prefix}_{link_name}.glb"),
+                ..Default::default()
+            }),
+            surface: Some(SdfSurface {
+                contact: Some(SdfSurfaceContact {
+                    collide_bitmask: Some("0x02".into()),
+                    ..Default::default()
+                }),
+                ..Default::default()
+            }),
+            ..Default::default()
+        }],
+        visual: vec![SdfVisual {
+            name: format!("{link_name}_visual"),
+            geometry: SdfGeometry::Mesh(SdfMeshShape {
+                uri: format!("meshes/{mesh_prefix}_{link_name}.glb"),
+                ..Default::default()
+            }),
+            ..Default::default()
+        }],
+        ..Default::default()
+    }
+}
+
+fn make_sdf_door(
+    left_anchor: Anchor,
+    right_anchor: Anchor,
+    offset: Vec3,
+    ros_interface: bool,
+    kind: &DoorType,
+    mesh_prefix: &str,
+    model_name: &str,
+) -> Result<SdfModel, SdfConversionError> {
+    let left_trans = left_anchor.translation_for_category(Category::Door);
+    let right_trans = right_anchor.translation_for_category(Category::Door);
+    let center = [
+        (left_trans[0] + right_trans[0]) / 2.0,
+        (left_trans[1] + right_trans[1]) / 2.0,
+    ];
+    let dx = left_trans[0] - right_trans[0];
+    let dy = left_trans[1] - right_trans[1];
+    let door_length = (dx * dx + dy * dy).sqrt();
+    let yaw = -dx.atan2(dy);
+    let labels = match kind {
+        DoorType::SingleSliding(_) | DoorType::SingleSwing(_) | DoorType::Model(_) => {
+            Vec::from(["body"])
+        }
+        DoorType::DoubleSliding(_) | DoorType::DoubleSwing(_) => Vec::from(["right", "left"]),
+    };
+    let mut plugin = SdfPlugin {
+        name: "register_component".into(),
+        filename: "libregister_component.so".into(),
+        ..Default::default()
+    };
+    let mut component = XmlElement {
+        name: "component".into(),
+        ..Default::default()
+    };
+    let mut door_plugin_inner = XmlElement {
+        name: "door".into(),
+        ..Default::default()
+    };
+    component.attributes.insert("name".into(), "Door".into());
+    let mut component_data = ElementMap::default();
+    door_plugin_inner
+        .attributes
+        .insert("name".to_string(), model_name.to_owned());
+    let mut door_model = SdfModel {
+        name: model_name.to_owned(),
+        pose: Some(
+            Pose {
+                trans: (Vec3::from([center[0], center[1], 0.0]) + offset).to_array(),
+                rot: Rotation::Yaw(Angle::Rad(yaw)),
+            }
+            .to_sdf(),
+        ),
+        r#static: Some(false),
+        ..Default::default()
+    };
+    for label in labels.iter() {
+        door_model.link.push(make_sdf_door_link(mesh_prefix, label));
+    }
+    let mut door_motion_params = vec![];
+    let joints = match kind {
+        DoorType::SingleSliding(door) => {
+            door_plugin_inner
+                .attributes
+                .insert("type".into(), "SlidingDoor".into());
+            door_plugin_inner
+                .attributes
+                .insert("left_joint_name".into(), "empty_joint".into());
+            door_plugin_inner
+                .attributes
+                .insert("right_joint_name".into(), model_name.to_owned() + "_joint");
+            door_motion_params.push(("v_max_door", "0.2"));
+            door_motion_params.push(("a_max_door", "0.2"));
+            door_motion_params.push(("a_nom_door", "0.08"));
+            door_motion_params.push(("dx_min_door", "0.001"));
+            door_motion_params.push(("f_max_door", "100.0"));
+            let pose = Pose {
+                trans: [0.0, (door_length / 2.0) * door.towards.sign(), 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            vec![SdfJoint {
+                name: model_name.to_owned() + "_joint",
+                parent: "world".into(),
+                child: "body".into(),
+                r#type: "prismatic".into(),
+                pose: Some(pose),
+                axis: Some(SdfJointAxis {
+                    xyz: Vector3d::new(0.0, door.towards.sign().into(), 0.0),
+                    limit: SdfJointAxisLimit {
+                        lower: 0.0,
+                        upper: door_length as f64,
+                        ..Default::default()
+                    },
+                    ..Default::default()
+                }),
+                ..Default::default()
+            }]
+        }
+        DoorType::SingleSwing(door) => {
+            door_plugin_inner
+                .attributes
+                .insert("type".into(), "SwingDoor".into());
+            door_motion_params.push(("v_max_door", "0.5"));
+            door_motion_params.push(("a_max_door", "0.3"));
+            door_motion_params.push(("a_nom_door", "0.15"));
+            door_motion_params.push(("dx_min_door", "0.01"));
+            door_motion_params.push(("f_max_door", "500.0"));
+            let side = door.pivot_on.sign() as f64;
+            let (open, z) = match door.swing {
+                Swing::Forward(angle) => (angle.radians() as f64, side),
+                Swing::Backward(angle) => (angle.radians() as f64, -side),
+                // Only use the forward position for double doors
+                Swing::Both { forward, .. } => (forward.radians() as f64, side),
+            };
+            let lower = 0.0;
+            let upper = open.abs();
+            let pose = Pose {
+                trans: [0.0, (door_length / 2.0) * door.pivot_on.sign(), 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            let (left_joint_name, right_joint_name) =
+                ("empty_joint", model_name.to_owned() + "_joint");
+            door_plugin_inner
+                .attributes
+                .insert("left_joint_name".into(), left_joint_name.into());
+            door_plugin_inner
+                .attributes
+                .insert("right_joint_name".into(), right_joint_name);
+            vec![SdfJoint {
+                name: model_name.to_owned() + "_joint",
+                parent: "world".into(),
+                child: "body".into(),
+                r#type: "revolute".into(),
+                axis: Some(SdfJointAxis {
+                    xyz: Vector3d::new(0.0, 0.0, z),
+                    limit: SdfJointAxisLimit {
+                        lower,
+                        upper,
+                        ..Default::default()
+                    },
+                    ..Default::default()
+                }),
+                pose: Some(pose),
+                ..Default::default()
+            }]
+        }
+        DoorType::DoubleSliding(door) => {
+            door_plugin_inner
+                .attributes
+                .insert("type".into(), "DoubleSlidingDoor".into());
+            door_plugin_inner.attributes.insert(
+                "left_joint_name".into(),
+                model_name.to_owned() + "_left_joint",
+            );
+            door_plugin_inner.attributes.insert(
+                "right_joint_name".into(),
+                model_name.to_owned() + "_right_joint",
+            );
+            door_motion_params.push(("v_max_door", "0.2"));
+            door_motion_params.push(("a_max_door", "0.2"));
+            door_motion_params.push(("a_nom_door", "0.08"));
+            door_motion_params.push(("dx_min_door", "0.001"));
+            door_motion_params.push(("f_max_door", "100.0"));
+            let right_pose = Pose {
+                trans: [0.0, -door_length / 2.0, 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            let left_pose = Pose {
+                trans: [0.0, door_length / 2.0, 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            let left_length = (door.left_right_ratio / (1.0 + door.left_right_ratio)) * door_length;
+            let right_length = door_length - left_length;
+            vec![
+                SdfJoint {
+                    name: model_name.to_owned() + "_right_joint",
+                    parent: "world".into(),
+                    child: "right".into(),
+                    r#type: "prismatic".into(),
+                    pose: Some(right_pose),
+                    axis: Some(SdfJointAxis {
+                        xyz: Vector3d::new(0.0, -1.0, 0.0),
+                        limit: SdfJointAxisLimit {
+                            lower: 0.0,
+                            upper: right_length as f64,
+                            ..Default::default()
+                        },
+                        ..Default::default()
+                    }),
+                    ..Default::default()
+                },
+                SdfJoint {
+                    name: model_name.to_owned() + "_left_joint",
+                    parent: "world".into(),
+                    child: "left".into(),
+                    r#type: "prismatic".into(),
+                    pose: Some(left_pose),
+                    axis: Some(SdfJointAxis {
+                        xyz: Vector3d::new(0.0, -1.0, 0.0),
+                        limit: SdfJointAxisLimit {
+                            lower: -left_length as f64,
+                            upper: 0.0,
+                            ..Default::default()
+                        },
+                        ..Default::default()
+                    }),
+                    ..Default::default()
+                },
+            ]
+        }
+        DoorType::DoubleSwing(door) => {
+            door_plugin_inner
+                .attributes
+                .insert("type".into(), "DoubleSwingDoor".into());
+            door_plugin_inner.attributes.insert(
+                "left_joint_name".into(),
+                model_name.to_owned() + "_left_joint",
+            );
+            door_plugin_inner.attributes.insert(
+                "right_joint_name".into(),
+                model_name.to_owned() + "_right_joint",
+            );
+            door_motion_params.push(("v_max_door", "0.5"));
+            door_motion_params.push(("a_max_door", "0.3"));
+            door_motion_params.push(("a_nom_door", "0.15"));
+            door_motion_params.push(("dx_min_door", "0.01"));
+            door_motion_params.push(("f_max_door", "500.0"));
+            let (open, z) = match door.swing {
+                Swing::Forward(angle) => (angle.radians() as f64, -1.0),
+                Swing::Backward(angle) => (angle.radians() as f64, 1.0),
+                // Only use the forward position for double doors
+                Swing::Both { forward, .. } => (forward.radians() as f64, -1.0),
+            };
+            let upper = open.abs();
+            let right_pose = Pose {
+                trans: [0.0, -door_length / 2.0, 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            let left_pose = Pose {
+                trans: [0.0, door_length / 2.0, 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            vec![
+                SdfJoint {
+                    name: model_name.to_owned() + "_right_joint",
+                    parent: "world".into(),
+                    child: "right".into(),
+                    r#type: "revolute".into(),
+                    axis: Some(SdfJointAxis {
+                        xyz: Vector3d::new(0.0, 0.0, z),
+                        limit: SdfJointAxisLimit {
+                            lower: 0.0,
+                            upper,
+                            ..Default::default()
+                        },
+                        ..Default::default()
+                    }),
+                    pose: Some(right_pose),
+                    ..Default::default()
+                },
+                SdfJoint {
+                    name: model_name.to_owned() + "_left_joint",
+                    parent: "world".into(),
+                    child: "left".into(),
+                    r#type: "revolute".into(),
+                    axis: Some(SdfJointAxis {
+                        xyz: Vector3d::new(0.0, 0.0, z),
+                        limit: SdfJointAxisLimit {
+                            lower: -upper,
+                            upper: 0.0,
+                            ..Default::default()
+                        },
+                        ..Default::default()
+                    }),
+                    pose: Some(left_pose),
+                    ..Default::default()
+                },
+            ]
+        }
+        DoorType::Model(_) => {
+            // Unimplemented! Use a fixed joint for now
+            let pose = Pose {
+                trans: [0.0, door_length / 2.0, 1.25],
+                ..Default::default()
+            }
+            .to_sdf();
+            vec![SdfJoint {
+                name: model_name.to_owned() + "_joint",
+                parent: "world".into(),
+                child: "body".into(),
+                r#type: "fixed".into(),
+                pose: Some(pose),
+                ..Default::default()
+            }]
+        }
+    };
+    let b = ros_interface.to_string();
+    door_motion_params.push(("ros_interface", &b));
+    door_model.joint.extend(joints);
+    for (name, value) in door_motion_params.into_iter() {
+        component_data.push(XmlElement {
+            name: name.into(),
+            data: ElementData::String(value.to_string()),
+            ..Default::default()
+        });
+    }
+    component_data.push(door_plugin_inner);
+    component.data = ElementData::Nested(component_data);
+    plugin.elements.push(component);
+    door_model.plugin = vec![plugin];
+    Ok(door_model)
+}
+
+impl Site {
+    pub fn to_sdf(&self) -> Result<SdfRoot, SdfConversionError> {
+        let get_anchor = |id: u32| -> Result<Anchor, SdfConversionError> {
+            self.get_anchor(id)
+                .ok_or(SdfConversionError::BrokenAnchorReference(id))
+                .cloned()
+        };
+        let get_level = |id: u32| -> Result<&Level, SdfConversionError> {
+            self.levels
+                .get(&id)
+                .ok_or(SdfConversionError::BrokenLevelReference(id))
+        };
+        let mut root = WORLD_TEMPLATE.clone();
+        let world = &mut root.world[0];
+        let mut min_elevation = f32::MAX;
+        let mut max_elevation = f32::MIN;
+        let mut toggle_floors_plugin = SdfPlugin {
+            name: "toggle_floors".into(),
+            filename: "toggle_floors".into(),
+            ..Default::default()
+        };
+        for (level_id, level) in &self.levels {
+            let mut level_model_names = vec![];
+            let mut model_element_map = ElementMap::default();
+            max_elevation = max_elevation.max(level.properties.elevation.0);
+            min_elevation = min_elevation.min(level.properties.elevation.0);
+            let mut floor_models_ele = XmlElement {
+                name: "floor".into(),
+                ..Default::default()
+            };
+            let level_model_name = &level.properties.name.0;
+            floor_models_ele
+                .attributes
+                .insert("name".into(), level.properties.name.0.clone());
+            floor_models_ele
+                .attributes
+                .insert("model_name".into(), level_model_name.clone());
+            // Floors walls and static models are included in the level mesh
+            world.model.push(SdfModel {
+                name: level_model_name.clone(),
+                r#static: Some(true),
+                link: vec![SdfLink {
+                    name: "link".into(),
+                    collision: vec![SdfCollision {
+                        name: "collision".into(),
+                        geometry: SdfGeometry::Mesh(SdfMeshShape {
+                            uri: format!("meshes/level_{}_collision.glb", level_id),
+                            ..Default::default()
+                        }),
+                        surface: Some(SdfSurface {
+                            contact: Some(SdfSurfaceContact {
+                                collide_bitmask: Some("0x01".into()),
+                                ..Default::default()
+                            }),
+                            ..Default::default()
+                        }),
+                        ..Default::default()
+                    }],
+                    visual: vec![SdfVisual {
+                        name: "visual".into(),
+                        geometry: SdfGeometry::Mesh(SdfMeshShape {
+                            uri: format!("meshes/level_{}_visual.glb", level_id),
+                            ..Default::default()
+                        }),
+                        ..Default::default()
+                    }],
+                    ..Default::default()
+                }],
+                ..Default::default()
+            });
+            // TODO(luca) We need this because there is no concept of ingestor or dispenser in
+            // rmf_site yet. Remove when there is
+            for (model_id, model) in &level.models {
+                let mut added = false;
+                if model.source == AssetSource::Search("OpenRobotics/TeleportIngestor".to_string())
+                {
+                    world.include.push(SdfWorldInclude {
+                        uri: "model://TeleportIngestor".to_string(),
+                        name: Some(model.name.0.clone()),
+                        pose: Some(model.pose.to_sdf()),
+                        ..Default::default()
+                    });
+                    added = true;
+                } else if model.source
+                    == AssetSource::Search("OpenRobotics/TeleportDispenser".to_string())
+                {
+                    world.include.push(SdfWorldInclude {
+                        uri: "model://TeleportDispenser".to_string(),
+                        name: Some(model.name.0.clone()),
+                        pose: Some(model.pose.to_sdf()),
+                        ..Default::default()
+                    });
+                    added = true;
+                }
+                // Non static models are included separately and are not part of the static world
+                // TODO(luca) this will duplicate multiple instances of the model since it uses
+                // NameInSite instead of AssetSource for the URI, fix
+                else if !model.is_static.0 {
+                    world.model.push(SdfModel {
+                        name: model.name.0.clone(),
+                        r#static: Some(model.is_static.0),
+                        pose: Some(model.pose.to_sdf()),
+                        link: vec![SdfLink {
+                            name: "link".into(),
+                            collision: vec![SdfCollision {
+                                name: "collision".into(),
+                                geometry: SdfGeometry::Mesh(SdfMeshShape {
+                                    uri: format!("meshes/model_{}_collision.glb", model_id),
+                                    ..Default::default()
+                                }),
+                                ..Default::default()
+                            }],
+                            visual: vec![SdfVisual {
+                                name: "visual".into(),
+                                geometry: SdfGeometry::Mesh(SdfMeshShape {
+                                    uri: format!("meshes/model_{}_visual.glb", model_id),
+                                    ..Default::default()
+                                }),
+                                ..Default::default()
+                            }],
+                            ..Default::default()
+                        }],
+                        ..Default::default()
+                    });
+                    added = true;
+                }
+                if added {
+                    level_model_names.push(model.name.0.clone());
+                }
+            }
+            // Now add all the doors
+            for (door_id, door) in &level.doors {
+                let left_anchor = get_anchor(door.anchors.left())?;
+                let right_anchor = get_anchor(door.anchors.right())?;
+                let door_model = make_sdf_door(
+                    left_anchor,
+                    right_anchor,
+                    Vec3::new(0.0, 0.0, level.properties.elevation.0),
+                    true,
+                    &door.kind,
+                    format!("door_{door_id}").as_str(),
+                    door.name.0.as_str(),
+                )?;
+                level_model_names.push(door_model.name.clone());
+                world.model.push(door_model);
+            }
+            for model_name in level_model_names.into_iter() {
+                let model_element = XmlElement {
+                    name: "model".into(),
+                    attributes: [("name".into(), model_name.into())].into(),
+                    ..Default::default()
+                };
+                model_element_map.push(model_element);
+            }
+            floor_models_ele.data = ElementData::Nested(model_element_map);
+            toggle_floors_plugin.elements.push(floor_models_ele);
+        }
+        for (lift_id, lift) in &self.lifts {
+            let get_lift_anchor = |id: u32| -> Result<Anchor, SdfConversionError> {
+                lift.cabin_anchors
+                    .get(&id)
+                    .ok_or(SdfConversionError::BrokenAnchorReference(id))
+                    .cloned()
+            };
+            // Cabin
+            let LiftCabin::Rect(ref cabin) = lift.properties.cabin;
+            let pose = lift
+                .properties
+                .center(self)
+                .ok_or(SdfConversionError::LiftParsingError(
+                    lift.properties.name.0.clone(),
+                ))?;
+            let mut plugin = SdfPlugin {
+                name: "register_component".into(),
+                filename: "libregister_component.so".into(),
+                ..Default::default()
+            };
+            let mut component = XmlElement {
+                name: "component".into(),
+                ..Default::default()
+            };
+            component.attributes.insert("name".into(), "Lift".into());
+            let mut component_data = ElementMap::default();
+            let mut elements = vec![];
+            let lift_name = &lift.properties.name.0;
+            elements.push(("lift_name", lift_name.clone()));
+            let initial_floor = lift
+                .properties
+                .initial_level
+                .0
+                .and_then(|id| self.levels.get(&id))
+                .map(|level| level.properties.name.0.clone())
+                .ok_or(SdfConversionError::MissingInitialLevel(lift_name.clone()))?;
+            elements.push(("initial_floor", initial_floor));
+            elements.push(("v_max_cabin", "2.0".to_string()));
+            elements.push(("a_max_cabin", "1.2".to_string()));
+            elements.push(("a_nom_cabin", "1.0".to_string()));
+            elements.push(("dx_min_cabin", "0.001".to_string()));
+            elements.push(("f_max_cabin", "25323.0".to_string()));
+            elements.push(("cabin_joint_name", "cabin_joint".to_string()));
+            let mut levels: BTreeMap<u32, ElementMap> = BTreeMap::new();
+            let mut lift_models = Vec::new();
+            let mut lift_joints = vec![SdfJoint {
+                name: "cabin_joint".into(),
+                r#type: "prismatic".into(),
+                parent: "world".into(),
+                child: "platform".into(),
+                axis: Some(SdfJointAxis {
+                    xyz: Vector3d::new(0.0, 0.0, 1.0),
+                    limit: SdfJointAxisLimit {
+                        lower: -std::f64::INFINITY,
+                        upper: std::f64::INFINITY,
+                        ..Default::default()
+                    },
+                    ..Default::default()
+                }),
+                ..Default::default()
+            }];
+            for (face, door_placement) in cabin.doors().iter() {
+                let Some(door_placement) = door_placement else {
+                    continue;
+                };
+                // TODO(luca) use door struct for offset / shift
+                // TODO(luca) remove unwrap
+                let door = lift.cabin_doors.get(&door_placement.door).unwrap();
+                let cabin_door_name = format!("CabinDoor_{}_door_{}", lift_name, face.label());
+                let cabin_mesh_prefix = format!("lift_{}_{}", lift_id, face.label());
+                let left_anchor = get_lift_anchor(door.reference_anchors.left())?;
+                let right_anchor = get_lift_anchor(door.reference_anchors.right())?;
+                let x_offset = -face.u()
+                    * (door_placement.thickness() / 2.0
+                        + door_placement
+                            .custom_gap
+                            .unwrap_or_else(|| cabin.gap.unwrap_or(0.01)));
+                let mut cabin_door = make_sdf_door(
+                    left_anchor,
+                    right_anchor,
+                    x_offset,
+                    false,
+                    &door.kind,
+                    &cabin_mesh_prefix,
+                    &cabin_door_name,
+                )?;
+                for mut joint in cabin_door.joint.drain(..) {
+                    // Move the joint to the lift and change its parenthood accordingly
+                    joint.parent = "platform".into();
+                    joint.child = format!("{}::{}", cabin_door.name, joint.child);
+                    lift_joints.push(joint);
+                }
+                lift_models.push(cabin_door.into());
+                for visit in door.visits.0.iter() {
+                    let level = get_level(*visit)?;
+                    let shaft_door_name = format!(
+                        "ShaftDoor_{}_{}_door_{}",
+                        level.properties.name.0,
+                        lift_name,
+                        face.label()
+                    );
+                    let left_anchor = get_lift_anchor(door.reference_anchors.left())?;
+                    let right_anchor = get_lift_anchor(door.reference_anchors.right())?;
+                    let shaft_door = make_sdf_door(
+                        left_anchor,
+                        right_anchor,
+                        Vec3::from(pose.trans) + Vec3::new(0.0, 0.0, level.properties.elevation.0),
+                        false,
+                        &door.kind,
+                        &cabin_mesh_prefix,
+                        &shaft_door_name,
+                    )?;
+                    // Add the pose of the lift to have world coordinates
+                    world.model.push(shaft_door);
+                    // Add the shaft door to the level transparency plugin
+                    toggle_floors_plugin.elements.for_each_mut("floor", |elem| {
+                        if elem.attributes.get("name") == Some(&level.properties.name.0) {
+                            if let ElementData::Nested(ref mut map) = elem.data {
+                                map.push(XmlElement {
+                                    name: "model".into(),
+                                    attributes: [("name".into(), shaft_door_name.clone())].into(),
+                                    ..Default::default()
+                                });
+                            }
+                        }
+                    });
+                    let level = levels.entry(*visit).or_default();
+                    let element = XmlElement {
+                        name: "door_pair".into(),
+                        attributes: [
+                            ("cabin_door".to_string(), cabin_door_name.clone()),
+                            ("shaft_door".to_string(), shaft_door_name),
+                        ]
+                        .into(),
+                        ..Default::default()
+                    };
+                    level.push(element);
+                }
+            }
+            for (key, door_pairs) in levels.into_iter() {
+                let level = get_level(key)?;
+                component_data.push(XmlElement {
+                    name: "floor".into(),
+                    attributes: [
+                        ("name".to_string(), level.properties.name.0.clone()),
+                        (
+                            "elevation".to_string(),
+                            level.properties.elevation.0.to_string(),
+                        ),
+                    ]
+                    .into(),
+                    data: ElementData::Nested(door_pairs),
+                    ..Default::default()
+                });
+            }
+            for (name, value) in elements.into_iter() {
+                component_data.push(XmlElement {
+                    name: name.into(),
+                    data: ElementData::String(value),
+                    ..Default::default()
+                });
+            }
+            component.data = ElementData::Nested(component_data);
+            plugin.elements.push(component);
+            world.model.push(SdfModel {
+                name: lift.properties.name.0.clone(),
+                r#static: Some(lift.properties.is_static.0),
+                pose: Some(pose.to_sdf()),
+                link: vec![SdfLink {
+                    name: "platform".into(),
+                    collision: vec![SdfCollision {
+                        name: "collision".into(),
+                        geometry: SdfGeometry::Mesh(SdfMeshShape {
+                            uri: format!("meshes/lift_{}.glb", lift_id),
+                            ..Default::default()
+                        }),
+                        surface: Some(SdfSurface {
+                            contact: Some(SdfSurfaceContact {
+                                collide_bitmask: Some("0x04".into()),
+                                ..Default::default()
+                            }),
+                            ..Default::default()
+                        }),
+                        ..Default::default()
+                    }],
+                    visual: vec![SdfVisual {
+                        name: "visual".into(),
+                        geometry: SdfGeometry::Mesh(SdfMeshShape {
+                            uri: format!("meshes/lift_{}.glb", lift_id),
+                            ..Default::default()
+                        }),
+                        ..Default::default()
+                    }],
+                    inertial: Some(SdfInertial {
+                        mass: Some(DEFAULT_CABIN_MASS),
+                        inertia: Some(lift.properties.cabin.moment_of_inertia(DEFAULT_CABIN_MASS)),
+                        ..Default::default()
+                    }),
+                    ..Default::default()
+                }],
+                joint: lift_joints,
+                model: lift_models,
+                plugin: vec![plugin],
+                ..Default::default()
+            });
+            // TODO(luca) lifts in the legacy pipeline seem to also have a "ramp" joint to allow
+            // easier transition of robots into lifts.
+            // From tests simulation seems to also work without it, probably due to having changed
+            // from full joint with wheel torques to just kinematic simulation for whole robots.
+        }
+
+        // Spawn the robots now
+        // TODO(luca) use robot properties and export this like other meshes
+        // instead of including a tag
+        for location in self.navigation.guided.locations.values() {
+            let Some(robot) = location.tags.0.iter().find_map(|l| l.spawn_robot()) else {
+                continue;
+            };
+            // For now all robots are just Search type
+            let AssetSource::Search(ref robot_type) = robot.source else {
+                continue;
+            };
+            let Some(level) = self
+                .levels
+                .values()
+                .find(|l| l.anchors.get(&location.anchor.0).is_some())
+            else {
+                // TODO(luca) this would fail if the robot was on a site anchor
+                continue;
+            };
+            // Get the location
+            let anchor = get_anchor(location.anchor.0)?;
+            let tf = anchor.translation_for_category(Category::Level);
+            let pose = Pose {
+                trans: [tf[0], tf[1], level.properties.elevation.0],
+                ..Default::default()
+            };
+            world.include.push(SdfWorldInclude {
+                uri: "model://".to_string() + robot_type,
+                name: Some(robot.name.0.clone()),
+                pose: Some(pose.to_sdf()),
+                r#static: Some(robot.is_static.0),
+                ..Default::default()
+            });
+        }
+        world.name = self.properties.name.0.clone();
+        if let Some(gui) = world.gui.as_mut() {
+            gui.plugin.push(toggle_floors_plugin);
+            if let Some(minimal_scene) = gui
+                .plugin
+                .iter_mut()
+                .find(|plugin| plugin.filename == "MinimalScene")
+            {
+                if let Some(camera_pose) = minimal_scene.elements.get_mut("camera_pose") {
+                    if let Some(user_camera_pose) = self
+                        .levels
+                        .first_key_value()
+                        .and_then(|(_, level)| level.user_camera_poses.values().next())
+                    {
+                        // TODO(luca) use level elevation here? It also seems that quaternion
+                        // notation in Gazebo and Bevy is different, check
+                        let mut pose = user_camera_pose.pose.clone();
+                        pose.rot = Rotation::EulerExtrinsicXYZ([
+                            Angle::Rad(0.0),
+                            Angle::Rad(0.6),
+                            Angle::Rad(1.57),
+                        ]);
+                        pose.trans[0] = pose.trans[0] + 10.0;
+                        camera_pose.data = ElementData::String(pose.to_sdf().data);
+                    }
+                }
+            }
+        }
+        // TODO(luca) these fields are set as required in the specification but seem not to be in
+        // practice (rightly so because not everyone wants to manually specify gravity, earth
+        // magnetic field and atmosphere model)
+        world.atmosphere = SdfAtmosphere {
+            r#type: "adiabatic".to_string(),
+            ..Default::default()
+        };
+        world.gravity = Vector3d::new(0.0, 0.0, -9.80);
+        world.magnetic_field = Vector3d::new(5.64e-6, 2.29e-5, -4.24e-5);
+        Ok(root)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::legacy::building_map::BuildingMap;
+
+    #[test]
+    fn serialize_sdf() {
+        let data = std::fs::read("../assets/demo_maps/office.building.yaml").unwrap();
+        let map = BuildingMap::from_bytes(&data).unwrap();
+        let site = map.to_site().unwrap();
+        // Convert to an sdf
+        let sdf = site.to_sdf().unwrap();
+        let config = yaserde::ser::Config {
+            perform_indent: true,
+            write_document_declaration: true,
+            ..Default::default()
+        };
+        let s = yaserde::ser::to_string_with_config(&sdf, &config).unwrap();
+        std::fs::write("test.sdf", s);
+    }
+}
diff --git a/rmf_site_format/src/site.rs b/rmf_site_format/src/site.rs
index a9fed5d3..5fdb36eb 100644
--- a/rmf_site_format/src/site.rs
+++ b/rmf_site_format/src/site.rs
@@ -154,33 +154,45 @@ fn default_style_config() -> Style {
 }
 
 impl Site {
-    pub fn to_writer<W: io::Write>(&self, writer: W) -> ron::Result<()> {
+    pub fn to_writer_ron<W: io::Write>(&self, writer: W) -> ron::Result<()> {
         ron::ser::to_writer_pretty(writer, self, default_style_config())
     }
 
-    pub fn to_writer_custom<W: io::Write>(&self, writer: W, style: Style) -> ron::Result<()> {
+    pub fn to_writer_custom_ron<W: io::Write>(&self, writer: W, style: Style) -> ron::Result<()> {
         ron::ser::to_writer_pretty(writer, self, style)
     }
 
-    pub fn to_string(&self) -> ron::Result<String> {
+    pub fn to_string_ron(&self) -> ron::Result<String> {
         ron::ser::to_string_pretty(self, default_style_config())
     }
 
-    pub fn to_string_custom(&self, style: Style) -> ron::Result<String> {
+    pub fn to_string_custom_ron(&self, style: Style) -> ron::Result<String> {
         ron::ser::to_string_pretty(self, style)
     }
 
-    pub fn from_reader<R: io::Read>(reader: R) -> ron::error::SpannedResult<Self> {
+    pub fn to_writer_json<W: io::Write>(&self, writer: W) -> serde_json::Result<()> {
+        serde_json::to_writer_pretty(writer, self)
+    }
+
+    pub fn from_bytes_json(s: &[u8]) -> serde_json::Result<Self> {
+        serde_json::from_slice(s)
+    }
+
+    pub fn from_reader_ron<R: io::Read>(reader: R) -> ron::error::SpannedResult<Self> {
         // TODO(MXG): Validate the parsed data, e.g. make sure anchor pairs
         // belong to the same level.
         ron::de::from_reader(reader)
     }
 
-    pub fn from_str<'a>(s: &'a str) -> ron::error::SpannedResult<Self> {
+    pub fn from_str_ron<'a>(s: &'a str) -> ron::error::SpannedResult<Self> {
         ron::de::from_str(s)
     }
 
-    pub fn from_bytes<'a>(s: &'a [u8]) -> ron::error::SpannedResult<Self> {
+    pub fn to_bytes_json(&self) -> serde_json::Result<Vec<u8>> {
+        serde_json::to_vec_pretty(self)
+    }
+
+    pub fn from_bytes_ron<'a>(s: &'a [u8]) -> ron::error::SpannedResult<Self> {
         ron::de::from_bytes(s)
     }
 
@@ -222,10 +234,18 @@ mod tests {
     use crate::legacy::building_map::BuildingMap;
 
     #[test]
-    fn serde_roundtrip() {
+    fn ron_roundtrip() {
+        let data = std::fs::read("../assets/demo_maps/office.building.yaml").unwrap();
+        let map = BuildingMap::from_bytes(&data).unwrap();
+        let site_string = map.to_site().unwrap().to_string_ron().unwrap();
+        Site::from_str_ron(&site_string).unwrap();
+    }
+
+    #[test]
+    fn json_roundtrip() {
         let data = std::fs::read("../assets/demo_maps/office.building.yaml").unwrap();
         let map = BuildingMap::from_bytes(&data).unwrap();
-        let site_string = map.to_site().unwrap().to_string().unwrap();
-        Site::from_str(&site_string).unwrap();
+        let site_string = map.to_site().unwrap().to_bytes_json().unwrap();
+        Site::from_bytes_json(&site_string).unwrap();
     }
 }
diff --git a/rmf_site_format/src/templates/gz_world.sdf b/rmf_site_format/src/templates/gz_world.sdf
new file mode 100644
index 00000000..32562659
--- /dev/null
+++ b/rmf_site_format/src/templates/gz_world.sdf
@@ -0,0 +1,298 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="sim_world" xmlns:rmf="rmf">
+    <physics name="10ms" type="ode">
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="libgz-sim-physics-system.so"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="libgz-sim-user-commands-system.so"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="libgz-sim-scene-broadcaster-system.so"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="libdoor.so"
+      name="door">
+    </plugin>
+    <plugin
+      filename="liblift.so"
+      name="lift">
+    </plugin>
+
+    <scene>
+      <ambient>1 1 1</ambient>
+      <background>0.8 0.8 0.8</background>
+      <grid>false</grid>
+    </scene>
+
+    <gui fullscreen="0">
+
+      <window>
+        <width>1000</width>
+        <height>845</height>
+        <style
+          material_theme="Light"
+          material_primary="DeepOrange"
+          material_accent="LightBlue"
+          toolbar_color_light="#f3f3f3"
+          toolbar_text_color_light="#111111"
+          toolbar_color_dark="#414141"
+          toolbar_text_color_dark="#f3f3f3"
+          plugin_toolbar_color_light="#bbdefb"
+          plugin_toolbar_text_color_light="#111111"
+          plugin_toolbar_color_dark="#607d8b"
+          plugin_toolbar_text_color_dark="#eeeeee"
+        />
+        <menus>
+          <drawer default="false">
+          </drawer>
+        </menus>
+      </window>
+
+      <!-- GUI plugins -->
+      <plugin filename="MinimalScene" name="3D View">
+          <gz-gui>
+              <title>3D View</title>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
+          <engine>ogre2</engine>
+          <scene>scene</scene>
+          <ambient_light>0.4 0.4 0.4</ambient_light>
+          <background_color>0.8 0.8 0.8</background_color>
+          <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+      </plugin>
+
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+          <gz-gui>
+              <property key="state" type="string">floating</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="GzSceneManager" name="Scene Manager">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="CameraTracking" name="Camera Tracking">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="MarkerManager" name="Marker manager">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="SelectEntities" name="Select Entities">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="Spawn" name="Spawn Entities">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="width" type="double">5</property>
+              <property key="height" type="double">5</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+          <gz-gui>
+              <title>World control</title>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="bool" key="resizable">false</property>
+              <property type="double" key="height">72</property>
+              <property type="double" key="z">1</property>
+              <property type="string" key="state">floating</property>
+              <anchors target="3D View">
+                  <line own="left" target="left"/>
+                  <line own="bottom" target="bottom"/>
+              </anchors>
+          </gz-gui>
+          <play_pause>true</play_pause>
+          <step>true</step>
+          <start_paused>true</start_paused>
+          <use_event>true</use_event>
+      </plugin>
+
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+          <gz-gui>
+              <title>World stats</title>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="bool" key="resizable">false</property>
+              <property type="double" key="height">110</property>
+              <property type="double" key="width">290</property>
+              <property type="double" key="z">1</property>
+              <property type="string" key="state">floating</property>
+              <anchors target="3D View">
+                  <line own="right" target="right"/>
+                  <line own="bottom" target="bottom"/>
+              </anchors>
+          </gz-gui>
+          <sim_time>true</sim_time>
+          <real_time>true</real_time>
+          <real_time_factor>true</real_time_factor>
+          <iterations>true</iterations>
+      </plugin>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Insert lights -->
+      <plugin filename="Lights" name="Lights">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">150</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Translate / rotate -->
+      <plugin filename="TransformControl" name="Transform control">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Screenshot -->
+      <plugin filename="Screenshot" name="Screenshot">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">50</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Copy/Paste -->
+      <plugin filename="CopyPaste" name="CopyPaste">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">300</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">100</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Inspector -->
+      <plugin filename="ComponentInspector" name="Component inspector">
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Entity tree -->
+      <plugin filename="EntityTree" name="Entity tree">
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
+      </plugin>
+
+      <plugin filename="toggle_charging" name="toggle_charging"/>
+    </gui>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.09</constant>
+        <linear>0.001</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+  </world>
+</sdf>
diff --git a/rmf_site_format/src/workcell.rs b/rmf_site_format/src/workcell.rs
index 842dc5e1..af4d2e4b 100644
--- a/rmf_site_format/src/workcell.rs
+++ b/rmf_site_format/src/workcell.rs
@@ -15,7 +15,11 @@
  *
 */
 
-use std::collections::{BTreeMap, HashMap, HashSet};
+use std::collections::{BTreeMap, HashMap};
+
+#[cfg(feature = "bevy")]
+use std::collections::HashSet;
+
 use std::io;
 
 use crate::misc::Rotation;