diff --git a/Cargo.lock b/Cargo.lock
index d61a1d96..30b19d57 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "ab_glyph"
-version = "0.2.22"
+version = "0.2.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1061f3ff92c2f65800df1f12fc7b4ff44ee14783104187dd04dfee6f11b0fd2"
+checksum = "80179d7dd5d7e8c285d67c4a1e652972a92de7475beddfb92028c76463b13225"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -142,21 +142,22 @@ dependencies = [
 
 [[package]]
 name = "ahash"
-version = "0.8.3"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f"
+checksum = "91429305e9f0a25f6205c5b8e0d2db09e0708a7a6df0f42212bb56c32c8ac97a"
 dependencies = [
  "cfg-if",
- "getrandom 0.2.10",
+ "getrandom 0.2.11",
  "once_cell",
  "version_check",
+ "zerocopy",
 ]
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea5d730647d4fadd988536d06fecce94b7b4f2a7efdae548f1cf4b63205518ab"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
 dependencies = [
  "memchr",
 ]
@@ -213,6 +214,12 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fc7eb209b1518d6bb87b283c20095f5228ecda460da70b44f0802523dea6da04"
 
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
 [[package]]
 name = "android_log-sys"
 version = "0.3.1"
@@ -332,21 +339,34 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
 dependencies = [
  "concurrent-queue",
- "event-listener",
+ "event-listener 2.5.3",
+ "futures-core",
+]
+
+[[package]]
+name = "async-channel"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d37875bd9915b7d67c2f117ea2c30a0989874d0b2cb694fe25403c85763c0c9e"
+dependencies = [
+ "concurrent-queue",
+ "event-listener 3.1.0",
+ "event-listener-strategy",
  "futures-core",
+ "pin-project-lite",
 ]
 
 [[package]]
 name = "async-executor"
-version = "1.5.1"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fa3dc5f2a8564f07759c008b9109dc0d39de92a88d5588b8a5036d286383afb"
+checksum = "4b0c4a4f319e45986f347ee47fef8bf5e81c9abc3f6f58dc2391439f30df65f0"
 dependencies = [
- "async-lock",
+ "async-lock 2.8.0",
  "async-task",
  "concurrent-queue",
- "fastrand 1.9.0",
- "futures-lite",
+ "fastrand 2.0.1",
+ "futures-lite 1.13.0",
  "slab",
 ]
 
@@ -356,12 +376,12 @@ version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f1b6f5d7df27bd294849f8eec66ecfc63d11814df7a4f5d74168a2394467b776"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-executor",
  "async-io",
- "async-lock",
+ "async-lock 2.8.0",
  "blocking",
- "futures-lite",
+ "futures-lite 1.13.0",
  "once_cell",
 ]
 
@@ -371,11 +391,11 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fc5b45d93ef0529756f812ca52e44c221b35341892d3dcc34132ac02f3dd2af"
 dependencies = [
- "async-lock",
+ "async-lock 2.8.0",
  "autocfg",
  "cfg-if",
  "concurrent-queue",
- "futures-lite",
+ "futures-lite 1.13.0",
  "log",
  "parking",
  "polling",
@@ -391,7 +411,18 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "287272293e9d8c41773cec55e365490fe034813a2f172f502d6ddcf75b2f582b"
 dependencies = [
- "event-listener",
+ "event-listener 2.5.3",
+]
+
+[[package]]
+name = "async-lock"
+version = "3.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "deb2ab2aa8a746e221ab826c73f48bc6ba41be6763f0855cb249eb6d154cf1d7"
+dependencies = [
+ "event-listener 3.1.0",
+ "event-listener-strategy",
+ "pin-project-lite",
 ]
 
 [[package]]
@@ -400,15 +431,15 @@ version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "62565bb4402e926b29953c785397c6dc0391b7b446e45008b0049eb43cec6f5d"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-global-executor",
  "async-io",
- "async-lock",
+ "async-lock 2.8.0",
  "crossbeam-utils",
  "futures-channel",
  "futures-core",
  "futures-io",
- "futures-lite",
+ "futures-lite 1.13.0",
  "gloo-timers",
  "kv-log-macro",
  "log",
@@ -422,19 +453,19 @@ dependencies = [
 
 [[package]]
 name = "async-task"
-version = "4.4.1"
+version = "4.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9441c6b2fe128a7c2bf680a44c34d0df31ce09e5b7e401fcca3faa483dbc921"
+checksum = "b4eb2cdb97421e01129ccb49169d8279ed21e829929144f4a22a6e54ac549ca1"
 
 [[package]]
 name = "async-trait"
-version = "0.1.73"
+version = "0.1.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
+checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -457,9 +488,9 @@ checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
 [[package]]
 name = "atomic_refcell"
-version = "0.1.12"
+version = "0.1.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76f2bfe491d41d45507b8431da8274f7feeca64a49e86d980eed2937ec2ff020"
+checksum = "41e67cd8309bbd06cd603a9e693a784ac2e5d1e955f11286e355089fcab3047c"
 
 [[package]]
 name = "autocfg"
@@ -496,9 +527,9 @@ checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
 [[package]]
 name = "base64"
-version = "0.21.4"
+version = "0.21.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ba43ea6f343b788c8764558649e08df62f86c6ef251fdaeb1ffd010a9ae50a2"
+checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
 
 [[package]]
 name = "bevy"
@@ -564,7 +595,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9714af523da4cdf58c42a317e5ed40349708ad954a18533991fd64c8ae0a6f68"
 dependencies = [
  "anyhow",
- "async-channel",
+ "async-channel 1.9.0",
  "bevy_app",
  "bevy_diagnostic",
  "bevy_ecs",
@@ -637,7 +668,7 @@ dependencies = [
  "bevy_render",
  "bevy_transform",
  "bevy_utils",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "radsort",
  "serde",
 ]
@@ -650,7 +681,7 @@ checksum = "a44e4e2784a81430199e4157e02903a987a32127c773985506f020e7d501b62e"
 dependencies = [
  "bevy_macro_utils",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -683,14 +714,14 @@ version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "266144b36df7e834d5198049e037ecdf2a2310a76ce39ed937d1b0a6a2c4e8c6"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "bevy_ecs_macros",
  "bevy_ptr",
  "bevy_reflect",
  "bevy_tasks",
  "bevy_utils",
  "downcast-rs",
- "event-listener",
+ "event-listener 2.5.3",
  "fixedbitset",
  "rustc-hash",
  "serde",
@@ -707,7 +738,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -888,7 +919,7 @@ dependencies = [
  "bevy_ecs",
  "bevy_utils",
  "console_error_panic_hook",
- "tracing-log",
+ "tracing-log 0.1.4",
  "tracing-subscriber",
  "tracing-wasm",
 ]
@@ -901,7 +932,7 @@ checksum = "23ddc18d489b4e57832d4958cde7cd2f349f0ad91e5892ac9e2f2ee16546b981"
 dependencies = [
  "quote",
  "rustc-hash",
- "syn 2.0.37",
+ "syn 2.0.39",
  "toml_edit 0.19.15",
 ]
 
@@ -926,9 +957,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_mod_outline"
-version = "0.5.0"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "479f08715afd391e7012c7d8c28f771fd1acdbf8a2bccea0ebacec0f81648cfe"
+checksum = "6bc7f9d694a9b767def28e2a649bdc9b290bb9cd3c8f6d8ae90c3ad2234e3580"
 dependencies = [
  "bevy",
  "bitfield",
@@ -939,9 +970,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_mod_raycast"
-version = "0.13.1"
+version = "0.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9789907394dc92193e7a0123041de3bc302fd12ffc187c4fc2f365060aee941"
+checksum = "b833e94bd71d2ef27445f3e146b07da4a7922fdb7b464f0f1221521f85a5725a"
 dependencies = [
  "bevy",
  "crossbeam-channel",
@@ -982,7 +1013,7 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "bytemuck",
  "naga_oil",
  "radsort",
@@ -995,7 +1026,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b82c222b756d1d41ca808595934fc02edc5b05604151930bc7d00bb4fd8d1bd"
 dependencies = [
  "bevy",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "naga",
 ]
 
@@ -1005,19 +1036,6 @@ version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72c7586401a46f7d8e436028225c1df5288f2e0082d066b247a82466fea155c6"
 
-[[package]]
-name = "bevy_rapier3d"
-version = "0.22.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12402872b857ba490f1040ab6212915bd9bf25f8584b31f2c43cef41b33f3be4"
-dependencies = [
- "bevy",
- "bitflags 1.3.2",
- "log",
- "nalgebra 0.32.3",
- "rapier3d",
-]
-
 [[package]]
 name = "bevy_reflect"
 version = "0.11.3"
@@ -1049,7 +1067,7 @@ dependencies = [
  "bit-set",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
  "uuid",
 ]
 
@@ -1060,7 +1078,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "39df4824b760928c27afc7b00fb649c7a63c9d76661ab014ff5c86537ee906cb"
 dependencies = [
  "anyhow",
- "async-channel",
+ "async-channel 1.9.0",
  "bevy_app",
  "bevy_asset",
  "bevy_core",
@@ -1078,12 +1096,12 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "bytemuck",
  "codespan-reporting",
  "downcast-rs",
  "encase",
- "futures-lite",
+ "futures-lite 1.13.0",
  "hexasphere",
  "image",
  "js-sys",
@@ -1112,7 +1130,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1154,7 +1172,7 @@ dependencies = [
  "bevy_render",
  "bevy_transform",
  "bevy_utils",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "bytemuck",
  "fixedbitset",
  "guillotiere",
@@ -1180,11 +1198,11 @@ version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c73bbb847c83990d3927005090df52f8ac49332e1643d2ad9aac3cd2974e66bf"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-executor",
  "async-task",
  "concurrent-queue",
- "futures-lite",
+ "futures-lite 1.13.0",
  "wasm-bindgen-futures",
 ]
 
@@ -1276,8 +1294,8 @@ checksum = "08d9484e32434ea84dc548cff246ce0c6f756c1336f5ea03f24ac120a48595c7"
 dependencies = [
  "ahash",
  "bevy_utils_proc_macros",
- "getrandom 0.2.10",
- "hashbrown 0.14.1",
+ "getrandom 0.2.11",
+ "hashbrown 0.14.2",
  "instant",
  "petgraph",
  "thiserror",
@@ -1293,7 +1311,7 @@ checksum = "5391b242c36f556db01d5891444730c83aa9dd648b6a8fd2b755d22cb3bddb57"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1342,7 +1360,7 @@ version = "0.68.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "726e4313eb6ec35d2730258ad4e15b547ee75d6afaa1361a922e78e59b7d8078"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "cexpr",
  "clang-sys",
  "lazy_static",
@@ -1353,7 +1371,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1385,9 +1403,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.4.0"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4682ae6287fcf752ecaabbfcc7b6f9b72aa33933dc23a554d853aea8eea8635"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
 dependencies = [
  "serde",
 ]
@@ -1407,6 +1425,15 @@ dependencies = [
  "generic-array",
 ]
 
+[[package]]
+name = "block-buffer"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
+
 [[package]]
 name = "block-sys"
 version = "0.1.0-beta.1"
@@ -1428,20 +1455,30 @@ dependencies = [
 
 [[package]]
 name = "blocking"
-version = "1.4.0"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94c4ef1f913d78636d78d538eec1f18de81e481f44b1be0a81060090530846e1"
+checksum = "6a37913e8dc4ddcc604f0c6d3bf2887c995153af3611de9e23c352b44c1b9118"
 dependencies = [
- "async-channel",
- "async-lock",
+ "async-channel 2.1.0",
+ "async-lock 3.1.0",
  "async-task",
  "fastrand 2.0.1",
  "futures-io",
- "futures-lite",
+ "futures-lite 2.0.1",
  "piper",
  "tracing",
 ]
 
+[[package]]
+name = "bstr"
+version = "1.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "542f33a8835a0884b006a0c3df3dadd99c0c3f296ed26c2fdc8028e01ad6230c"
+dependencies = [
+ "memchr",
+ "serde",
+]
+
 [[package]]
 name = "bumpalo"
 version = "3.14.0"
@@ -1465,14 +1502,14 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
@@ -1498,11 +1535,10 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.83"
+version = "1.0.84"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
+checksum = "0f8e7c90afad890484a21653d08b6e209ae34770fb5ee298f9c699fcc1e5c856"
 dependencies = [
- "jobserver",
  "libc",
 ]
 
@@ -1543,6 +1579,40 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
+[[package]]
+name = "chrono"
+version = "0.4.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f2c685bad3eb3d45a01354cedb7d5faa66194d1d58ba6e267a8de788f79db38"
+dependencies = [
+ "android-tzdata",
+ "iana-time-zone",
+ "num-traits",
+ "windows-targets 0.48.5",
+]
+
+[[package]]
+name = "chrono-tz"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e23185c0e21df6ed832a12e2bda87c7d1def6842881fb634a8511ced741b0d76"
+dependencies = [
+ "chrono",
+ "chrono-tz-build",
+ "phf",
+]
+
+[[package]]
+name = "chrono-tz-build"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "433e39f13c9a060046954e0592a8d0a4bcb1040125cbf91cb8ee58964cfb350f"
+dependencies = [
+ "parse-zoneinfo",
+ "phf",
+ "phf_codegen",
+]
+
 [[package]]
 name = "cipher"
 version = "0.2.5"
@@ -1565,9 +1635,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.4.6"
+version = "4.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d04704f56c2cde07f43e8e2c154b43f216dc5c92fc98ada720177362f953b956"
+checksum = "2275f18819641850fa26c89acc84d465c1bf91ce57bc2748b28c420473352f64"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -1575,9 +1645,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.6"
+version = "4.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e231faeaca65ebd1ea3c737966bf858971cd38c3849107aa3ea7de90a804e45"
+checksum = "07cdf1b148b25c1e1f7a42225e30a0d99a615cd4637eae7365548dd4529b95bc"
 dependencies = [
  "anstream",
  "anstyle",
@@ -1587,21 +1657,21 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.4.2"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "clipboard-win"
@@ -1719,7 +1789,7 @@ dependencies = [
  "hmac",
  "percent-encoding",
  "rand 0.8.5",
- "sha2",
+ "sha2 0.9.9",
  "time",
  "version_check",
 ]
@@ -1730,16 +1800,10 @@ version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "194a7a9e6de53fa55116934067c844d9d749312f75c6f6d0980e8c252f8c2146"
 dependencies = [
- "core-foundation-sys 0.8.4",
+ "core-foundation-sys",
  "libc",
 ]
 
-[[package]]
-name = "core-foundation-sys"
-version = "0.6.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7ca8a5221364ef15ce201e8ed2f609fc312682a8f4e0e3d4aa5879764e0fa3b"
-
 [[package]]
 name = "core-foundation-sys"
 version = "0.8.4"
@@ -1772,12 +1836,12 @@ dependencies = [
 
 [[package]]
 name = "coreaudio-rs"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb17e2d1795b1996419648915df94bc7103c28f7b48062d7acf4652fc371b2ff"
+checksum = "321077172d79c662f64f5071a03120748d5bb652f5231570141be24cfcd2bace"
 dependencies = [
  "bitflags 1.3.2",
- "core-foundation-sys 0.6.2",
+ "core-foundation-sys",
  "coreaudio-sys",
 ]
 
@@ -1797,7 +1861,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6d959d90e938c5493000514b446987c07aed46c668faaa7d34d6c7a67b1a578c"
 dependencies = [
  "alsa",
- "core-foundation-sys 0.8.4",
+ "core-foundation-sys",
  "coreaudio-rs",
  "dasp_sample",
  "jni 0.19.0",
@@ -1817,9 +1881,9 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.9"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a17b76ff3a4162b0b27f354a0c87015ddad39d35f9c0c36607a3bdd175dde1f1"
+checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
 dependencies = [
  "libc",
 ]
@@ -1839,20 +1903,6 @@ dependencies = [
  "cfg-if",
 ]
 
-[[package]]
-name = "crossbeam"
-version = "0.8.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
-dependencies = [
- "cfg-if",
- "crossbeam-channel",
- "crossbeam-deque",
- "crossbeam-epoch",
- "crossbeam-queue",
- "crossbeam-utils",
-]
-
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.8"
@@ -1864,46 +1914,22 @@ dependencies = [
 ]
 
 [[package]]
-name = "crossbeam-deque"
-version = "0.8.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
-dependencies = [
- "cfg-if",
- "crossbeam-epoch",
- "crossbeam-utils",
-]
-
-[[package]]
-name = "crossbeam-epoch"
-version = "0.9.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
-dependencies = [
- "autocfg",
- "cfg-if",
- "crossbeam-utils",
- "memoffset 0.9.0",
- "scopeguard",
-]
-
-[[package]]
-name = "crossbeam-queue"
-version = "0.3.8"
+name = "crossbeam-utils"
+version = "0.8.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
+checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
 dependencies = [
  "cfg-if",
- "crossbeam-utils",
 ]
 
 [[package]]
-name = "crossbeam-utils"
-version = "0.8.16"
+name = "crypto-common"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
+checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
 dependencies = [
- "cfg-if",
+ "generic-array",
+ "typenum",
 ]
 
 [[package]]
@@ -1942,9 +1968,9 @@ dependencies = [
 
 [[package]]
 name = "curl-sys"
-version = "0.4.66+curl-8.3.0"
+version = "0.4.68+curl-8.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70c44a72e830f0e40ad90dda8a6ab6ed6314d39776599a58a2e5e37fbc6db5b9"
+checksum = "b4a0d18d88360e374b16b2273c832b5e57258ffc1d4aa4f96b108e0738d5752f"
 dependencies = [
  "cc",
  "libc",
@@ -1979,6 +2005,12 @@ version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2e66c9d817f1720209181c316d28635c050fa304f9c79e47a520882661b7308"
 
+[[package]]
+name = "deunicode"
+version = "1.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a1abaf4d861455be59f64fd2b55606cb151fce304ede7165f410243ce96bde6"
+
 [[package]]
 name = "digest"
 version = "0.9.0"
@@ -1989,12 +2021,13 @@ dependencies = [
 ]
 
 [[package]]
-name = "dirs"
-version = "4.0.0"
+name = "digest"
+version = "0.10.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca3aa72a6f96ea37bbc5aa912f6788242832f75369bdfdadcb0e38423f100059"
+checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
 dependencies = [
- "dirs-sys 0.3.7",
+ "block-buffer 0.10.4",
+ "crypto-common",
 ]
 
 [[package]]
@@ -2003,18 +2036,7 @@ version = "5.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "44c45a9d03d6676652bcb5e724c7e988de1acad23a711b5217ab9cbecbec2225"
 dependencies = [
- "dirs-sys 0.4.1",
-]
-
-[[package]]
-name = "dirs-sys"
-version = "0.3.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b1d1d91c932ef41c0f2663aa8b0ca0342d444d842c06914aa0a7e352d0bada6"
-dependencies = [
- "libc",
- "redox_users",
- "winapi",
+ "dirs-sys",
 ]
 
 [[package]]
@@ -2111,7 +2133,7 @@ checksum = "3fe2568f851fd6144a45fa91cfed8fe5ca8fc0b56ba6797bfc1ed2771b90e37c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -2156,25 +2178,14 @@ dependencies = [
 
 [[package]]
 name = "errno"
-version = "0.3.4"
+version = "0.3.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "add4f07d43996f76ef320709726a556a9d4f965d9410d8d0271132d2f8293480"
+checksum = "7c18ee0ed65a5f1f81cac6b1d213b69c35fa47d4252ad41f1486dbd8226fe36e"
 dependencies = [
- "errno-dragonfly",
  "libc",
  "windows-sys 0.48.0",
 ]
 
-[[package]]
-name = "errno-dragonfly"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa68f1b12764fab894d2755d2518754e71b4fd80ecfb822714a1206c2aab39bf"
-dependencies = [
- "cc",
- "libc",
-]
-
 [[package]]
 name = "error-code"
 version = "2.3.1"
@@ -2200,6 +2211,27 @@ version = "2.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
+[[package]]
+name = "event-listener"
+version = "3.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d93877bcde0eb80ca09131a08d23f0a5c18a620b01db137dba666d18cd9b30c2"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "event-listener-strategy"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d96b852f1345da36d551b9473fa1e2b1eb5c5195585c6c018118bc92a8d91160"
+dependencies = [
+ "event-listener 3.1.0",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "fastrand"
 version = "1.9.0"
@@ -2217,9 +2249,9 @@ checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5"
 
 [[package]]
 name = "fdeflate"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d329bdeac514ee06249dabc27877490f17f5d371ec693360768b838e19f3ae10"
+checksum = "64d6dafc854908ff5da46ff3f8f473c6984119a2876a383a860246dd7841a868"
 dependencies = [
  "simd-adler32",
 ]
@@ -2244,9 +2276,9 @@ checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
 
 [[package]]
 name = "flate2"
-version = "1.0.27"
+version = "1.0.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6c98ee8095e9d1dcbf2fcc6d95acccb90d1c81db1e44725c6a984b1dbdfb010"
+checksum = "46303f565772937ffe1d394a4fac6f411c6013172fadde9dcdb1e147a086940e"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -2261,14 +2293,17 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "float_eq"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "28a80e3145d8ad11ba0995949bbcf48b9df2be62772b3d351ef017dff6ecb853"
+
 [[package]]
 name = "float_next_after"
-version = "0.1.5"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fc612c5837986b7104a87a0df74a5460931f1c5274be12f8d0f40aa2f30d632"
-dependencies = [
- "num-traits",
-]
+checksum = "8bf7cc16383c4b8d58b9905a8509f02926ce3058053c056376248d958c9df1e8"
 
 [[package]]
 name = "flume"
@@ -2322,9 +2357,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
+checksum = "da0290714b38af9b4a7b094b8a37086d1b4e61f2df9122c3cad2577669145335"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -2337,9 +2372,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
+checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -2347,15 +2382,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccecee823288125bd88b4d7f565c9e58e41858e47ab72e8ea2d64e93624386e0"
+checksum = "0f4fb8693db0cf099eadcca0efe2a5a22e4550f98ed16aba6c48700da29597bc"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -2364,9 +2399,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
+checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
 
 [[package]]
 name = "futures-lite"
@@ -2383,34 +2418,48 @@ dependencies = [
  "waker-fn",
 ]
 
+[[package]]
+name = "futures-lite"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d3831c2651acb5177cbd83943f3d9c8912c5ad03c76afcc0e9511ba568ec5ebb"
+dependencies = [
+ "fastrand 2.0.1",
+ "futures-core",
+ "futures-io",
+ "memchr",
+ "parking",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "futures-macro"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
+checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
+checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -2487,9 +2536,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.10"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be4136b2a15dd319360be1c07d9933517ccf0be8f16bf62a3bee4f0d618df427"
+checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2510,9 +2559,9 @@ dependencies = [
 
 [[package]]
 name = "gilrs"
-version = "0.10.2"
+version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62fd19844d0eb919aca41d3e4ea0e0b6bf60e1e827558b101c269015b8f5f27a"
+checksum = "9e9eec02069fcbd7abe00a28adf216547774889129a777cb5e53fdfb75d59f09"
 dependencies = [
  "fnv",
  "gilrs-core",
@@ -2523,17 +2572,18 @@ dependencies = [
 
 [[package]]
 name = "gilrs-core"
-version = "0.5.7"
+version = "0.5.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ccc99e9b8d63ffcaa334c4babfa31f46e156618a11f63efb6e8e6bcb37b830d"
+checksum = "178769da179a47b187837d1ab2b5b9b684a21180166a77a4ca37e7e58ee3833d"
 dependencies = [
  "core-foundation",
+ "inotify 0.10.2",
  "io-kit-sys",
  "js-sys",
  "libc",
  "libudev-sys",
  "log",
- "nix 0.26.4",
+ "nix 0.27.1",
  "uuid",
  "vec_map",
  "wasm-bindgen",
@@ -2586,6 +2636,30 @@ version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
 
+[[package]]
+name = "globset"
+version = "0.4.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "759c97c1e17c55525b57192c06a267cda0ac5210b222d6b82189a2338fa1c13d"
+dependencies = [
+ "aho-corasick",
+ "bstr",
+ "fnv",
+ "log",
+ "regex",
+]
+
+[[package]]
+name = "globwalk"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "93e3af942408868f6934a7b85134a3230832b9977cf66125df2f9edcfce4ddcc"
+dependencies = [
+ "bitflags 1.3.2",
+ "ignore",
+ "walkdir",
+]
+
 [[package]]
 name = "gloo-timers"
 version = "0.2.6"
@@ -2630,7 +2704,7 @@ dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -2705,9 +2779,9 @@ version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc11df1ace8e7e564511f53af41f3e42ddc95b56fd07b3f4445d2a6048bc682c"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "gpu-descriptor-types",
- "hashbrown 0.14.1",
+ "hashbrown 0.14.2",
 ]
 
 [[package]]
@@ -2716,7 +2790,7 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6bf0b36e6f090b7e1d8a4b49c0cb81c1f8376f72198c65dd3ad9ff3556b8b78c"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
 ]
 
 [[package]]
@@ -2758,8 +2832,8 @@ name = "gz-fuel"
 version = "0.1.0"
 source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=first_implementation#44c2e1e074df4499d3c40eedaa386d9d612a9314"
 dependencies = [
- "dirs 5.0.1",
- "futures-lite",
+ "dirs",
+ "futures-lite 2.0.1",
  "itertools",
  "serde",
  "serde_json",
@@ -2774,9 +2848,9 @@ checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.1"
+version = "0.14.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7dfda62a12f55daeae5015f81b0baea145391cb4520f86c248fc615d72640d12"
+checksum = "f93e7192158dbcda357bdec5fb5788eebf8bbac027f3f33e719d29135ae84156"
 dependencies = [
  "ahash",
  "allocator-api2",
@@ -2841,7 +2915,7 @@ version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "51ab2f639c231793c5f6114bdb9bbe50a7dbbfcd7c7c6bd8475dec2d991e964f"
 dependencies = [
- "digest",
+ "digest 0.9.0",
  "hmac",
 ]
 
@@ -2852,7 +2926,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c1441c6b1e930e2817404b5046f1f989899143a12bf92de603b69f4e0aee1e15"
 dependencies = [
  "crypto-mac",
- "digest",
+ "digest 0.9.0",
 ]
 
 [[package]]
@@ -2866,9 +2940,9 @@ dependencies = [
 
 [[package]]
 name = "http"
-version = "0.2.9"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd6effc99afb63425aff9b05836f029929e345a6148a14b7ecd5ab67af944482"
+checksum = "8947b1a6fad4393052c7ba1f4cd97bed3e953a95c79c92ad9b051a04611d9fbb"
 dependencies = [
  "bytes 1.5.0",
  "fnv",
@@ -2901,11 +2975,11 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6e9b187a72d63adbfba487f48095306ac823049cb504ee195541e91c7775f5ad"
 dependencies = [
  "anyhow",
- "async-channel",
+ "async-channel 1.9.0",
  "async-std",
  "base64 0.13.1",
  "cookie",
- "futures-lite",
+ "futures-lite 1.13.0",
  "infer",
  "pin-project-lite",
  "rand 0.7.3",
@@ -2916,6 +2990,38 @@ dependencies = [
  "url",
 ]
 
+[[package]]
+name = "humansize"
+version = "2.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6cb51c9a029ddc91b07a787f1d86b53ccfa49b0e86688c946ebe8d3555685dd7"
+dependencies = [
+ "libm",
+]
+
+[[package]]
+name = "iana-time-zone"
+version = "0.1.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8326b86b6cff230b97d0d312a6c40a60726df3332e721f72a1b035f451663b20"
+dependencies = [
+ "android_system_properties",
+ "core-foundation-sys",
+ "iana-time-zone-haiku",
+ "js-sys",
+ "wasm-bindgen",
+ "windows-core",
+]
+
+[[package]]
+name = "iana-time-zone-haiku"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f31827a206f56af32e590ba56d5d2d085f558508192593743f16b2306495269f"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "idna"
 version = "0.4.0"
@@ -2926,6 +3032,23 @@ dependencies = [
  "unicode-normalization",
 ]
 
+[[package]]
+name = "ignore"
+version = "0.4.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dbe7873dab538a9a44ad79ede1faf5f30d49f9a5c883ddbab48bce81b64b7492"
+dependencies = [
+ "globset",
+ "lazy_static",
+ "log",
+ "memchr",
+ "regex",
+ "same-file",
+ "thread_local",
+ "walkdir",
+ "winapi-util",
+]
+
 [[package]]
 name = "image"
 version = "0.24.7"
@@ -2954,12 +3077,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.0.2"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8adf3ddd720272c6ea8bf59463c04e0f93d0bbf7c5439b691bca2987e0270897"
+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.1",
+ "hashbrown 0.14.2",
 ]
 
 [[package]]
@@ -2986,12 +3109,23 @@ dependencies = [
 ]
 
 [[package]]
-name = "inotify-sys"
-version = "0.1.5"
+name = "inotify"
+version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e05c02b5e89bff3b946cedeca278abc628fe811e604f027c45a8aa3cf793d0eb"
+checksum = "fdd168d97690d0b8c412d6b6c10360277f4d7ee495c5d0d5d5fe0854923255cc"
 dependencies = [
- "libc",
+ "bitflags 1.3.2",
+ "inotify-sys",
+ "libc",
+]
+
+[[package]]
+name = "inotify-sys"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e05c02b5e89bff3b946cedeca278abc628fe811e604f027c45a8aa3cf793d0eb"
+dependencies = [
+ "libc",
 ]
 
 [[package]]
@@ -3014,11 +3148,11 @@ checksum = "d3b7357d2bbc5ee92f8e899ab645233e43d21407573cceb37fed8bc3dede2c02"
 
 [[package]]
 name = "io-kit-sys"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2d4429acc1deff0fbdece0325b4997bdb02b2c245ab7023fd5deca0f6348de"
+checksum = "4769cb30e5dcf1710fc6730d3e94f78c47723a014a567de385e113c737394640"
 dependencies = [
- "core-foundation-sys 0.8.4",
+ "core-foundation-sys",
  "mach2",
 ]
 
@@ -3044,7 +3178,7 @@ dependencies = [
  "curl",
  "curl-sys",
  "flume",
- "futures-lite",
+ "futures-lite 1.13.0",
  "http",
  "log",
  "once_cell",
@@ -3121,15 +3255,6 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
-[[package]]
-name = "jobserver"
-version = "0.1.26"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "936cfd212a0155903bcbc060e316fb6cc7cbf2e1907329391ebadc1fe0ce77c2"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "jpeg-decoder"
 version = "0.3.0"
@@ -3219,9 +3344,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.148"
+version = "0.2.150"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cdc71e17332e86d2e1d38c1f99edcb6288ee11b815fb1a4b049eaa2114d369b"
+checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
 
 [[package]]
 name = "libloading"
@@ -3245,9 +3370,9 @@ dependencies = [
 
 [[package]]
 name = "libm"
-version = "0.2.7"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "libnghttp2-sys"
@@ -3259,6 +3384,28 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "libredox"
+version = "0.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall 0.4.1",
+]
+
+[[package]]
+name = "libredox"
+version = "0.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall 0.4.1",
+]
+
 [[package]]
 name = "libudev-sys"
 version = "0.1.4"
@@ -3295,9 +3442,9 @@ checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
 
 [[package]]
 name = "lock_api"
-version = "0.4.10"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1cc9717a20b1bb222f333e6a92fd32f7d8a18ddc5a3191a11af45dcbf4dcd16"
+checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -3355,9 +3502,9 @@ dependencies = [
 
 [[package]]
 name = "lyon_tessellation"
-version = "1.0.10"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d2124218d5428149f9e09520b9acc024334a607e671f032d06567b61008977c"
+checksum = "23bcac20d47825850fabf1e869bf7c2bbe2daefa0776c3cd2eb7cb74635f6e4a"
 dependencies = [
  "float_next_after",
  "lyon_path",
@@ -3416,15 +3563,6 @@ dependencies = [
  "autocfg",
 ]
 
-[[package]]
-name = "memoffset"
-version = "0.9.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
-dependencies = [
- "autocfg",
-]
-
 [[package]]
 name = "metal"
 version = "0.24.0"
@@ -3482,9 +3620,9 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.8"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "927a765cd3fc26206e66b296465fa9d3e5ab003e651c1b3c060e7956d96b19d2"
+checksum = "3dce281c5e46beae905d4de1870d8b1509a9142b62eedf18b443b011ca8343d0"
 dependencies = [
  "libc",
  "log",
@@ -3533,22 +3671,6 @@ dependencies = [
  "unicode-ident",
 ]
 
-[[package]]
-name = "nalgebra"
-version = "0.31.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
-dependencies = [
- "approx",
- "matrixmultiply",
- "nalgebra-macros 0.1.0",
- "num-complex",
- "num-rational",
- "num-traits",
- "simba 0.7.3",
- "typenum",
-]
-
 [[package]]
 name = "nalgebra"
 version = "0.32.3"
@@ -3556,27 +3678,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
 dependencies = [
  "approx",
- "glam",
  "matrixmultiply",
- "nalgebra-macros 0.2.1",
+ "nalgebra-macros",
  "num-complex",
  "num-rational",
  "num-traits",
- "simba 0.8.1",
+ "simba",
  "typenum",
 ]
 
-[[package]]
-name = "nalgebra-macros"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
 [[package]]
 name = "nalgebra-macros"
 version = "0.2.1"
@@ -3626,16 +3736,16 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg-if",
  "libc",
- "memoffset 0.6.5",
+ "memoffset",
 ]
 
 [[package]]
 name = "nix"
-version = "0.26.4"
+version = "0.27.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
+checksum = "2eb04e9c688eff1c89d72b407f168cf79bb9e867a9d3323ed6c01519eb9cc053"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.4.1",
  "cfg-if",
  "libc",
 ]
@@ -3662,11 +3772,11 @@ version = "6.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6205bd8bb1e454ad2e27422015fb5e4f2bcc7e08fa8f27058670d208324a4d2d"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "crossbeam-channel",
  "filetime",
  "fsevent-sys",
- "inotify",
+ "inotify 0.9.6",
  "kqueue",
  "libc",
  "log",
@@ -3737,9 +3847,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
  "libm",
@@ -3784,7 +3894,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -3913,9 +4023,9 @@ checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf"
 
 [[package]]
 name = "openssl-sys"
-version = "0.9.93"
+version = "0.9.95"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db4d56a4c0478783083cfafcc42493dd4a981d41669da64b4572a2a089b51b1d"
+checksum = "40a4130519a360279579c2053038317e40eff64d13fd3f004f9e1b72b8a6aaf9"
 dependencies = [
  "cc",
  "libc",
@@ -3929,19 +4039,13 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d"
 
-[[package]]
-name = "optional"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc"
-
 [[package]]
 name = "orbclient"
-version = "0.3.46"
+version = "0.3.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8378ac0dfbd4e7895f2d2c1f1345cab3836910baf3a300b000d04250f0c8428f"
+checksum = "52f0d54bde9774d3a51dcf281a5def240c71996bc6ca05d2c847ec8b2b216166"
 dependencies = [
- "redox_syscall 0.3.5",
+ "libredox 0.0.2",
 ]
 
 [[package]]
@@ -3952,9 +4056,9 @@ checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
 
 [[package]]
 name = "owned_ttf_parser"
-version = "0.19.0"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "706de7e2214113d63a8238d1910463cfce781129a6f263d13fdb09ff64355ba4"
+checksum = "d4586edfe4c648c71797a74c84bacb32b52b212eff5dfe2bb9f2c599844023e7"
 dependencies = [
  "ttf-parser",
 ]
@@ -3973,9 +4077,9 @@ dependencies = [
 
 [[package]]
 name = "parking"
-version = "2.1.1"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e52c774a4c39359c1d1c52e43f73dd91a75a614652c825408eec30c95a9b2067"
+checksum = "bb813b8af86854136c6922af0598d719255ecb2179515e6e7730d468f05c9cae"
 
 [[package]]
 name = "parking_lot"
@@ -3989,36 +4093,24 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.8"
+version = "0.9.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93f00c865fe7cabf650081affecd3871070f26767e7b2070a3ffae14c654b447"
+checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
 dependencies = [
  "cfg-if",
  "libc",
- "redox_syscall 0.3.5",
+ "redox_syscall 0.4.1",
  "smallvec",
  "windows-targets 0.48.5",
 ]
 
 [[package]]
-name = "parry3d"
-version = "0.13.5"
+name = "parse-zoneinfo"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b55dc0e6db79bddbc5fd583569f7356cdcc63e1e9b2b93a9ab70dd8e717160e0"
+checksum = "c705f256449c60da65e11ff6626e0c16a0a0b96aaa348de61376b249bc340f41"
 dependencies = [
- "approx",
- "arrayvec",
- "bitflags 1.3.2",
- "downcast-rs",
- "either",
- "nalgebra 0.32.3",
- "num-derive",
- "num-traits",
- "rustc-hash",
- "simba 0.8.1",
- "slab",
- "smallvec",
- "spade",
+ "regex",
 ]
 
 [[package]]
@@ -4045,6 +4137,51 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
 
+[[package]]
+name = "pest"
+version = "2.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae9cee2a55a544be8b89dc6848072af97a20f2422603c10865be2a42b580fff5"
+dependencies = [
+ "memchr",
+ "thiserror",
+ "ucd-trie",
+]
+
+[[package]]
+name = "pest_derive"
+version = "2.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81d78524685f5ef2a3b3bd1cafbc9fcabb036253d9b1463e726a91cd16e2dfc2"
+dependencies = [
+ "pest",
+ "pest_generator",
+]
+
+[[package]]
+name = "pest_generator"
+version = "2.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68bd1206e71118b5356dae5ddc61c8b11e28b09ef6a31acbd15ea48a28e0c227"
+dependencies = [
+ "pest",
+ "pest_meta",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.39",
+]
+
+[[package]]
+name = "pest_meta"
+version = "2.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c747191d4ad9e4a4ab9c8798f1e82a39affe7ef9648390b7e5548d18e099de6"
+dependencies = [
+ "once_cell",
+ "pest",
+ "sha2 0.10.8",
+]
+
 [[package]]
 name = "petgraph"
 version = "0.6.4"
@@ -4052,7 +4189,45 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
 dependencies = [
  "fixedbitset",
- "indexmap 2.0.2",
+ "indexmap 2.1.0",
+]
+
+[[package]]
+name = "phf"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ade2d8b8f33c7333b51bcf0428d37e217e9f32192ae4772156f65063b8ce03dc"
+dependencies = [
+ "phf_shared",
+]
+
+[[package]]
+name = "phf_codegen"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8d39688d359e6b34654d328e262234662d16cc0f60ec8dcbe5e718709342a5a"
+dependencies = [
+ "phf_generator",
+ "phf_shared",
+]
+
+[[package]]
+name = "phf_generator"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48e4cc64c2ad9ebe670cb8fd69dd50ae301650392e81c05f9bfcb2d5bdbc24b0"
+dependencies = [
+ "phf_shared",
+ "rand 0.8.5",
+]
+
+[[package]]
+name = "phf_shared"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "90fcb95eef784c2ac79119d1dd819e162b5da872ce6f3c3abe1e8ca1c082f72b"
+dependencies = [
+ "siphasher",
 ]
 
 [[package]]
@@ -4072,7 +4247,7 @@ checksum = "4359fd9c9171ec6e8c62926d6faaf553a8dc3f64e1507e76da7911b4f6a04405"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -4177,9 +4352,9 @@ checksum = "dc375e1527247fe1a97d8b7156678dfe7c1af2fc075c9a4db3690ecd2a148068"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.67"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
+checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
 dependencies = [
  "unicode-ident",
 ]
@@ -4264,7 +4439,7 @@ version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 dependencies = [
- "getrandom 0.2.10",
+ "getrandom 0.2.11",
 ]
 
 [[package]]
@@ -4282,26 +4457,6 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
-[[package]]
-name = "rapier3d"
-version = "0.17.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62a8a0bd9d3135f7b4eb45d0796540e7bab47b6b7c974f90567ccc5a0454f42b"
-dependencies = [
- "approx",
- "arrayvec",
- "bit-vec",
- "bitflags 1.3.2",
- "crossbeam",
- "downcast-rs",
- "nalgebra 0.32.3",
- "num-derive",
- "num-traits",
- "parry3d",
- "rustc-hash",
- "simba 0.8.1",
-]
-
 [[package]]
 name = "raw-window-handle"
 version = "0.5.2"
@@ -4322,43 +4477,43 @@ checksum = "a0d463f2884048e7153449a55166f91028d5b0ea53c79377099ce4e8cf0cf9bb"
 
 [[package]]
 name = "redox_syscall"
-version = "0.2.16"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
+checksum = "567664f262709473930a4bf9e51bf2ebf3348f2e748ccc50dea20646858f8f29"
 dependencies = [
  "bitflags 1.3.2",
 ]
 
 [[package]]
 name = "redox_syscall"
-version = "0.3.5"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "567664f262709473930a4bf9e51bf2ebf3348f2e748ccc50dea20646858f8f29"
+checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
 dependencies = [
  "bitflags 1.3.2",
 ]
 
 [[package]]
 name = "redox_users"
-version = "0.4.3"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b033d837a7cf162d7993aded9304e30a83213c648b6e389db233191f891e5c2b"
+checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4"
 dependencies = [
- "getrandom 0.2.10",
- "redox_syscall 0.2.16",
+ "getrandom 0.2.11",
+ "libredox 0.0.1",
  "thiserror",
 ]
 
 [[package]]
 name = "regex"
-version = "1.9.6"
+version = "1.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ebee201405406dbf528b8b672104ae6d6d63e6d118cb10e4d51abbc7b58044ff"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.3.9",
- "regex-syntax 0.7.5",
+ "regex-automata 0.4.3",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -4372,13 +4527,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.3.9"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59b23e92ee4318893fa3fe3e6fb365258efbfe6ac6ab30f090cdcbb7aa37efa9"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.7.5",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -4389,9 +4544,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.5"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
+checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
 
 [[package]]
 name = "renderdoc-sys"
@@ -4433,15 +4588,14 @@ dependencies = [
  "bevy_mod_raycast",
  "bevy_obj",
  "bevy_polyline",
- "bevy_rapier3d",
  "bevy_stl",
  "bevy_utils",
  "bitfield",
  "clap",
  "console_error_panic_hook",
  "crossbeam-channel",
- "dirs 4.0.0",
- "futures-lite",
+ "dirs",
+ "futures-lite 1.13.0",
  "gz-fuel",
  "itertools",
  "lyon",
@@ -4454,6 +4608,7 @@ dependencies = [
  "serde_yaml",
  "smallvec",
  "surf",
+ "tera",
  "thiserror",
  "thread_local",
  "tracing",
@@ -4468,6 +4623,7 @@ name = "rmf_site_format"
 version = "0.0.1"
 dependencies = [
  "bevy",
+ "float_eq",
  "glam",
  "pathdiff",
  "ron",
@@ -4479,17 +4635,11 @@ dependencies = [
  "uuid",
 ]
 
-[[package]]
-name = "robust"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea"
-
 [[package]]
 name = "rodio"
-version = "0.17.1"
+version = "0.17.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bdf1d4dea18dff2e9eb6dca123724f8b60ef44ad74a9ad283cdfe025df7e73fa"
+checksum = "3b1bb7b48ee48471f55da122c0044fcc7600cfcc85db88240b89cb832935e611"
 dependencies = [
  "cpal",
  "lewton",
@@ -4501,8 +4651,8 @@ version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
- "base64 0.21.4",
- "bitflags 2.4.0",
+ "base64 0.21.5",
+ "bitflags 2.4.1",
  "serde",
  "serde_derive",
 ]
@@ -4530,9 +4680,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.37.24"
+version = "0.37.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4279d76516df406a8bd37e7dff53fd37d1a093f997a3c34a5c21658c126db06d"
+checksum = "fea8ca367a3a01fe35e6943c400addf443c0f57670e6ec51196f71a4b8762dd2"
 dependencies = [
  "bitflags 1.3.2",
  "errno",
@@ -4612,11 +4762,11 @@ checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 [[package]]
 name = "sdformat_rs"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/sdf_rust_experimental?rev=f86344f#f86344f95adedf9c330aa92931015041135e6594"
+source = "git+https://github.com/open-rmf/sdf_rust_experimental?rev=a5daef0#a5daef0c03380e55cfdaba507c89883a87127a05"
 dependencies = [
  "convert_case",
  "minidom",
- "nalgebra 0.31.4",
+ "nalgebra",
  "xmltree",
  "yaserde",
  "yaserde_derive",
@@ -4639,29 +4789,29 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.188"
+version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e"
+checksum = "bca2a08484b285dcb282d0f67b26cadc0df8b19f8c12502c13d966bf9482f001"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.188"
+version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
+checksum = "d6c7207fbec9faa48073f3e3074cbe553af6ea512d7c21ba46e434e70ea9fbc1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.107"
+version = "1.0.108"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b420ce6e3d8bd882e9b243c6eed35dbc9a6110c9769e74b584e0d68d1f20c65"
+checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
 dependencies = [
  "itoa",
  "ryu",
@@ -4681,9 +4831,9 @@ dependencies = [
 
 [[package]]
 name = "serde_spanned"
-version = "0.6.3"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96426c9936fd7a0124915f9185ea1d20aa9445cc9821142f0a73bc9207a2e186"
+checksum = "12022b835073e5b11e90a14f86838ceb1c8fb0325b72416845c487ac0fa95e80"
 dependencies = [
  "serde",
 ]
@@ -4733,13 +4883,24 @@ version = "0.9.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4d58a1e1bf39749807d89cf2d98ac2dfa0ff1cb3faa38fbb64dd88ac8013d800"
 dependencies = [
- "block-buffer",
+ "block-buffer 0.9.0",
  "cfg-if",
  "cpufeatures",
- "digest",
+ "digest 0.9.0",
  "opaque-debug",
 ]
 
+[[package]]
+name = "sha2"
+version = "0.10.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "793db75ad2bcafc3ffa7c68b215fee268f537982cd901d132f89c6343f3a3dc8"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest 0.10.7",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -4755,19 +4916,6 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7cee0529a6d40f580e7a5e6c495c8fbfe21b7b52795ed4bb5e62cdf92bc6380"
 
-[[package]]
-name = "simba"
-version = "0.7.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
-dependencies = [
- "approx",
- "num-complex",
- "num-traits",
- "paste",
- "wide",
-]
-
 [[package]]
 name = "simba"
 version = "0.8.1"
@@ -4787,6 +4935,12 @@ version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
 
+[[package]]
+name = "siphasher"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
+
 [[package]]
 name = "slab"
 version = "0.4.9"
@@ -4805,22 +4959,32 @@ dependencies = [
  "version_check",
 ]
 
+[[package]]
+name = "slug"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bd94acec9c8da640005f8e135a39fc0372e74535e6b368b7a04b875f784c8c4"
+dependencies = [
+ "deunicode",
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "sluice"
 version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6d7400c0eff44aa2fcb5e31a5f24ba9716ed90138769e4977a2ba6014ae63eb5"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "futures-core",
  "futures-io",
 ]
 
 [[package]]
 name = "smallvec"
-version = "1.11.1"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a"
+checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 dependencies = [
  "serde",
 ]
@@ -4847,26 +5011,14 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64a4a911eed85daf18834cfaa86a79b7d266ff93ff5ba14005426219480ed662"
+checksum = "9f7916fc008ca5542385b89a3d3ce689953c143e9304a9bf8beec1de48994c0d"
 dependencies = [
  "libc",
  "winapi",
 ]
 
-[[package]]
-name = "spade"
-version = "2.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88e65803986868d2372c582007c39ba89936a36ea5f236bf7a7728dc258f04f9"
-dependencies = [
- "num-traits",
- "optional",
- "robust",
- "smallvec",
-]
-
 [[package]]
 name = "spinning_top"
 version = "0.2.5"
@@ -4989,7 +5141,7 @@ dependencies = [
  "cfg-if",
  "encoding_rs",
  "futures-util",
- "getrandom 0.2.10",
+ "getrandom 0.2.11",
  "http-client",
  "http-types",
  "log",
@@ -5020,9 +5172,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.37"
+version = "2.0.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8"
+checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -5036,7 +5188,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0a18d114d420ada3a891e6bc8e96a2023402203296a47cdd65083377dad18ba5"
 dependencies = [
  "cfg-if",
- "core-foundation-sys 0.8.4",
+ "core-foundation-sys",
  "libc",
  "ntapi",
  "once_cell",
@@ -5045,9 +5197,9 @@ dependencies = [
 
 [[package]]
 name = "system-deps"
-version = "6.1.2"
+version = "6.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94af52f9402f94aac4948a2518b43359be8d9ce6cd9efc1c4de3b2f7b7e897d6"
+checksum = "2a2d580ff6a20c55dfb86be5f9c238f67835d0e81cbdea8bf5680e0897320331"
 dependencies = [
  "cfg-expr",
  "heck 0.4.1",
@@ -5058,9 +5210,9 @@ dependencies = [
 
 [[package]]
 name = "taffy"
-version = "0.3.15"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "798053135b826949571726ab5e30bf9509a65b3bae6425d2e2b2dd391c50a101"
+checksum = "3c2287b6d7f721ada4cddf61ade5e760b2c6207df041cac9bfaa192897362fd3"
 dependencies = [
  "arrayvec",
  "grid",
@@ -5070,24 +5222,46 @@ dependencies = [
 
 [[package]]
 name = "target-lexicon"
-version = "0.12.11"
+version = "0.12.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "14c39fd04924ca3a864207c66fc2cd7d22d7c016007f9ce846cbb9326331930a"
+
+[[package]]
+name = "tera"
+version = "1.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d0e916b1148c8e263850e1ebcbd046f333e0683c724876bb0da63ea4373dc8a"
+checksum = "970dff17c11e884a4a09bc76e3a17ef71e01bb13447a11e85226e254fe6d10b8"
+dependencies = [
+ "chrono",
+ "chrono-tz",
+ "globwalk",
+ "humansize",
+ "lazy_static",
+ "percent-encoding",
+ "pest",
+ "pest_derive",
+ "rand 0.8.5",
+ "regex",
+ "serde",
+ "serde_json",
+ "slug",
+ "unic-segment",
+]
 
 [[package]]
 name = "termcolor"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6093bad37da69aab9d123a8091e4be0aa4a03e4d601ec641c327398315f62b64"
+checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
 dependencies = [
  "winapi-util",
 ]
 
 [[package]]
 name = "thiserror"
-version = "1.0.49"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1177e8c6d7ede7afde3585fd2513e611227efd6481bd78d2e82ba1ce16557ed4"
+checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
 dependencies = [
  "thiserror-impl",
 ]
@@ -5114,13 +5288,13 @@ dependencies = [
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.49"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10712f02019e9288794769fba95cd6847df9874d49d871d062172f9dd41bc4cc"
+checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -5209,21 +5383,21 @@ dependencies = [
 
 [[package]]
 name = "toml"
-version = "0.8.2"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "185d8ab0dfbb35cf1399a6344d8484209c088f75f8f68230da55d48d95d43e3d"
+checksum = "a1a195ec8c9da26928f773888e0742ca3ca1040c6cd859c919c9f59c1954ab35"
 dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "toml_edit 0.20.2",
+ "toml_edit 0.21.0",
 ]
 
 [[package]]
 name = "toml_datetime"
-version = "0.6.3"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7cda73e2f1397b1262d6dfdcef8aafae14d1de7748d66822d3bfeeb6d03e5e4b"
+checksum = "3550f4e9685620ac18a50ed434eb3aec30db8ba93b0287467bca5826ea25baf1"
 dependencies = [
  "serde",
 ]
@@ -5234,18 +5408,18 @@ version = "0.19.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
- "indexmap 2.0.2",
+ "indexmap 2.1.0",
  "toml_datetime",
  "winnow",
 ]
 
 [[package]]
 name = "toml_edit"
-version = "0.20.2"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "396e4d48bbb2b7554c944bde63101b5ae446cff6ec4a24227428f15eb72ef338"
+checksum = "d34d383cd00a163b4a5b85053df514d45bc330f6de7737edfe0a93311d1eaa03"
 dependencies = [
- "indexmap 2.0.2",
+ "indexmap 2.1.0",
  "serde",
  "serde_spanned",
  "toml_datetime",
@@ -5254,11 +5428,10 @@ dependencies = [
 
 [[package]]
 name = "tracing"
-version = "0.1.37"
+version = "0.1.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce8c33a8d48bd45d624a6e523445fd21ec13d3653cd51f681abf67418f54eb8"
+checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
 dependencies = [
- "cfg-if",
  "log",
  "pin-project-lite",
  "tracing-attributes",
@@ -5267,20 +5440,20 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.26"
+version = "0.1.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f4f31f56159e98206da9efd823404b79b6ef3143b4a7ab76e67b1751b25a4ab"
+checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "tracing-core"
-version = "0.1.31"
+version = "0.1.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0955b8137a1df6f1a2e9a37d8a6656291ff0297c1a97c24e0d8425fe2312f79a"
+checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
 dependencies = [
  "once_cell",
  "valuable",
@@ -5298,20 +5471,31 @@ dependencies = [
 
 [[package]]
 name = "tracing-log"
-version = "0.1.3"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78ddad33d2d10b1ed7eb9d1f518a5674713876e97e5bb9b7345a7984fbb4f922"
+checksum = "f751112709b4e791d8ce53e32c4ed2d353565a795ce84da2285393f41557bdf2"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
 dependencies = [
- "lazy_static",
  "log",
+ "once_cell",
  "tracing-core",
 ]
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30a651bc37f915e81f087d86e62a18eec5f79550c7faff886f7090b4ea757c77"
+checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
 dependencies = [
  "matchers",
  "nu-ansi-term",
@@ -5322,7 +5506,7 @@ dependencies = [
  "thread_local",
  "tracing",
  "tracing-core",
- "tracing-log",
+ "tracing-log 0.2.0",
 ]
 
 [[package]]
@@ -5338,9 +5522,9 @@ dependencies = [
 
 [[package]]
 name = "ttf-parser"
-version = "0.19.2"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49d64318d8311fc2668e48b63969f4343e0a85c4a109aa8460d6672e364b8bd1"
+checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
 
 [[package]]
 name = "twox-hash"
@@ -5358,6 +5542,62 @@ version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
+[[package]]
+name = "ucd-trie"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed646292ffc8188ef8ea4d1e0e0150fb15a5c2e12ad9b8fc191ae7a8a7f3c4b9"
+
+[[package]]
+name = "unic-char-property"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8c57a407d9b6fa02b4795eb81c5b6652060a15a7903ea981f3d723e6c0be221"
+dependencies = [
+ "unic-char-range",
+]
+
+[[package]]
+name = "unic-char-range"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0398022d5f700414f6b899e10b8348231abf9173fa93144cbc1a43b9793c1fbc"
+
+[[package]]
+name = "unic-common"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "80d7ff825a6a654ee85a63e80f92f054f904f21e7d12da4e22f9834a4aaa35bc"
+
+[[package]]
+name = "unic-segment"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e4ed5d26be57f84f176157270c112ef57b86debac9cd21daaabbe56db0f88f23"
+dependencies = [
+ "unic-ucd-segment",
+]
+
+[[package]]
+name = "unic-ucd-segment"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2079c122a62205b421f499da10f3ee0f7697f012f55b675e002483c73ea34700"
+dependencies = [
+ "unic-char-property",
+ "unic-char-range",
+ "unic-ucd-version",
+]
+
+[[package]]
+name = "unic-ucd-version"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96bd2f2237fe450fcd0a1d2f5f4e91711124f7857ba2e964247776ebeeb7b0c4"
+dependencies = [
+ "unic-common",
+]
+
 [[package]]
 name = "unicase"
 version = "2.7.0"
@@ -5455,11 +5695,11 @@ checksum = "95b09e3b3a0abd1ccb77673a6b7b8875d9d1c80626154add451cf18392dc4c3c"
 
 [[package]]
 name = "uuid"
-version = "1.4.1"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79daa5ed5740825c40b389c5e50312b9c86df53fccd33f281df655642b43869d"
+checksum = "88ad59a7560b41a70d191093a945f0b87bc1deeda46fb237479708a1d6b6cdfc"
 dependencies = [
- "getrandom 0.2.10",
+ "getrandom 0.2.11",
  "serde",
 ]
 
@@ -5471,9 +5711,9 @@ checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
 
 [[package]]
 name = "value-bag"
-version = "1.4.1"
+version = "1.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d92ccd67fb88503048c01b59152a04effd0782d035a83a6d256ce6085f08f4a3"
+checksum = "4a72e1902dde2bd6441347de2b70b7f5d59bf157c6c62f0c44572607a1d55bbe"
 
 [[package]]
 name = "vcpkg"
@@ -5616,9 +5856,9 @@ dependencies = [
 
 [[package]]
 name = "webbrowser"
-version = "0.8.11"
+version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2c79b77f525a2d670cb40619d7d9c673d09e0666f72c591ebd7861f84a87e57"
+checksum = "82b2391658b02c27719fc5a0a73d6e696285138e8b12fba9d4baa70451023c71"
 dependencies = [
  "core-foundation",
  "home",
@@ -5669,7 +5909,7 @@ checksum = "8f478237b4bf0d5b70a39898a66fa67ca3a007d79f2520485b8b0c3dfc46f8c2"
 dependencies = [
  "arrayvec",
  "bit-vec",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "codespan-reporting",
  "log",
  "naga",
@@ -5694,7 +5934,7 @@ dependencies = [
  "arrayvec",
  "ash",
  "bit-set",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "block",
  "core-graphics-types",
  "d3d12",
@@ -5732,16 +5972,16 @@ version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d0c153280bb108c2979eb5c7391cb18c56642dd3c072e55f52065e13e2a1252a"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "js-sys",
  "web-sys",
 ]
 
 [[package]]
 name = "wide"
-version = "0.7.12"
+version = "0.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ebecebefc38ff1860b4bc47550bbfa63af5746061cf0d29fcd7fa63171602598"
+checksum = "c68938b57b33da363195412cfc5fc37c9ed49aa9cfe2156fde64b8d2c9498242"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -6027,9 +6267,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.5.15"
+version = "0.5.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c2e3184b9c4e92ad5167ca73039d0c42476302ab603e2fec4487511f38ccefc"
+checksum = "829846f3e3db426d4cee4510841b71a8e58aa2a76b1132579487ae430ccd9c7b"
 dependencies = [
  "memchr",
 ]
@@ -6120,3 +6360,23 @@ dependencies = [
  "syn 1.0.109",
  "xml-rs",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.25"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cd369a67c0edfef15010f980c3cbe45d7f651deac2cd67ce097cd801de16557"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.25"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f140bda219a26ccc0cdb03dba58af72590c53b22642577d88a927bc5c87d6b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.39",
+]
diff --git a/assets/demo_workcells/demo.workcell.json b/assets/demo_workcells/demo.workcell.json
index fbbd9c84..91a8e549 100644
--- a/assets/demo_workcells/demo.workcell.json
+++ b/assets/demo_workcells/demo.workcell.json
@@ -75,5 +75,9 @@
   "visuals": {
   },
   "collisions": {
+  },
+  "inertias": {
+  },
+  "joints": {
   }
 }
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index 2be40461..66dad7fd 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -17,13 +17,12 @@ path = "examples/extending_menu.rs"
 
 [dependencies]
 bevy_egui = "0.21"
-bevy_mod_raycast = "0.13"
+bevy_mod_raycast = "0.15"
 bevy_mod_outline = "0.5"
 bevy_infinite_grid = "0.8"
 bevy_polyline = "0.7"
 bevy_stl = "0.11"
 bevy_obj = { version = "0.11", features = ["scene"] }
-bevy_rapier3d = "0.22.0"
 smallvec = "*"
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.8.23"
@@ -33,7 +32,7 @@ wasm-bindgen = "=0.2.84"
 futures-lite = "1.12.0"
 bevy = { version = "0.11", features = ["pnm", "jpeg", "tga"] }
 bevy_utils = "0.11"
-dirs = "4.0"
+dirs = "5.0"
 thread_local = "*"
 lyon = "1"
 thiserror = "*"
@@ -46,9 +45,10 @@ tracing-subscriber = "0.3.1"
 rfd = "0.12"
 urdf-rs = "0.7"
 utm = "0.1.6"
-sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "f86344f"}
+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 = "first_implementation" }
 pathdiff = "*"
+tera = "1.19.1"
 
 # only enable the 'dynamic_linking' feature if we're not building for web or windows
 # TODO(luca) it seems this can be enabled on windows, check
diff --git a/rmf_site_editor/src/interaction/cursor.rs b/rmf_site_editor/src/interaction/cursor.rs
index b57a6997..bc4b1bca 100644
--- a/rmf_site_editor/src/interaction/cursor.rs
+++ b/rmf_site_editor/src/interaction/cursor.rs
@@ -18,11 +18,11 @@
 use crate::{
     animate::*,
     interaction::*,
-    site::{AnchorBundle, Pending, SiteAssets},
+    site::{AnchorBundle, Pending, SiteAssets, Trashcan},
 };
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
-use bevy_mod_raycast::{Ray3d, RaycastMesh, RaycastSource};
-use rmf_site_format::{FloorMarker, Model, ModelMarker, WallMarker, WorkcellModel};
+use bevy_mod_raycast::{deferred::RaycastMesh, deferred::RaycastSource, primitives::rays::Ray3d};
+use rmf_site_format::{FloorMarker, Model, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -36,6 +36,7 @@ pub struct Cursor {
     pub level_anchor_placement: Entity,
     pub site_anchor_placement: Entity,
     pub frame_placement: Entity,
+    pub trashcan: Entity,
     pub preview_model: Option<Entity>,
     dependents: HashSet<Entity>,
     /// Use a &str to label each mode that might want to turn the cursor on
@@ -107,10 +108,7 @@ impl Cursor {
 
     fn remove_preview(&mut self, commands: &mut Commands) {
         if let Some(current_preview) = self.preview_model {
-            commands
-                .entity(self.frame)
-                .remove_children(&[current_preview]);
-            commands.entity(current_preview).despawn_recursive();
+            commands.entity(current_preview).set_parent(self.trashcan);
         }
     }
 
@@ -133,9 +131,9 @@ impl Cursor {
     ) {
         self.remove_preview(commands);
         self.preview_model = if let Some(model) = model {
-            let cmd = commands.spawn(Pending);
+            let mut cmd = commands.spawn(Pending);
             let e = cmd.id();
-            model.add_bevy_components(cmd);
+            model.add_bevy_components(&mut cmd);
             commands.entity(self.frame).push_children(&[e]);
             Some(e)
         } else {
@@ -251,6 +249,8 @@ impl FromWorld for Cursor {
             })
             .id();
 
+        let trashcan = world.spawn(Trashcan).id();
+
         Self {
             frame: cursor,
             halo,
@@ -258,6 +258,7 @@ impl FromWorld for Cursor {
             level_anchor_placement,
             site_anchor_placement,
             frame_placement,
+            trashcan,
             preview_model: None,
             dependents: Default::default(),
             modes: Default::default(),
@@ -278,6 +279,7 @@ pub struct IntersectGroundPlaneParams<'w, 's> {
     camera_controls: Res<'w, CameraControls>,
     cameras: Query<'w, 's, &'static Camera>,
     global_transforms: Query<'w, 's, &'static GlobalTransform>,
+    primary_window: Query<'w, 's, &'static Window, With<PrimaryWindow>>,
 }
 
 impl<'w, 's> IntersectGroundPlaneParams<'w, 's> {
@@ -287,7 +289,9 @@ impl<'w, 's> IntersectGroundPlaneParams<'w, 's> {
         let e_active_camera = self.camera_controls.active_camera();
         let active_camera = self.cameras.get(e_active_camera).ok()?;
         let camera_tf = self.global_transforms.get(e_active_camera).ok()?;
-        let ray = Ray3d::from_screenspace(cursor_position, active_camera, camera_tf)?;
+        let primary_window = self.primary_window.get_single().ok()?;
+        let ray =
+            Ray3d::from_screenspace(cursor_position, active_camera, camera_tf, primary_window)?;
         let n_p = Vec3::Z;
         let n_r = ray.direction();
         let denom = n_p.dot(n_r);
@@ -304,7 +308,7 @@ pub fn update_cursor_transform(
     mode: Res<InteractionMode>,
     cursor: Res<Cursor>,
     raycast_sources: Query<&RaycastSource<SiteRaycastSet>>,
-    models: Query<(), With<ModelMarker>>,
+    models: Query<(), Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
     mut transforms: Query<&mut Transform>,
     hovering: Res<Hovering>,
     intersect_ground_params: IntersectGroundPlaneParams,
diff --git a/rmf_site_editor/src/interaction/gizmo.rs b/rmf_site_editor/src/interaction/gizmo.rs
index 734943bb..2c37a669 100644
--- a/rmf_site_editor/src/interaction/gizmo.rs
+++ b/rmf_site_editor/src/interaction/gizmo.rs
@@ -16,8 +16,8 @@
 */
 
 use crate::interaction::*;
-use bevy::{math::Affine3A, prelude::*};
-use bevy_mod_raycast::{Ray3d, RaycastMesh, RaycastSource};
+use bevy::{math::Affine3A, prelude::*, window::PrimaryWindow};
+use bevy_mod_raycast::{deferred::RaycastMesh, deferred::RaycastSource, primitives::rays::Ray3d};
 use rmf_site_format::Pose;
 
 #[derive(Debug, Clone, Copy)]
@@ -363,6 +363,7 @@ pub fn update_drag_motions(
     drag_state: Res<GizmoState>,
     mut cursor_motion: EventReader<CursorMoved>,
     mut move_to: EventWriter<MoveTo>,
+    primary_window: Query<&Window, With<PrimaryWindow>>,
 ) {
     if let GizmoState::Dragging(dragging) = *drag_state {
         let cursor_position = match cursor_motion.iter().last() {
@@ -381,7 +382,10 @@ pub fn update_drag_motions(
                 }
             };
 
-            match Ray3d::from_screenspace(cursor_position, camera, &camera_tf) {
+            let Ok(primary_window) = primary_window.get_single() else {
+                return;
+            };
+            match Ray3d::from_screenspace(cursor_position, camera, &camera_tf, primary_window) {
                 Some(ray) => ray,
                 None => {
                     return;
diff --git a/rmf_site_editor/src/interaction/mod.rs b/rmf_site_editor/src/interaction/mod.rs
index 8b4c1b2b..7debd4fd 100644
--- a/rmf_site_editor/src/interaction/mod.rs
+++ b/rmf_site_editor/src/interaction/mod.rs
@@ -90,7 +90,7 @@ pub use visual_cue::*;
 
 use bevy::prelude::*;
 use bevy_mod_outline::OutlinePlugin;
-use bevy_mod_raycast::{DefaultRaycastingPlugin, RaycastSystem};
+use bevy_mod_raycast::deferred::DeferredRaycastingPlugin;
 use bevy_polyline::PolylinePlugin;
 
 #[derive(Reflect)]
@@ -136,7 +136,7 @@ impl Plugin for InteractionPlugin {
                 apply_deferred.in_set(InteractionUpdateSet::CommandFlush),
             )
             .add_plugins(PolylinePlugin)
-            .add_plugins(DefaultRaycastingPlugin::<SiteRaycastSet>::default())
+            .add_plugins(DeferredRaycastingPlugin::<SiteRaycastSet>::default())
             .init_resource::<InteractionAssets>()
             .init_resource::<Cursor>()
             .init_resource::<CameraControls>()
@@ -254,14 +254,7 @@ impl Plugin for InteractionPlugin {
                 )
                     .run_if(in_state(InteractionState::Enable)),
             )
-            .add_systems(
-                First,
-                (
-                    update_picked,
-                    update_interaction_mode,
-                    update_raycast_with_cursor.before(RaycastSystem::BuildRays::<SiteRaycastSet>),
-                ),
-            );
+            .add_systems(First, (update_picked, update_interaction_mode));
     }
 }
 
diff --git a/rmf_site_editor/src/interaction/outline.rs b/rmf_site_editor/src/interaction/outline.rs
index cd1ba3e3..61dd4ab5 100644
--- a/rmf_site_editor/src/interaction/outline.rs
+++ b/rmf_site_editor/src/interaction/outline.rs
@@ -20,7 +20,7 @@ use bevy::render::view::RenderLayers;
 use bevy_mod_outline::{OutlineBundle, OutlineRenderLayers, OutlineVolume, SetOutlineDepth};
 use rmf_site_format::{
     ConstraintMarker, DoorType, FiducialMarker, FloorMarker, LiftCabin, LightKind, LocationTags,
-    MeasurementMarker, ModelMarker, PhysicalCameraProperties, WallMarker,
+    MeasurementMarker, ModelMarker, PhysicalCameraProperties, PrimitiveShape, WallMarker,
 };
 use smallvec::SmallVec;
 
@@ -118,6 +118,7 @@ pub fn add_outline_visualization(
             Added<PhysicalCameraProperties>,
             Added<LightKind>,
             Added<LocationTags>,
+            Added<PrimitiveShape>,
         )>,
     >,
 ) {
diff --git a/rmf_site_editor/src/interaction/picking.rs b/rmf_site_editor/src/interaction/picking.rs
index 4202791c..505d9c04 100644
--- a/rmf_site_editor/src/interaction/picking.rs
+++ b/rmf_site_editor/src/interaction/picking.rs
@@ -17,7 +17,9 @@
 
 use crate::{interaction::*, site::Anchor, CurrentWorkspace};
 use bevy::prelude::*;
-use bevy_mod_raycast::{RaycastMethod, RaycastSource};
+use bevy_mod_raycast::{
+    deferred::RaycastMethod, deferred::RaycastSource, immediate::RaycastVisibility,
+};
 
 /// A resource to track what kind of picking blockers are currently active
 #[derive(Resource)]
@@ -72,9 +74,11 @@ pub fn update_picking_cam(
                     .remove::<RaycastSource<SiteRaycastSet>>();
             }
 
-            commands
-                .entity(camera_controls.active_camera())
-                .insert(RaycastSource::<SiteRaycastSet>::new().with_early_exit(false));
+            commands.entity(camera_controls.active_camera()).insert(
+                RaycastSource::<SiteRaycastSet>::new_cursor()
+                    .with_early_exit(false)
+                    .with_visibility(RaycastVisibility::MustBeVisible),
+            );
         }
     }
 }
@@ -115,20 +119,6 @@ fn pick_topmost(
     return None;
 }
 
-// Update our `RaycastSource` with the current cursor position every frame.
-pub fn update_raycast_with_cursor(
-    mut cursor: EventReader<CursorMoved>,
-    mut query: Query<&mut RaycastSource<SiteRaycastSet>>,
-) {
-    // Grab the most recent cursor event if it exists:
-    let Some(cursor_moved) = cursor.iter().last() else {
-        return;
-    };
-    for mut pick_source in &mut query {
-        pick_source.cast_method = RaycastMethod::Screenspace(cursor_moved.position);
-    }
-}
-
 pub fn update_picked(
     mode: Res<InteractionMode>,
     selectable: Query<&Selectable>,
diff --git a/rmf_site_editor/src/interaction/select.rs b/rmf_site_editor/src/interaction/select.rs
index a0add4d7..80380e17 100644
--- a/rmf_site_editor/src/interaction/select.rs
+++ b/rmf_site_editor/src/interaction/select.rs
@@ -17,7 +17,7 @@
 
 use crate::{interaction::*, site::Anchor};
 use bevy::prelude::*;
-use bevy_mod_raycast::RaycastMesh;
+use bevy_mod_raycast::deferred::RaycastMesh;
 use std::collections::HashSet;
 
 /// This component is put on entities with meshes to mark them as items that can
@@ -236,9 +236,7 @@ pub fn maintain_hovered_entities(
             // TODO(luca) refactor to remove this hack
             // Skip if we are in SelectAnchor3D mode
             if let InteractionMode::SelectAnchor3D(mode) = &*mode {
-                if mode.begin_creating() {
-                    return;
-                }
+                return;
             }
             select.send(Select(Some(current_hovered)));
         }
diff --git a/rmf_site_editor/src/interaction/select_anchor.rs b/rmf_site_editor/src/interaction/select_anchor.rs
index e7b50d4b..288c36e9 100644
--- a/rmf_site_editor/src/interaction/select_anchor.rs
+++ b/rmf_site_editor/src/interaction/select_anchor.rs
@@ -22,13 +22,13 @@ use crate::{
         Dependents, DrawingMarker, Original, PathBehavior, Pending, TextureNeedsAssignment,
         VisualMeshMarker,
     },
-    CurrentWorkspace,
+    AppState, CurrentWorkspace,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use rmf_site_format::{
-    Constraint, ConstraintDependents, Door, Edge, Fiducial, Floor, Lane, LiftProperties, Location,
-    Measurement, MeshConstraint, MeshElement, Model, ModelMarker, NameInWorkcell, NameOfSite, Path,
-    PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
+    Constraint, ConstraintDependents, Door, Edge, Fiducial, Floor, FrameMarker, Lane,
+    LiftProperties, Location, Measurement, MeshConstraint, MeshElement, Model, ModelMarker,
+    NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
 };
 use std::collections::HashSet;
 use std::sync::Arc;
@@ -1755,19 +1755,6 @@ impl SelectAnchor3D {
         params: &mut SelectAnchorPlacementParams<'w, 's>,
     ) -> Result<(), ()> {
         if let Some(target) = self.target {
-            // Change the anchor that the location is attached to.
-            let (e, anchor) = match params.anchors.get_mut(target) {
-                Ok(l) => l,
-                Err(_) => {
-                    error!(
-                        "Unable to get anchor {:?} while \
-                        replacing 3D Anchor.",
-                        target
-                    );
-                    return Err(());
-                }
-            };
-
             // Make sure the selected entity is an anchor
             // TODO(luca) Should this be at the caller level?
             match params.anchors.get(anchor_selection.entity()) {
@@ -1790,27 +1777,6 @@ impl SelectAnchor3D {
                 match self.parent {
                     Some(new_parent) => {
                         if anchor_selection.entity() != target {
-                            // Delete parent and dependent
-                            if let Ok(old_parent) = params.parents.get(target) {
-                                params
-                                    .commands
-                                    .entity(**old_parent)
-                                    .remove_children(&[target]);
-                                params.remove_dependent(
-                                    target,
-                                    **old_parent,
-                                    &mut Some(&mut anchor_selection),
-                                )?;
-                            }
-                            params.add_dependent(
-                                target,
-                                anchor_selection.entity(),
-                                &mut Some(&mut anchor_selection),
-                            )?;
-                            params
-                                .commands
-                                .entity(anchor_selection.entity())
-                                .push_children(&[target]);
                             self.parent = Some(anchor_selection.entity());
                         }
                         return Ok(());
@@ -1852,58 +1818,10 @@ impl SelectAnchor3D {
         return PreviewResult::Unchanged;
     }
 
-    /// Return Ok if we need to keep the entity, Err if we need to remove it
-    fn placement_backout<'w, 's>(
-        &self,
-        continuity: SelectAnchorContinuity,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<(), ()> {
-        match self.parent {
-            Some(parent) => {
-                if let Ok((e, _anchor)) = params.anchors.get_mut(parent) {
-                    if let Ok(mut deps) = params.dependents.get_mut(e) {
-                        deps.remove(&target);
-                        params.commands.entity(e).remove_children(&[target]);
-                    }
-
-                    if let Some(replacing) = continuity.replacing() {
-                        // Restore the target to the original
-                        if let Ok(mut deps) = params.dependents.get_mut(replacing) {
-                            deps.insert(target);
-                            params.commands.entity(replacing).push_children(&[target]);
-                        }
-
-                        // point.0 = replacing;
-                        params.commands.entity(target).remove::<Pending>();
-                        return Ok(());
-                    } else {
-                        // Delete the location entirely because there is no anchor to
-                        // return it to.
-                        params.commands.entity(target).despawn_recursive();
-                        return Err(());
-                    }
-                } else {
-                    error!(
-                        "Cannot find point for location {target:?} while \
-                        trying to back out of SelectAnchor mode"
-                    );
-                    return Err(());
-                }
-            }
-            None => {
-                return Ok(());
-            }
-        }
-    }
-
     pub fn backout<'w, 's>(
         &self,
         params: &mut SelectAnchorPlacementParams<'w, 's>,
     ) -> InteractionMode {
-        if let Some(target) = self.target {
-            self.placement_backout(self.continuity, target, params);
-        }
         params.cleanup();
         return InteractionMode::Inspect;
     }
@@ -2190,16 +2108,6 @@ fn compute_parent_inverse_pose(
     pose.align_with(&Transform::from_matrix((inv_tf * goal_tf).into()))
 }
 
-fn find_mesh_element(
-    params: &SelectAnchorPlacementParams,
-    cursor_tf: &GlobalTransform,
-    hovered: Entity,
-) -> MeshElement {
-    // TODO(luca) Assign a proper vertex id, will need mesh lookup based on
-    // hover status and (expensive) iteration on vertices
-    MeshElement::Vertex(0)
-}
-
 pub fn handle_select_anchor_3d_mode(
     mut mode: ResMut<InteractionMode>,
     anchors: Query<(), With<Anchor>>,
@@ -2213,6 +2121,7 @@ pub fn handle_select_anchor_3d_mode(
     mut hover: EventWriter<Hover>,
     blockers: Option<Res<PickingBlockers>>,
     workspace: Res<CurrentWorkspace>,
+    app_state: Res<State<AppState>>,
 ) {
     let mut request = match &*mode {
         InteractionMode::SelectAnchor3D(request) => request.clone(),
@@ -2263,7 +2172,7 @@ pub fn handle_select_anchor_3d_mode(
 
         // Set the request parent to the currently selected element, to spawn new object as
         // children of selected frames
-        if request.begin_creating() {
+        if matches!(**app_state, AppState::WorkcellEditor) && request.begin_creating() {
             request.parent = selection.0;
         }
     }
@@ -2283,82 +2192,84 @@ pub fn handle_select_anchor_3d_mode(
                     .get(params.cursor.frame)
                     .expect("Unable to get transform for cursor frame");
 
-                let id = params
-                    .commands
-                    .spawn(NameInWorkcell("Unnamed".to_string()))
-                    .id();
-                let parent = match request.bundle {
-                    PlaceableObject::Anchor => {
-                        // If parent is a mesh this will be a mesh constraint, otherwise an anchor
-                        let parent = if let Some(parent) =
-                            hovering.0.and_then(|p| params.models.get(p).ok())
-                        {
-                            let pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                            let element = find_mesh_element(&params, &cursor_tf, parent);
-                            params.commands.entity(id).insert(MeshConstraint {
-                                entity: parent,
-                                element: element,
-                                relative_pose: pose,
-                            });
-                            // Add constraint dependent
-                            if let Ok(mut parent_deps) =
-                                params.constraint_dependents.get_mut(parent)
-                            {
-                                parent_deps.0.insert(id);
-                            }
-                            // Parent to be assigned is the first frame parent of the currently
-                            // hovered model
-                            AncestorIter::new(&params.parents, parent)
-                                .find(|&p| params.anchors.get(p).is_ok())
-                                .unwrap_or(workspace.root.expect("No workspace"))
-                        } else {
-                            let parent = request
-                                .parent
-                                .unwrap_or(workspace.root.expect("No workspace"));
-                            let pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                            params
-                                .commands
-                                .entity(id)
-                                .insert(AnchorBundle::new(Anchor::Pose3D(pose)));
-                            parent
-                        };
-                        parent
-                    }
+                let parent = request
+                    .parent
+                    .unwrap_or(workspace.root.expect("No workspace"));
+                let pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
+                let id = match request.bundle {
+                    PlaceableObject::Anchor => params
+                        .commands
+                        .spawn((
+                            AnchorBundle::new(Anchor::Pose3D(pose)),
+                            FrameMarker,
+                            NameInWorkcell("Unnamed".to_string()),
+                        ))
+                        .id(),
                     PlaceableObject::Model(ref a) => {
                         let mut model = a.clone();
-                        let parent = workspace.root.expect("No workspace");
-                        model.pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                        params.commands.entity(id).insert(model);
-                        parent
+                        // If we are in workcell mode, add a "base link" frame to the model
+                        if matches!(**app_state, AppState::WorkcellEditor) {
+                            let child_id = params.commands.spawn(model).id();
+                            params
+                                .commands
+                                .spawn((
+                                    AnchorBundle::new(Anchor::Pose3D(pose))
+                                        .dependents(Dependents::single(child_id)),
+                                    FrameMarker,
+                                    NameInWorkcell("model_root".to_string()),
+                                ))
+                                .add_child(child_id)
+                                .id()
+                        } else {
+                            model.pose = pose;
+                            params.commands.spawn(model).id()
+                        }
                     }
                     PlaceableObject::VisualMesh(ref a) => {
                         let mut model = a.clone();
-                        let parent = request
-                            .parent
-                            .unwrap_or(workspace.root.expect("No workspace"));
-                        model.pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                        let mut cmd = params.commands.entity(id);
-                        cmd.insert(VisualMeshMarker);
-                        model.add_bevy_components(cmd);
-                        parent
+                        model.pose = pose;
+                        let mut cmd = params.commands.spawn(VisualMeshMarker);
+                        model.add_bevy_components(&mut cmd);
+                        cmd.id()
                     }
                     PlaceableObject::CollisionMesh(ref a) => {
                         let mut model = a.clone();
-                        let parent = request
-                            .parent
-                            .unwrap_or(workspace.root.expect("No workspace"));
-                        model.pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                        let mut cmd = params.commands.entity(id);
-                        cmd.insert(CollisionMeshMarker);
-                        model.add_bevy_components(cmd);
-                        parent
+                        model.pose = pose;
+                        let mut cmd = params.commands.spawn(CollisionMeshMarker);
+                        model.add_bevy_components(&mut cmd);
+                        cmd.id()
                     }
                 };
                 // Add child and dependent to parent
-                params.commands.entity(parent).add_child(id);
+                params.commands.entity(id).set_parent(parent);
                 if let Ok(mut deps) = params.dependents.get_mut(parent) {
                     deps.insert(id);
                 }
+            } else {
+                // We are replacing an anchor, which in this mode refers to changing a parent
+                if let (Some(target), Some(parent)) = (request.target, request.parent) {
+                    if let Ok(old_parent) = params.parents.get(target) {
+                        if let Ok(mut deps) = params.dependents.get_mut(**old_parent) {
+                            deps.remove(&target);
+                        }
+                    }
+                    if let Ok(mut deps) = params.dependents.get_mut(parent) {
+                        deps.insert(target);
+                    }
+                    let mut cmd = params.commands.entity(target);
+                    cmd.set_parent(parent);
+                    // Anchors store their pose in the Anchor component, other elements in Pose,
+                    // set accordingly
+                    let previous_tf = transforms
+                        .get(target)
+                        .expect("Transform not found for entity");
+                    let pose = compute_parent_inverse_pose(&previous_tf, &transforms, parent);
+                    if anchors.get(target).is_ok() {
+                        cmd.insert(AnchorBundle::new(Anchor::Pose3D(pose)));
+                    } else {
+                        cmd.insert(pose);
+                    }
+                }
             }
 
             params.cleanup();
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index 8e29696f..00717a9b 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -17,7 +17,6 @@ use keyboard::*;
 
 pub mod widgets;
 use widgets::{menu_bar::MenuPluginManager, *};
-
 pub mod occupancy;
 use occupancy::OccupancyPlugin;
 pub mod issue;
diff --git a/rmf_site_editor/src/shapes.rs b/rmf_site_editor/src/shapes.rs
index fc31f6b8..c9862ed3 100644
--- a/rmf_site_editor/src/shapes.rs
+++ b/rmf_site_editor/src/shapes.rs
@@ -660,10 +660,10 @@ pub(crate) fn make_cylinder(height: f32, radius: f32) -> MeshBuffer {
     make_smooth_wrap([top_circle, bottom_circle], resolution)
         .merge_with(
             make_bottom_circle(mid_circle, resolution)
-                .transform_by(Affine3A::from_translation([0.0, 0., -height].into())),
+                .transform_by(Affine3A::from_translation([0.0, 0., -height / 2.0].into())),
         )
         .merge_with(make_bottom_circle(mid_circle, resolution).transform_by(
-            Affine3A::from_translation([0., 0., height].into())
+            Affine3A::from_translation([0., 0., height / 2.0].into())
                 * Affine3A::from_rotation_x(180_f32.to_radians()),
         ))
 }
diff --git a/rmf_site_editor/src/site/anchor.rs b/rmf_site_editor/src/site/anchor.rs
index 4b804415..9e189cc9 100644
--- a/rmf_site_editor/src/site/anchor.rs
+++ b/rmf_site_editor/src/site/anchor.rs
@@ -100,7 +100,11 @@ pub fn update_anchor_transforms(
     mut changed_anchors: Query<(&Anchor, &mut Transform), Changed<Anchor>>,
 ) {
     for (anchor, mut tf) in &mut changed_anchors {
-        tf.translation = anchor.local_transform(Category::General).translation;
+        // Only update rotation and translation since scale, for drawing anchors, is managed by
+        // another system.
+        let new_tf = anchor.local_transform(Category::General);
+        tf.translation = new_tf.translation;
+        tf.rotation = new_tf.rotation;
     }
 }
 
diff --git a/rmf_site_editor/src/site/drawing_editor/mod.rs b/rmf_site_editor/src/site/drawing_editor/mod.rs
index a094541d..ee709d74 100644
--- a/rmf_site_editor/src/site/drawing_editor/mod.rs
+++ b/rmf_site_editor/src/site/drawing_editor/mod.rs
@@ -24,8 +24,8 @@ use crate::AppState;
 use crate::{
     interaction::{ChangeProjectionMode, Selection, SuppressHighlight, SuppressOutline},
     site::{
-        Anchor, DrawingMarker, Edge, FiducialMarker, MeasurementMarker, NameOfSite, Pending,
-        PixelsPerMeter, Point, PreventDeletion, SiteProperties, WorkcellProperties,
+        Anchor, DrawingMarker, Edge, FiducialMarker, MeasurementMarker, NameOfSite, NameOfWorkcell,
+        Pending, PixelsPerMeter, Point, PreventDeletion, SiteProperties,
     },
     CurrentWorkspace, WorkspaceMarker,
 };
@@ -88,7 +88,7 @@ fn switch_edit_drawing_mode(
     current_workspace: Res<CurrentWorkspace>,
     parent: Query<&Parent, With<DrawingMarker>>,
     is_site: Query<(), With<NameOfSite>>,
-    is_workcell: Query<(), With<WorkcellProperties>>,
+    is_workcell: Query<(), With<NameOfWorkcell>>,
 ) {
     // TODO(@mxgrey): We can make this implementation much cleaner after we
     // update to the latest version of bevy that distinguishes between inherited
diff --git a/rmf_site_editor/src/site/georeference.rs b/rmf_site_editor/src/site/georeference.rs
index 608c1e3c..74280e27 100644
--- a/rmf_site_editor/src/site/georeference.rs
+++ b/rmf_site_editor/src/site/georeference.rs
@@ -1,9 +1,9 @@
-use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
 use bevy_egui::{
     egui::{self, Slider},
     EguiContexts,
 };
-use bevy_mod_raycast::Ray3d;
+use bevy_mod_raycast::primitives::rays::Ray3d;
 use camera_controls::{CameraControls, ProjectionMode};
 use rmf_site_format::{Anchor, AssetSource, GeographicComponent, GeographicOffset};
 use std::collections::HashSet;
@@ -386,6 +386,7 @@ pub fn render_map_tiles(
     mut commands: Commands,
     site_properties: Query<(Entity, &GeographicComponent)>,
     mut render_settings: Local<RenderSettings>,
+    primary_window: Query<&Window, With<PrimaryWindow>>,
 ) {
     if let Some((_, site_properties)) = site_properties
         .iter()
@@ -429,14 +430,29 @@ pub fn render_map_tiles(
                 if let Some(Rect { min, max }) = camera.logical_viewport_rect() {
                     let viewport_size = max - min;
 
-                    let top_left_ray =
-                        Ray3d::from_screenspace(Vec2::new(0.0, 0.0), camera, transform);
-                    let top_right_ray =
-                        Ray3d::from_screenspace(Vec2::new(viewport_size.x, 0.0), camera, transform);
-                    let bottom_left_ray =
-                        Ray3d::from_screenspace(Vec2::new(0.0, viewport_size.y), camera, transform);
+                    let Ok(primary_window) = primary_window.get_single() else {
+                        return;
+                    };
+                    let top_left_ray = Ray3d::from_screenspace(
+                        Vec2::new(0.0, 0.0),
+                        camera,
+                        transform,
+                        primary_window,
+                    );
+                    let top_right_ray = Ray3d::from_screenspace(
+                        Vec2::new(viewport_size.x, 0.0),
+                        camera,
+                        transform,
+                        primary_window,
+                    );
+                    let bottom_left_ray = Ray3d::from_screenspace(
+                        Vec2::new(0.0, viewport_size.y),
+                        camera,
+                        transform,
+                        primary_window,
+                    );
                     let bottom_right_ray =
-                        Ray3d::from_screenspace(viewport_size, camera, transform);
+                        Ray3d::from_screenspace(viewport_size, camera, transform, primary_window);
 
                     let top_left = ray_groundplane_intersection(&top_left_ray);
                     let top_right = ray_groundplane_intersection(&top_right_ray);
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index c82e308e..fbd3c96c 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -209,37 +209,39 @@ impl Plugin for SitePlugin {
             ChangePlugin::<NameOfSite>::default(),
             ChangePlugin::<NameInSite>::default(),
             ChangePlugin::<NameInWorkcell>::default(),
+            ChangePlugin::<NameOfWorkcell>::default(),
             ChangePlugin::<Pose>::default(),
             ChangePlugin::<Scale>::default(),
             ChangePlugin::<MeshConstraint<Entity>>::default(),
             ChangePlugin::<Distance>::default(),
             ChangePlugin::<Texture>::default(),
-            ChangePlugin::<DoorType>::default(),
         ))
         .add_plugins((
+            ChangePlugin::<DoorType>::default(),
             RecallPlugin::<RecallDoorType>::default(),
             ChangePlugin::<LevelElevation>::default(),
             ChangePlugin::<LiftCabin<Entity>>::default(),
             RecallPlugin::<RecallLiftCabin<Entity>>::default(),
             ChangePlugin::<AssetSource>::default(),
             RecallPlugin::<RecallAssetSource>::default(),
-            ChangePlugin::<MeshPrimitive>::default(),
-            RecallPlugin::<RecallMeshPrimitive>::default(),
+            ChangePlugin::<PrimitiveShape>::default(),
+            RecallPlugin::<RecallPrimitiveShape>::default(),
             ChangePlugin::<PixelsPerMeter>::default(),
             ChangePlugin::<PhysicalCameraProperties>::default(),
             ChangePlugin::<LightKind>::default(),
             RecallPlugin::<RecallLightKind>::default(),
             ChangePlugin::<DisplayColor>::default(),
             ChangePlugin::<LocationTags>::default(),
-            RecallPlugin::<RecallLocationTags>::default(),
         ))
         .add_plugins((
+            RecallPlugin::<RecallLocationTags>::default(),
             ChangePlugin::<Visibility>::default(),
             ChangePlugin::<LayerVisibility>::default(),
             ChangePlugin::<GlobalFloorVisibility>::default(),
             ChangePlugin::<GlobalDrawingVisibility>::default(),
             ChangePlugin::<PreferredSemiTransparency>::default(),
             ChangePlugin::<Affiliation<Entity>>::default(),
+            ChangePlugin::<JointProperties>::default(),
             RecencyRankingPlugin::<NavGraphMarker>::default(),
             RecencyRankingPlugin::<FloorMarker>::default(),
             RecencyRankingPlugin::<DrawingMarker>::default(),
@@ -386,7 +388,7 @@ impl Plugin for SitePlugin {
                 update_model_scales,
                 make_models_selectable,
                 propagate_model_render_layers,
-                handle_new_mesh_primitives,
+                handle_new_primitive_shapes,
                 add_drawing_visuals,
                 handle_loaded_drawing,
                 update_drawing_rank,
diff --git a/rmf_site_editor/src/site/model.rs b/rmf_site_editor/src/site/model.rs
index ded431d8..e287eb85 100644
--- a/rmf_site_editor/src/site/model.rs
+++ b/rmf_site_editor/src/site/model.rs
@@ -362,7 +362,7 @@ pub struct Trashcan;
 /// trash can and waiting to despawn them during a later stage after any
 /// modifier commands have been flushed.
 #[derive(Resource)]
-pub struct ModelTrashcan(Entity);
+pub struct ModelTrashcan(pub Entity);
 
 impl FromWorld for ModelTrashcan {
     fn from_world(world: &mut World) -> Self {
@@ -403,6 +403,7 @@ pub fn make_models_selectable(
         let Some((selectable, render_layers)) = AncestorIter::new(&parents, model_scene_root)
             .filter_map(|p| scene_roots.get(p).ok())
             .last()
+            .or_else(|| scene_roots.get(model_scene_root).ok())
         else {
             continue;
         };
@@ -442,14 +443,14 @@ pub fn make_models_selectable(
 pub fn propagate_model_render_layers(
     mut commands: Commands,
     new_scene_roots: Query<Entity, Added<ModelSceneRoot>>,
-    scene_roots: Query<&RenderLayers, With<ModelMarker>>,
+    render_layers: Query<&RenderLayers>,
     parents: Query<&Parent>,
     mesh_entities: Query<Entity, With<Handle<Mesh>>>,
     children: Query<&Children>,
 ) {
     for e in &new_scene_roots {
         let Some(render_layers) = AncestorIter::new(&parents, e)
-            .filter_map(|p| scene_roots.get(p).ok())
+            .filter_map(|p| render_layers.get(p).ok())
             .last()
         else {
             continue;
diff --git a/rmf_site_editor/src/site/sdf.rs b/rmf_site_editor/src/site/sdf.rs
index 944c8cee..af66681c 100644
--- a/rmf_site_editor/src/site/sdf.rs
+++ b/rmf_site_editor/src/site/sdf.rs
@@ -25,8 +25,8 @@ use crate::SdfRoot;
 use sdformat_rs::{SdfGeometry, SdfPose, Vector3d};
 
 use rmf_site_format::{
-    Angle, AssetSource, ConstraintDependents, Geometry, IsStatic, MeshPrimitive, Model,
-    ModelMarker, NameInSite, Pose, Rotation, Scale,
+    Angle, AssetSource, Category, ConstraintDependents, Geometry, IsStatic, Model, ModelMarker,
+    NameInSite, Pose, PrimitiveShape, Rotation, Scale,
 };
 
 /// An empty component to mark this entity as a visual mesh
@@ -67,7 +67,7 @@ fn compute_model_source(path: &str, uri: &str) -> AssetSource {
                 "".into()
             };
         }
-        AssetSource::Local(ref mut p) => {
+        AssetSource::Local(ref mut p) | AssetSource::Package(ref mut p) => {
             let binding = p.clone();
             *p = if let Some(stripped) = uri.strip_prefix("model://") {
                 // Search for a model with the requested name in the same folder as the sdf file
@@ -93,7 +93,7 @@ fn compute_model_source(path: &str, uri: &str) -> AssetSource {
                 "".into()
             };
         }
-        AssetSource::Bundled(_) | AssetSource::Package(_) | AssetSource::OSMTile { .. } => {
+        AssetSource::Bundled(_) | AssetSource::OSMTile { .. } => {
             warn!("Requested asset source {:?} type not supported for SDFs, might behave unexpectedly", asset_source);
         }
     }
@@ -153,40 +153,44 @@ fn spawn_geometry(
             let s = &b.size.0;
             Some(
                 commands
-                    .spawn(MeshPrimitive::Box {
+                    .spawn(PrimitiveShape::Box {
                         size: [s.x as f32, s.y as f32, s.z as f32],
                     })
                     .insert(pose)
+                    .insert(NameInSite(visual_name.to_owned()))
                     .insert(SpatialBundle::INHERITED_IDENTITY)
                     .id(),
             )
         }
         SdfGeometry::Capsule(c) => Some(
             commands
-                .spawn(MeshPrimitive::Capsule {
+                .spawn(PrimitiveShape::Capsule {
                     radius: c.radius as f32,
                     length: c.length as f32,
                 })
                 .insert(pose)
+                .insert(NameInSite(visual_name.to_owned()))
                 .insert(SpatialBundle::INHERITED_IDENTITY)
                 .id(),
         ),
         SdfGeometry::Cylinder(c) => Some(
             commands
-                .spawn(MeshPrimitive::Cylinder {
+                .spawn(PrimitiveShape::Cylinder {
                     radius: c.radius as f32,
                     length: c.length as f32,
                 })
                 .insert(pose)
+                .insert(NameInSite(visual_name.to_owned()))
                 .insert(SpatialBundle::INHERITED_IDENTITY)
                 .id(),
         ),
         SdfGeometry::Sphere(s) => Some(
             commands
-                .spawn(MeshPrimitive::Sphere {
+                .spawn(PrimitiveShape::Sphere {
                     radius: s.radius as f32,
                 })
                 .insert(pose)
+                .insert(NameInSite(visual_name.to_owned()))
                 .insert(SpatialBundle::INHERITED_IDENTITY)
                 .id(),
         ),
@@ -194,7 +198,7 @@ fn spawn_geometry(
     }
 }
 
-// TODO(luca) reduce duplication between sdf -> MeshPrimitive and urdf -> MeshPrimitive
+// TODO(luca) reduce duplication between sdf -> PrimitiveShape and urdf -> PrimitiveShape
 pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &SdfRoot)>) {
     for (e, sdf) in new_sdfs.iter() {
         for link in &sdf.model.link {
@@ -214,8 +218,11 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
                 );
                 match id {
                     Some(id) => {
-                        commands.entity(id).insert(VisualMeshMarker);
-                        commands.entity(link_id).add_child(id);
+                        commands
+                            .entity(id)
+                            .insert(VisualMeshMarker)
+                            .insert(Category::Visual)
+                            .set_parent(link_id);
                     }
                     None => warn!("Found unhandled geometry type {:?}", &visual.geometry),
                 }
@@ -231,8 +238,11 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
                 );
                 match id {
                     Some(id) => {
-                        commands.entity(id).insert(CollisionMeshMarker);
-                        commands.entity(link_id).add_child(id);
+                        commands
+                            .entity(id)
+                            .insert(CollisionMeshMarker)
+                            .insert(Category::Collision)
+                            .set_parent(link_id);
                     }
                     None => warn!("Found unhandled geometry type {:?}", &collision.geometry),
                 }
@@ -242,9 +252,9 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
     }
 }
 
-pub fn handle_new_mesh_primitives(
+pub fn handle_new_primitive_shapes(
     mut commands: Commands,
-    primitives: Query<(Entity, &MeshPrimitive), Added<MeshPrimitive>>,
+    primitives: Query<(Entity, &PrimitiveShape), Added<PrimitiveShape>>,
     parents: Query<&Parent>,
     selectables: Query<
         &Selectable,
@@ -259,35 +269,37 @@ pub fn handle_new_mesh_primitives(
 ) {
     for (e, primitive) in primitives.iter() {
         let mesh = match primitive {
-            MeshPrimitive::Box { size } => Mesh::from(shape::Box::new(size[0], size[1], size[2])),
-            MeshPrimitive::Cylinder { radius, length } => {
+            PrimitiveShape::Box { size } => Mesh::from(shape::Box::new(size[0], size[1], size[2])),
+            PrimitiveShape::Cylinder { radius, length } => {
                 Mesh::from(make_cylinder(*length, *radius))
             }
-            MeshPrimitive::Capsule { radius, length } => Mesh::from(Capsule {
+            PrimitiveShape::Capsule { radius, length } => Mesh::from(Capsule {
                 radius: *radius,
                 depth: *length,
                 ..default()
             }),
-            MeshPrimitive::Sphere { radius } => Mesh::from(UVSphere {
+            PrimitiveShape::Sphere { radius } => Mesh::from(UVSphere {
                 radius: *radius,
                 ..default()
             }),
         };
-        // Parent is the first of ModelMarker and / or WorkcellVisualMarker or
-        // WorkcelLCollisionMarker
-        let child_id = commands
+        // If there is a parent with a Selectable component, use it to make this primitive
+        // point to it. Otherwise set the Selectable to point to itself.
+        let selectable = if let Some(selectable) = AncestorIter::new(&parents, e)
+            .filter_map(|p| selectables.get(p).ok())
+            .last()
+        {
+            selectable.clone()
+        } else {
+            Selectable::new(e)
+        };
+        commands
             .spawn(PbrBundle {
                 mesh: meshes.add(mesh),
                 material: site_assets.default_mesh_grey_material.clone(),
                 ..default()
             })
-            .id();
-        if let Some(selectable) = AncestorIter::new(&parents, e)
-            .filter_map(|p| selectables.get(p).ok())
-            .last()
-        {
-            commands.entity(child_id).insert(selectable.clone());
-        }
-        commands.entity(e).push_children(&[child_id]);
+            .insert(selectable)
+            .set_parent(e);
     }
 }
diff --git a/rmf_site_editor/src/widgets/create.rs b/rmf_site_editor/src/widgets/create.rs
index ba5692c0..ea124c48 100644
--- a/rmf_site_editor/src/widgets/create.rs
+++ b/rmf_site_editor/src/widgets/create.rs
@@ -218,12 +218,12 @@ impl<'a, 'w1, 'w2, 's1, 's2> CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
                                     if ui.button("Spawn visual").clicked() {
                                         let workcell_model = WorkcellModel {
                                             geometry: Geometry::Mesh {
-                                                filename: (&self
+                                                source: self
                                                     .events
                                                     .display
                                                     .pending_model
-                                                    .source)
-                                                    .into(),
+                                                    .source
+                                                    .clone(),
                                                 scale: Some(
                                                     *self.events.display.pending_model.scale,
                                                 ),
@@ -239,12 +239,12 @@ impl<'a, 'w1, 'w2, 's1, 's2> CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
                                     if ui.button("Spawn collision").clicked() {
                                         let workcell_model = WorkcellModel {
                                             geometry: Geometry::Mesh {
-                                                filename: (&self
+                                                source: self
                                                     .events
                                                     .display
                                                     .pending_model
-                                                    .source)
-                                                    .into(),
+                                                    .source
+                                                    .clone(),
                                                 scale: Some(
                                                     *self.events.display.pending_model.scale,
                                                 ),
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
index 7917cdc4..65dc05bf 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
@@ -19,9 +19,10 @@ use crate::{
     interaction::{ChangeMode, Hover, MoveTo, SelectAnchor3D},
     site::{
         latlon_to_world, world_to_latlon, Anchor, AssociatedGraphs, Category, Change, Dependents,
-        GeographicComponent, LocationTags, MeshConstraint, SiteID, Subordinate,
+        GeographicComponent, JointProperties, LocationTags, MeshConstraint, SiteID, Subordinate,
     },
     widgets::{inspector::InspectPose, inspector::SelectionWidget, AppEvents, Icons},
+    workcell::CreateJoint,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
@@ -42,6 +43,7 @@ pub struct InspectAnchorParams<'w, 's> {
     >,
     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>,
 }
 
@@ -183,8 +185,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
                     Anchor::Pose3D(pose) => {
                         ui.vertical(|ui| {
                             if let Some(c) = mesh_constraint {
-                                // For mesh constraints we only allow rotation and inspection of
-                                // parents
+                                // For mesh constraints we only allow rotation editing
                                 if let Some(new_pose) =
                                     InspectPose::new(&c.relative_pose).for_rotation().show(ui)
                                 {
@@ -202,23 +203,6 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
                                             self.anchor,
                                         ));
                                 }
-                                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);
-
-                                ui.label("Frame Parent");
-                                SelectionWidget::new(
-                                    parent.get(),
-                                    self.params.site_id.get(parent.get()).ok().cloned(),
-                                    self.params.icons.as_ref(),
-                                    self.events,
-                                )
-                                .show(ui);
                             } else {
                                 if let Some(new_pose) = InspectPose::new(pose).show(ui) {
                                     // TODO(luca) Using moveto doesn't allow switching between variants of
@@ -228,37 +212,14 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
                                         transform: new_pose.transform(),
                                     });
                                 }
-
-                                // Parent reassigning widget
-                                ui.label("Parent");
-                                SelectionWidget::new(
-                                    parent.get(),
-                                    self.params.site_id.get(parent.get()).ok().cloned(),
-                                    self.params.icons.as_ref(),
-                                    self.events,
-                                )
-                                .show(ui);
-
-                                let assign_response = ui.add(ImageButton::new(
-                                    self.params.icons.edit.egui(),
-                                    [18., 18.],
-                                ));
-
-                                if assign_response.hovered() {
-                                    self.events.request.hover.send(Hover(Some(self.anchor)));
-                                }
-
-                                let parent_replace = assign_response.clicked();
-                                assign_response.on_hover_text("Reassign");
-
-                                if parent_replace {
-                                    let request =
-                                        SelectAnchor3D::replace_point(self.anchor, parent.get())
-                                            .for_anchor(Some(parent.get()));
-                                    self.events
-                                        .request
-                                        .change_mode
-                                        .send(ChangeMode::To(request.into()));
+                            }
+                            // 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,
+                                    });
                                 }
                             }
                         });
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
new file mode 100644
index 00000000..ce253715
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
@@ -0,0 +1,93 @@
+/*
+ * 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::{
+    site::{Change, Dependents, FrameMarker, JointProperties, SiteID},
+    widgets::{inspector::SelectionWidget, AppEvents},
+    Icons,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{ComboBox, Ui};
+
+#[derive(SystemParam)]
+pub struct InspectJointParams<'w, 's> {
+    pub joints: Query<
+        'w,
+        's,
+        (
+            &'static Parent,
+            &'static Dependents,
+            &'static JointProperties,
+        ),
+    >,
+    pub icons: Res<'w, Icons>,
+    pub site_id: Query<'w, 's, &'static SiteID>,
+    pub frames: Query<'w, 's, (), With<FrameMarker>>,
+}
+
+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,
+        }
+    }
+
+    pub fn show(self, ui: &mut Ui) {
+        let Ok((parent, deps, joint_properties)) = self.params.joints.get(self.joint) 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);
+
+        if let Some(frame_dep) = deps.iter().find(|d| self.params.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);
+        }
+
+        ui.horizontal(|ui| {
+            ui.label("Joint Type");
+            // TODO(luca) Make this a ComboBox to edit joint value data
+            ui.label(joint_properties.label());
+        });
+        // TODO(luca) add joint limit and joint axis inspectors
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_mesh_primitive.rs b/rmf_site_editor/src/widgets/inspector/inspect_mesh_primitive.rs
deleted file mode 100644
index 8ac38655..00000000
--- a/rmf_site_editor/src/widgets/inspector/inspect_mesh_primitive.rs
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * 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 bevy_egui::egui::{ComboBox, DragValue, Ui};
-use rmf_site_format::{MeshPrimitive, RecallMeshPrimitive};
-
-pub struct InspectMeshPrimitive<'a> {
-    pub primitive: &'a MeshPrimitive,
-    pub recall: &'a RecallMeshPrimitive,
-}
-
-impl<'a> InspectMeshPrimitive<'a> {
-    pub fn new(primitive: &'a MeshPrimitive, recall: &'a RecallMeshPrimitive) -> Self {
-        Self { primitive, recall }
-    }
-
-    pub fn show(self, ui: &mut Ui) -> Option<MeshPrimitive> {
-        let mut new_primitive = self.primitive.clone();
-        // TODO(luca) implement recall plugin
-        ui.horizontal(|ui| {
-            ui.label("Primitive");
-            ComboBox::from_id_source("Mesh Primitive")
-                .selected_text(new_primitive.label())
-                .show_ui(ui, |ui| {
-                    for variant in &[
-                        self.recall.assume_box(self.primitive),
-                        self.recall.assume_cylinder(self.primitive),
-                        self.recall.assume_capsule(self.primitive),
-                        self.recall.assume_sphere(self.primitive),
-                    ] {
-                        ui.selectable_value(&mut new_primitive, variant.clone(), variant.label());
-                    }
-                    ui.end_row();
-                });
-        });
-        match &mut new_primitive {
-            MeshPrimitive::Box { size } => {
-                ui.add(DragValue::new(&mut size[0]).clamp_range(0_f32..=std::f32::INFINITY));
-                ui.add(DragValue::new(&mut size[1]).clamp_range(0_f32..=std::f32::INFINITY));
-                ui.add(DragValue::new(&mut size[2]).clamp_range(0_f32..=std::f32::INFINITY));
-            }
-            MeshPrimitive::Cylinder { radius, length } => {}
-            MeshPrimitive::Capsule { radius, length } => {}
-            MeshPrimitive::Sphere { radius } => {}
-        }
-        if &new_primitive != self.primitive {
-            Some(new_primitive)
-        } 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 396d729d..9ce0457a 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_name.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_name.rs
@@ -16,8 +16,9 @@
 */
 
 use bevy_egui::egui::Ui;
-use rmf_site_format::{NameInSite, NameInWorkcell};
+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,
 }
@@ -65,3 +66,27 @@ impl<'a> InspectNameInWorkcell<'a> {
         .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
+            }
+        })
+        .inner
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
new file mode 100644
index 00000000..83c11686
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
@@ -0,0 +1,73 @@
+/*
+ * 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 bevy_egui::egui::{ComboBox, DragValue, Ui};
+use rmf_site_format::{PrimitiveShape, RecallPrimitiveShape};
+
+pub struct InspectPrimitiveShape<'a> {
+    pub primitive: &'a PrimitiveShape,
+    pub recall: &'a RecallPrimitiveShape,
+}
+
+impl<'a> InspectPrimitiveShape<'a> {
+    pub fn new(primitive: &'a PrimitiveShape, recall: &'a RecallPrimitiveShape) -> Self {
+        Self { primitive, recall }
+    }
+
+    pub fn show(self, ui: &mut Ui) -> Option<PrimitiveShape> {
+        let mut new_primitive = self.primitive.clone();
+        ui.horizontal(|ui| {
+            ui.label("Primitive:");
+            // TODO(luca) make this a ComboBox again once we have a system to update primitives
+            ui.label(new_primitive.label());
+        });
+        // TODO(luca) Make these values editable and implement a system to parse changes
+        match &mut new_primitive {
+            PrimitiveShape::Box { size } => {
+                ui.label("Size");
+                ui.horizontal(|ui| {
+                    ui.label("X:");
+                    ui.label(size[0].to_string());
+                    ui.label("Y:");
+                    ui.label(size[1].to_string());
+                    ui.label("Z:");
+                    ui.label(size[2].to_string());
+                });
+            }
+            PrimitiveShape::Cylinder { radius, length }
+            | PrimitiveShape::Capsule { radius, length } => {
+                ui.horizontal(|ui| {
+                    ui.label("Radius:");
+                    ui.label(radius.to_string());
+                    ui.label("Length:");
+                    ui.label(length.to_string());
+                });
+            }
+            PrimitiveShape::Sphere { radius } => {
+                ui.horizontal(|ui| {
+                    ui.label("Radius:");
+                    ui.label(radius.to_string());
+                });
+            }
+        }
+        if &new_primitive != self.primitive {
+            Some(new_primitive)
+        } else {
+            None
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
new file mode 100644
index 00000000..a3fcdd4d
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
@@ -0,0 +1,112 @@
+/*
+ * 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::{
+    interaction::{ChangeMode, Hover, SelectAnchor3D},
+    site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell, SiteID},
+    widgets::{inspector::SelectionWidget, AppEvents, Icons},
+};
+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<
+        'w,
+        's,
+        Entity,
+        Or<(
+            With<FrameMarker>,
+            With<NameInWorkcell>,
+            With<NameOfWorkcell>,
+        )>,
+    >,
+    pub mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
+    pub site_id: Query<'w, 's, &'static SiteID>,
+    pub icons: Res<'w, Icons>,
+}
+
+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,
+        }
+    }
+
+    pub fn show(self, 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))
+        {
+            ui.vertical(|ui| {
+                if let Ok(c) = self.params.mesh_constraints.get(self.entity) {
+                    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);
+                }
+                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(), [18., 18.]));
+
+                if assign_response.hovered() {
+                    self.events.request.hover.send(Hover(Some(self.entity)));
+                }
+
+                let parent_replace = assign_response.clicked();
+                assign_response.on_hover_text("Reassign");
+
+                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()));
+                }
+            });
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/mod.rs b/rmf_site_editor/src/widgets/inspector/mod.rs
index 47593648..6f0026fc 100644
--- a/rmf_site_editor/src/widgets/inspector/mod.rs
+++ b/rmf_site_editor/src/widgets/inspector/mod.rs
@@ -39,6 +39,9 @@ pub use inspect_fiducial::*;
 pub mod inspect_group;
 pub use inspect_group::*;
 
+pub mod inspect_joint;
+pub use inspect_joint::*;
+
 pub mod inspect_is_static;
 pub use inspect_is_static::*;
 
@@ -60,8 +63,8 @@ pub use inspect_location::*;
 pub mod inspect_mesh_constraint;
 pub use inspect_mesh_constraint::*;
 
-pub mod inspect_mesh_primitive;
-pub use inspect_mesh_primitive::*;
+pub mod inspect_primitive_shape;
+pub use inspect_primitive_shape::*;
 
 pub mod inspect_motion;
 pub use inspect_motion::*;
@@ -90,6 +93,9 @@ pub use inspect_texture::*;
 pub mod inspect_value;
 pub use inspect_value::*;
 
+pub mod inspect_workcell_parent;
+pub use inspect_workcell_parent::*;
+
 pub mod selection_widget;
 pub use selection_widget::*;
 
@@ -116,12 +122,11 @@ pub struct InspectorParams<'w, 's> {
     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 constraint_dependents_params: InspectModelDependentsParams<'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 mesh_primitives: Query<'w, 's, (&'static MeshPrimitive, &'static RecallMeshPrimitive)>,
-    pub names_in_workcell: Query<'w, 's, &'static NameInWorkcell>,
+    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>,
@@ -129,6 +134,15 @@ pub struct InspectorParams<'w, 's> {
     pub default_file: Query<'w, 's, &'static DefaultFile>,
 }
 
+#[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>,
+}
+
 // NOTE: We may need to split this struct into multiple structs if we ever need
 // it to have more than 16 fields.
 #[derive(SystemParam)]
@@ -262,7 +276,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                 ui.add_space(10.0);
             }
 
-            if let Ok(name) = self.params.names_in_workcell.get(selection) {
+            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
@@ -272,6 +286,16 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                 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(
@@ -487,13 +511,14 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                 ui.add_space(10.0);
             }
 
-            if let Ok((source, recall)) = self.params.mesh_primitives.get(selection) {
-                if let Some(new_mesh_primitive) = InspectMeshPrimitive::new(source, recall).show(ui)
+            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
-                        .mesh_primitives
-                        .send(Change::new(new_mesh_primitive, selection));
+                        .primitive_shapes
+                        .send(Change::new(new_primitive_shape, selection));
                 }
                 ui.add_space(10.0);
             }
@@ -507,13 +532,26 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
             {
                 InspectModelDependentsWidget::new(
                     selection,
-                    &self.params.constraint_dependents_params,
+                    &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)
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index 66dd8a08..20128c92 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -26,9 +26,10 @@ use crate::{
         AlignSiteDrawings, AssociatedGraphs, BeginEditDrawing, Change, CollisionMeshMarker,
         ConsiderAssociatedGraph, ConsiderLocationTag, CurrentLevel, Delete, DrawingMarker,
         ExportLights, FinishEditDrawing, GlobalDrawingVisibility, GlobalFloorVisibility,
-        LayerVisibility, MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture,
+        JointProperties, LayerVisibility, MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture,
         ToggleLiftDoorAvailability, VisualMeshMarker,
     },
+    workcell::CreateJoint,
     AppState, CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
     ValidateWorkspace,
 };
@@ -162,6 +163,7 @@ pub struct ChangeEvents<'w> {
     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>>,
@@ -170,9 +172,10 @@ pub struct ChangeEvents<'w> {
 #[derive(SystemParam)]
 pub struct WorkcellChangeEvents<'w> {
     pub mesh_constraints: EventWriter<'w, Change<MeshConstraint<Entity>>>,
-    pub mesh_primitives: EventWriter<'w, Change<MeshPrimitive>>,
     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>>,
 }
 
 #[derive(SystemParam)]
@@ -214,6 +217,7 @@ pub struct Requests<'w> {
     pub consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
     pub align_site: EventWriter<'w, AlignSiteDrawings>,
     pub validate_workspace: EventWriter<'w, ValidateWorkspace>,
+    pub create_joint: EventWriter<'w, CreateJoint>,
 }
 
 #[derive(SystemParam)]
diff --git a/rmf_site_editor/src/wireframe.rs b/rmf_site_editor/src/wireframe.rs
index 22b46d94..90a7189b 100644
--- a/rmf_site_editor/src/wireframe.rs
+++ b/rmf_site_editor/src/wireframe.rs
@@ -19,7 +19,7 @@ use crate::menu_bar::{MenuEvent, MenuItem, ViewMenu};
 use bevy::pbr::wireframe::{Wireframe, WireframePlugin};
 use bevy::prelude::*;
 
-use rmf_site_format::ModelMarker;
+use rmf_site_format::{ModelMarker, PrimitiveShape};
 
 #[derive(Default)]
 pub struct SiteWireframePlugin;
@@ -53,7 +53,7 @@ fn handle_wireframe_menu_events(
     wireframe_menu: Res<WireframeMenu>,
     meshes: Query<Entity, With<Handle<Mesh>>>,
     children: Query<&Children>,
-    models: Query<Entity, With<ModelMarker>>,
+    models: Query<Entity, Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
 ) {
     for event in menu_events.iter() {
         if event.clicked() && event.source() == wireframe_menu.toggle_wireframe {
@@ -86,7 +86,7 @@ fn add_wireframe_to_new_models(
     mut commands: Commands,
     new_meshes: Query<Entity, Added<Handle<Mesh>>>,
     parents: Query<&Parent>,
-    models: Query<Entity, With<ModelMarker>>,
+    models: Query<Entity, Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
     wireframe_menu: Res<WireframeMenu>,
     menu_items: Query<&MenuItem>,
     meshes: Query<Entity, With<Handle<Mesh>>>,
diff --git a/rmf_site_editor/src/workcell/frame.rs b/rmf_site_editor/src/workcell/frame.rs
new file mode 100644
index 00000000..15bbb9da
--- /dev/null
+++ b/rmf_site_editor/src/workcell/frame.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 crate::interaction::AnchorVisualization;
+use bevy::prelude::*;
+use rmf_site_format::FrameMarker;
+
+// TODO(luca) We should probably have a different mesh altogether for workcell anchors, rather than
+// a scaled down version of site anchors.
+pub fn scale_workcell_anchors(
+    parents: Query<&Parent>,
+    new_frames: Query<&AnchorVisualization, With<FrameMarker>>,
+    mut transforms: Query<&mut Transform>,
+) {
+    for frame in new_frames.iter() {
+        if let Ok(mut tf) = transforms.get_mut(frame.body) {
+            tf.scale = Vec3::splat(0.25);
+        }
+    }
+}
diff --git a/rmf_site_editor/src/workcell/joint.rs b/rmf_site_editor/src/workcell/joint.rs
new file mode 100644
index 00000000..47f7167e
--- /dev/null
+++ b/rmf_site_editor/src/workcell/joint.rs
@@ -0,0 +1,83 @@
+/*
+ * 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::site::{Delete, Dependents};
+use bevy::prelude::*;
+use rmf_site_format::{FrameMarker, Joint, JointProperties, NameInWorkcell};
+
+/// Event used  to request the creation of a joint between a parent and a child frame
+#[derive(Event)]
+pub struct CreateJoint {
+    pub parent: Entity,
+    pub child: Entity,
+    // TODO(luca) Add different properties here such as JointType
+}
+
+pub fn handle_create_joint_events(
+    mut commands: Commands,
+    mut events: EventReader<CreateJoint>,
+    mut dependents: Query<&mut Dependents>,
+    frames: Query<&NameInWorkcell, With<FrameMarker>>,
+) {
+    for req in events.iter() {
+        let Ok(parent_name) = frames.get(req.parent) else {
+            error!(
+                "Requested to create a joint with a parent that is not a frame, \
+                   this is not valid and will be ignored"
+            );
+            continue;
+        };
+        let Ok(child_name) = frames.get(req.child) else {
+            error!(
+                "Requested to create a joint with a child that is not a frame, \
+                   this is not valid and will be ignored"
+            );
+            continue;
+        };
+        let joint_name = if !parent_name.is_empty() && !child_name.is_empty() {
+            format!("joint-{}-{}", **parent_name, **child_name)
+        } else {
+            "new_joint".into()
+        };
+        let joint = Joint {
+            name: NameInWorkcell(joint_name),
+            properties: JointProperties::Fixed,
+        };
+        let mut cmd = commands.spawn(Dependents::single(req.child));
+        let joint_id = cmd.id();
+        joint.add_bevy_components(&mut cmd);
+        // Now place the joint between the parent and child in the hierarchy
+        commands.entity(req.child).set_parent(joint_id);
+        commands.entity(joint_id).set_parent(req.parent);
+        if let Ok(mut deps) = dependents.get_mut(req.parent) {
+            deps.remove(&req.child);
+            deps.insert(joint_id);
+        }
+    }
+}
+
+/// This system cleans up joints which don't have a child anymore because it was despawned
+pub fn cleanup_orphaned_joints(
+    changed_joints: Query<(Entity, &Children), (Changed<Children>, With<JointProperties>)>,
+    mut delete: EventWriter<Delete>,
+) {
+    for (e, children) in &changed_joints {
+        if children.is_empty() {
+            delete.send(Delete::new(e));
+        }
+    }
+}
diff --git a/rmf_site_editor/src/workcell/keyboard.rs b/rmf_site_editor/src/workcell/keyboard.rs
index f8ee6f7b..6327d5ae 100644
--- a/rmf_site_editor/src/workcell/keyboard.rs
+++ b/rmf_site_editor/src/workcell/keyboard.rs
@@ -15,12 +15,14 @@
  *
 */
 
+use crate::{ExportFormat, SaveWorkspace, SaveWorkspaceDestination};
 use bevy::prelude::*;
 use bevy_egui::EguiContexts;
 
 pub fn handle_workcell_keyboard_input(
     keyboard_input: Res<Input<KeyCode>>,
     mut egui_context: EguiContexts,
+    mut save_events: EventWriter<SaveWorkspace>,
 ) {
     let egui_context = egui_context.ctx_mut();
     let ui_has_focus = egui_context.wants_pointer_input()
@@ -31,21 +33,12 @@ pub fn handle_workcell_keyboard_input(
         return;
     }
 
-    /*
-    if keyboard_input.any_pressed([KeyCode::LShift, KeyCode::RShift]) {
-        if keyboard_input.just_pressed(KeyCode::V) {
-            info!("Toggling visuals");
-            for mut v in visuals.iter_mut() {
-                v.is_visible = !v.is_visible;
-            }
-        }
-
-        if keyboard_input.just_pressed(KeyCode::C) {
-            info!("Toggling collisions");
-            for mut c in collisions.iter_mut() {
-                c.is_visible = !c.is_visible;
-            }
+    if keyboard_input.any_pressed([KeyCode::ControlLeft, KeyCode::ControlRight]) {
+        if keyboard_input.just_pressed(KeyCode::E) {
+            save_events.send(SaveWorkspace {
+                destination: SaveWorkspaceDestination::Dialog,
+                format: ExportFormat::Urdf,
+            });
         }
     }
-    */
 }
diff --git a/rmf_site_editor/src/workcell/load.rs b/rmf_site_editor/src/workcell/load.rs
index 284f16fd..218ee00b 100644
--- a/rmf_site_editor/src/workcell/load.rs
+++ b/rmf_site_editor/src/workcell/load.rs
@@ -30,7 +30,7 @@ use bevy::prelude::*;
 use std::collections::HashSet;
 
 use rmf_site_format::{
-    Category, ConstraintDependents, MeshConstraint, NameInWorkcell, SiteID, Workcell,
+    Category, ConstraintDependents, FrameMarker, MeshConstraint, NameInWorkcell, SiteID, Workcell,
 };
 
 #[derive(Event)]
@@ -54,7 +54,6 @@ fn generate_workcell_entities(commands: &mut Commands, workcell: &Workcell) -> E
     let root = commands
         .spawn(SpatialBundle::INHERITED_IDENTITY)
         .insert(workcell.properties.clone())
-        .insert(NameInWorkcell(workcell.properties.name.clone()))
         .insert(SiteID(workcell.id))
         .insert(Category::Workcell)
         .insert(WorkspaceMarker)
@@ -65,9 +64,9 @@ fn generate_workcell_entities(commands: &mut Commands, workcell: &Workcell) -> E
     id_to_entity.insert(&workcell.id, root);
 
     for (id, parented_visual) in &workcell.visuals {
-        let cmd = commands.spawn((SiteID(*id), VisualMeshMarker));
+        let mut cmd = commands.spawn((SiteID(*id), VisualMeshMarker, Category::Visual));
         let e = cmd.id();
-        parented_visual.bundle.add_bevy_components(cmd);
+        parented_visual.bundle.add_bevy_components(&mut cmd);
         // TODO(luca) this hashmap update is duplicated, refactor into function
         let child_entities: &mut Vec<Entity> = parent_to_child_entities
             .entry(parented_visual.parent)
@@ -77,9 +76,9 @@ fn generate_workcell_entities(commands: &mut Commands, workcell: &Workcell) -> E
     }
 
     for (id, parented_collision) in &workcell.collisions {
-        let cmd = commands.spawn((SiteID(*id), CollisionMeshMarker));
+        let mut cmd = commands.spawn((SiteID(*id), CollisionMeshMarker, Category::Collision));
         let e = cmd.id();
-        parented_collision.bundle.add_bevy_components(cmd);
+        parented_collision.bundle.add_bevy_components(&mut cmd);
         // TODO(luca) this hashmap update is duplicated, refactor into function
         let child_entities: &mut Vec<Entity> = parent_to_child_entities
             .entry(parented_collision.parent)
@@ -92,6 +91,7 @@ fn generate_workcell_entities(commands: &mut Commands, workcell: &Workcell) -> E
         let e = commands
             .spawn(AnchorBundle::new(parented_anchor.bundle.anchor.clone()).visible(true))
             .insert(SiteID(*id))
+            .insert(FrameMarker)
             .id();
         if let Some(c) = &parented_anchor.bundle.mesh_constraint {
             let model_entity = *id_to_entity
@@ -118,6 +118,32 @@ fn generate_workcell_entities(commands: &mut Commands, workcell: &Workcell) -> E
         id_to_entity.insert(id, e);
     }
 
+    for (id, parented_inertia) in &workcell.inertias {
+        let e = commands
+            .spawn(SpatialBundle::INHERITED_IDENTITY)
+            .insert(parented_inertia.bundle.clone())
+            .insert(Category::Inertia)
+            .insert(SiteID(*id))
+            .id();
+        let child_entities: &mut Vec<Entity> = parent_to_child_entities
+            .entry(parented_inertia.parent)
+            .or_default();
+        child_entities.push(e);
+        id_to_entity.insert(id, e);
+    }
+
+    for (id, parented_joint) in &workcell.joints {
+        let joint = &parented_joint.bundle;
+        let mut cmd = commands.spawn(SiteID(*id));
+        let e = cmd.id();
+        joint.add_bevy_components(&mut cmd);
+        let child_entities: &mut Vec<Entity> = parent_to_child_entities
+            .entry(parented_joint.parent)
+            .or_default();
+        child_entities.push(e);
+        id_to_entity.insert(id, e);
+    }
+
     // Add constraint dependents to models
     for (model, dependents) in model_to_constraint_dependent_entities {
         commands
diff --git a/rmf_site_editor/src/workcell/menu.rs b/rmf_site_editor/src/workcell/menu.rs
new file mode 100644
index 00000000..89618948
--- /dev/null
+++ b/rmf_site_editor/src/workcell/menu.rs
@@ -0,0 +1,60 @@
+/*
+ * 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 urdf button.
+#[derive(Resource)]
+pub struct ExportUrdfMenu {
+    export_urdf: Entity,
+}
+
+impl FromWorld for ExportUrdfMenu {
+    fn from_world(world: &mut World) -> Self {
+        let workcell_states = HashSet::from([AppState::WorkcellEditor]);
+        // TODO(luca) add shortcut text for Ctrl-E
+        let file_header = world.resource::<FileMenu>().get();
+        let export_urdf = world
+            .spawn((
+                MenuItem::Text("Export Urdf".to_string()),
+                MenuVisualizationStates(workcell_states),
+            ))
+            .set_parent(file_header)
+            .id();
+
+        ExportUrdfMenu { export_urdf }
+    }
+}
+
+pub fn handle_export_urdf_menu_events(
+    mut commands: Commands,
+    mut menu_events: EventReader<MenuEvent>,
+    urdf_menu: Res<ExportUrdfMenu>,
+    mut save_events: EventWriter<SaveWorkspace>,
+) {
+    for event in menu_events.iter() {
+        if event.clicked() && event.source() == urdf_menu.export_urdf {
+            save_events.send(SaveWorkspace {
+                destination: SaveWorkspaceDestination::Dialog,
+                format: ExportFormat::Urdf,
+            });
+        }
+    }
+}
diff --git a/rmf_site_editor/src/workcell/mesh_constraint.rs b/rmf_site_editor/src/workcell/mesh_constraint.rs
deleted file mode 100644
index e93c3120..00000000
--- a/rmf_site_editor/src/workcell/mesh_constraint.rs
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * 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::site::AnchorBundle;
-use bevy::prelude::*;
-use rmf_site_format::{Anchor, ConstraintDependents, MeshConstraint, ModelMarker, Pose};
-
-pub fn update_constraint_dependents(
-    updated_models: Query<
-        (&ConstraintDependents, &Transform),
-        (Changed<Transform>, With<ModelMarker>),
-    >,
-    mut transforms: Query<&mut Transform, Without<ModelMarker>>,
-    mesh_constraints: Query<&MeshConstraint<Entity>>,
-) {
-    // TODO(luca) Add widget for parent reassignment in models, otherwise Changed<Parent> will
-    // never trigger
-    // When a mesh constraint is added we need to remove the Pose component and
-    // set the transform of the entity according to the entity contained in the MeshConstraint
-    // component
-    for (deps, model_tf) in updated_models.iter() {
-        for dep in deps.iter() {
-            if let Ok(mut anchor_tf) = transforms.get_mut(*dep) {
-                if let Ok(constraint) = mesh_constraints.get(*dep) {
-                    // TODO(luca) should relative_pose be relative to model origin instead?
-                    // constraint.relative_pose = tf.into();
-                    // Set the transform to be a combination of model's and constraint's relative_pose
-                    *anchor_tf = *model_tf * constraint.relative_pose.transform();
-                }
-            }
-        }
-    }
-}
-
-pub fn add_anchors_for_new_mesh_constraints(
-    mut commands: Commands,
-    changed_constraints: Query<(Entity, &MeshConstraint<Entity>), Changed<MeshConstraint<Entity>>>,
-    transforms: Query<&Transform>,
-) {
-    for (e, constraint) in changed_constraints.iter() {
-        if let Ok(model_tf) = transforms.get(constraint.entity) {
-            let tf = *model_tf * constraint.relative_pose.transform();
-            let pose = Pose::default().align_with(&tf);
-            // TODO(luca) is this OK performance wise or should we detect if the component is
-            // already present and change its value?
-            commands
-                .entity(e)
-                .insert(AnchorBundle::new(Anchor::Pose3D(pose)));
-        }
-    }
-}
diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
index b689d500..410dcc23 100644
--- a/rmf_site_editor/src/workcell/mod.rs
+++ b/rmf_site_editor/src/workcell/mod.rs
@@ -15,18 +15,29 @@
  *
 */
 
+pub mod frame;
+pub use frame::*;
+
+pub mod joint;
+pub use joint::*;
+
 pub mod load;
 pub use load::*;
 
 pub mod keyboard;
 pub use keyboard::*;
 
-pub mod mesh_constraint;
-pub use mesh_constraint::*;
+pub mod menu;
+pub use menu::*;
+
+pub mod model;
+pub use model::*;
 
 pub mod save;
 pub use save::*;
 
+pub mod urdf_package_exporter;
+
 pub mod workcell;
 pub use workcell::*;
 
@@ -39,7 +50,7 @@ use crate::AppState;
 use crate::{
     shapes::make_infinite_grid,
     site::{
-        clear_model_trashcan, handle_model_loaded_events, handle_new_mesh_primitives,
+        clear_model_trashcan, handle_model_loaded_events, handle_new_primitive_shapes,
         handle_new_sdf_roots, handle_update_fuel_cache_requests, make_models_selectable,
         propagate_model_render_layers, read_update_fuel_cache_results,
         reload_failed_models_with_new_api_key, update_anchor_transforms, update_model_scales,
@@ -49,8 +60,6 @@ use crate::{
 
 use rmf_site_format::ModelMarker;
 
-use bevy_rapier3d::prelude::*;
-
 #[derive(Default)]
 pub struct WorkcellEditorPlugin;
 
@@ -67,6 +76,7 @@ fn delete_grid(mut commands: Commands, grids: Query<Entity, With<InfiniteGrid>>)
 impl Plugin for WorkcellEditorPlugin {
     fn build(&self, app: &mut App) {
         app.add_plugin(InfiniteGridPlugin)
+            .add_event::<CreateJoint>()
             .add_event::<SaveWorkcell>()
             .add_event::<LoadWorkcell>()
             .add_event::<ChangeCurrentWorkcell>()
@@ -75,20 +85,23 @@ impl Plugin for WorkcellEditorPlugin {
             .add_systems(
                 Update,
                 (
-                    update_constraint_dependents,
                     handle_model_loaded_events,
                     update_model_scenes,
                     update_model_scales,
+                    handle_new_primitive_shapes,
                     update_model_tentative_formats,
+                    replace_name_in_site_components,
+                    handle_create_joint_events,
+                    cleanup_orphaned_joints,
                     propagate_model_render_layers,
                     make_models_selectable,
                     handle_update_fuel_cache_requests,
                     read_update_fuel_cache_results,
                     reload_failed_models_with_new_api_key,
                     handle_workcell_keyboard_input,
-                    handle_new_mesh_primitives,
                     change_workcell.before(load_workcell),
                     handle_new_sdf_roots,
+                    handle_export_urdf_menu_events,
                 )
                     .run_if(in_state(AppState::WorkcellEditor)),
             )
@@ -104,11 +117,20 @@ impl Plugin for WorkcellEditorPlugin {
             .add_systems(
                 Update,
                 (
+                    scale_workcell_anchors,
                     update_anchor_transforms,
-                    add_anchors_for_new_mesh_constraints,
                     update_transforms_for_changed_poses,
                 )
                     .run_if(in_state(AppState::WorkcellEditor)),
+            )
+            .add_systems(
+                PostUpdate,
+                (flatten_loaded_models_hierarchy,).run_if(in_state(AppState::WorkcellEditor)),
             );
     }
+
+    // Put the UI dependent plugins in `finish` to make sure the interaction is initialized first
+    fn finish(&self, app: &mut App) {
+        app.init_resource::<ExportUrdfMenu>();
+    }
 }
diff --git a/rmf_site_editor/src/workcell/model.rs b/rmf_site_editor/src/workcell/model.rs
new file mode 100644
index 00000000..cd4cabb5
--- /dev/null
+++ b/rmf_site_editor/src/workcell/model.rs
@@ -0,0 +1,83 @@
+/*
+ * 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::site::{Dependents, ModelTrashcan, Pending};
+use bevy::prelude::*;
+use rmf_site_format::{
+    ModelMarker, NameInSite, NameInWorkcell, NameOfWorkcell, Pose, PrimitiveShape,
+};
+
+/// SDFs loaded through site editor wrap all the collisions and visuals into a single Model entity.
+/// This doesn't quite work for URDF / workcells since we need to export and edit single visuals
+/// and collisions, hence we process the loaded models to flatten them here
+pub fn flatten_loaded_models_hierarchy(
+    mut commands: Commands,
+    new_models: Query<
+        (Entity, &Parent),
+        (
+            Without<Pending>,
+            Or<(Added<ModelMarker>, Added<PrimitiveShape>)>,
+        ),
+    >,
+    all_model_parents: Query<(Entity, &Parent), (With<ModelMarker>, Without<Pending>)>,
+    mut poses: Query<&mut Pose>,
+    mut dependents: Query<&mut Dependents>,
+    parents: Query<&Parent>,
+    trashcan: Res<ModelTrashcan>,
+) {
+    for (e, parent) in &new_models {
+        // Traverse up the hierarchy to find the first model parent and reassign it
+        if let Some((parent_entity, model_parent)) =
+            AncestorIter::new(&parents, **parent).find_map(|e| all_model_parents.get(e).ok())
+        {
+            let Ok(parent_pose) = poses.get(parent_entity).cloned() else {
+                continue;
+            };
+            let Ok(mut child_pose) = poses.get_mut(e) else {
+                continue;
+            };
+            if let Ok(mut parent_dependents) = dependents.get_mut(**model_parent) {
+                parent_dependents.remove(&parent_entity);
+            }
+            commands.entity(**model_parent).add_child(e);
+            if let Ok(mut deps) = dependents.get_mut(**model_parent) {
+                deps.insert(e);
+            }
+            for (mut t1, t2) in child_pose.trans.iter_mut().zip(parent_pose.trans.iter()) {
+                *t1 += t2;
+            }
+            // Now despawn the unnecessary model
+            commands.entity(parent_entity).set_parent(trashcan.0);
+        }
+    }
+}
+
+pub fn replace_name_in_site_components(
+    mut commands: Commands,
+    new_names: Query<(Entity, &NameInSite), Added<NameInSite>>,
+    workcells: Query<(), With<NameOfWorkcell>>,
+    parents: Query<&Parent>,
+) {
+    for (e, name) in &new_names {
+        if AncestorIter::new(&parents, e).any(|p| workcells.get(p).is_ok()) {
+            commands
+                .entity(e)
+                .insert(NameInWorkcell(name.0.clone()))
+                .remove::<NameInSite>();
+        }
+    }
+}
diff --git a/rmf_site_editor/src/workcell/save.rs b/rmf_site_editor/src/workcell/save.rs
index 30489d64..1b609186 100644
--- a/rmf_site_editor/src/workcell/save.rs
+++ b/rmf_site_editor/src/workcell/save.rs
@@ -17,9 +17,10 @@
 
 use bevy::ecs::system::SystemState;
 use bevy::prelude::*;
-use std::path::PathBuf;
+use std::path::{Path, PathBuf};
 
 use crate::site::{CollisionMeshMarker, Pending, VisualMeshMarker};
+use crate::workcell::urdf_package_exporter::{generate_package, PackageContext, Person};
 use crate::ExportFormat;
 
 use thiserror::Error as ThisError;
@@ -56,8 +57,9 @@ fn assign_site_ids(world: &mut World, workcell: Entity) {
             Entity,
             (
                 Or<(
-                    With<Anchor>,
-                    With<LinkMarker>,
+                    With<FrameMarker>,
+                    With<JointProperties>,
+                    With<Moment>,
                     With<VisualMeshMarker>,
                     With<CollisionMeshMarker>,
                 )>,
@@ -99,36 +101,45 @@ pub fn generate_workcell(
             ),
             Without<Pending>,
         >,
+        Query<(Entity, &Pose, &Mass, &Moment, &SiteID, &Parent), Without<Pending>>,
         Query<
             (
                 Entity,
                 &NameInWorkcell,
                 Option<&AssetSource>,
-                Option<&MeshPrimitive>,
+                Option<&PrimitiveShape>,
                 &Pose,
                 &SiteID,
                 &Parent,
-                &Scale,
+                Option<&Scale>,
             ),
             (
                 Or<(With<VisualMeshMarker>, With<CollisionMeshMarker>)>,
                 Without<Pending>,
             ),
         >,
+        Query<(Entity, &JointProperties, &NameInWorkcell, &SiteID, &Parent), Without<Pending>>,
         Query<&VisualMeshMarker>,
         Query<&CollisionMeshMarker>,
         Query<&SiteID>,
-        Query<&WorkcellProperties>,
+        Query<&NameOfWorkcell>,
         Query<&Parent>,
     )> = SystemState::new(world);
-    let (q_anchors, q_models, q_visuals, q_collisions, q_site_id, q_properties, q_parents) =
-        state.get(world);
+    let (
+        q_anchors,
+        q_inertials,
+        q_models,
+        q_joints,
+        q_visuals,
+        q_collisions,
+        q_site_id,
+        q_properties,
+        q_parents,
+    ) = state.get(world);
 
     let mut workcell = Workcell::default();
     match q_properties.get(root) {
-        Ok(properties) => {
-            workcell.properties = properties.clone();
-        }
+        Ok(name) => workcell.properties.name = name.clone(),
         Err(_) => {
             return Err(WorkcellGenerationError::InvalidWorkcellEntity(root));
         }
@@ -150,8 +161,8 @@ pub fn generate_workcell(
         let geom = if let Some(source) = source {
             // It's a model
             Geometry::Mesh {
-                filename: String::from(source),
-                scale: Some(**scale),
+                source: source.clone(),
+                scale: scale.map(|s| **s),
             }
         } else if let Some(primitive) = primitive {
             Geometry::Primitive(primitive.clone())
@@ -163,7 +174,7 @@ pub fn generate_workcell(
             workcell.visuals.insert(
                 id.0,
                 Parented {
-                    parent: parent,
+                    parent,
                     bundle: WorkcellModel {
                         name: name.0.clone(),
                         geometry: geom,
@@ -176,7 +187,7 @@ pub fn generate_workcell(
             workcell.collisions.insert(
                 id.0,
                 Parented {
-                    parent: parent,
+                    parent,
                     bundle: WorkcellModel {
                         name: name.0.clone(),
                         geometry: geom,
@@ -214,7 +225,7 @@ pub fn generate_workcell(
         workcell.frames.insert(
             id.0,
             Parented {
-                parent: parent,
+                parent,
                 bundle: Frame {
                     anchor: anchor.clone(),
                     name: name.cloned(),
@@ -225,6 +236,55 @@ pub fn generate_workcell(
         );
     }
 
+    for (e, pose, mass, moment, id, parent) in &q_inertials {
+        if !parent_in_workcell(&q_parents, e, root) {
+            continue;
+        }
+        let parent = match q_site_id.get(parent.get()) {
+            Ok(parent) => parent.0,
+            Err(_) => {
+                error!("Parent not found for inertial {:?}", parent.get());
+                continue;
+            }
+        };
+
+        workcell.inertias.insert(
+            id.0,
+            Parented {
+                parent,
+                bundle: Inertia {
+                    center: pose.clone(),
+                    mass: mass.clone(),
+                    moment: moment.clone(),
+                },
+            },
+        );
+    }
+
+    for (e, properties, name, id, parent) in &q_joints {
+        if !parent_in_workcell(&q_parents, e, root) {
+            continue;
+        }
+        let parent = match q_site_id.get(parent.get()) {
+            Ok(parent) => parent.0,
+            Err(_) => {
+                error!("Parent not found for joint {:?}", parent.get());
+                continue;
+            }
+        };
+
+        workcell.joints.insert(
+            id.0,
+            Parented {
+                parent,
+                bundle: Joint {
+                    name: name.clone(),
+                    properties: properties.clone(),
+                },
+            },
+        );
+    }
+
     Ok(workcell)
 }
 
@@ -234,19 +294,6 @@ pub fn save_workcell(world: &mut World) {
         .drain()
         .collect();
     for save_event in save_events {
-        let path = save_event.to_file;
-        info!(
-            "Saving to {}",
-            path.to_str().unwrap_or("<failed to render??>")
-        );
-        let f = match std::fs::File::create(path) {
-            Ok(f) => f,
-            Err(err) => {
-                error!("Unable to save file: {err}");
-                continue;
-            }
-        };
-
         let workcell = match generate_workcell(world, save_event.root) {
             Ok(root) => root,
             Err(err) => {
@@ -255,18 +302,61 @@ pub fn save_workcell(world: &mut World) {
             }
         };
 
+        let path = save_event.to_file;
         match save_event.format {
-            ExportFormat::Default => match workcell.to_writer(f) {
-                Ok(()) => {
-                    info!("Save successful");
-                }
-                Err(err) => {
-                    error!("Save failed: {err}");
+            ExportFormat::Default => {
+                info!(
+                    "Saving to {}",
+                    path.to_str().unwrap_or("<failed to render??>")
+                );
+                let f = match std::fs::File::create(path) {
+                    Ok(f) => f,
+                    Err(err) => {
+                        error!("Unable to save file: {err}");
+                        continue;
+                    }
+                };
+                match workcell.to_writer(f) {
+                    Ok(()) => {
+                        info!("Save successful");
+                    }
+                    Err(err) => {
+                        error!("Save failed: {err}");
+                    }
                 }
-            },
+            }
             ExportFormat::Urdf => {
-                info!("Saving to urdf");
+                // TODO(luca) File name is ignored, change to pick folder instead of pick file
+                match export_package(&path, workcell) {
+                    Ok(()) => {
+                        info!("Successfully exported package");
+                    }
+                    Err(err) => {
+                        error!("Failed to export package: {err}");
+                    }
+                };
             }
         }
     }
 }
+
+fn export_package(path: &PathBuf, workcell: Workcell) -> Result<(), Box<dyn std::error::Error>> {
+    let output_directory = path.parent().ok_or("Not able to get parent")?;
+
+    let package_context = PackageContext {
+        license: "TODO".to_string(),
+        maintainers: vec![Person {
+            name: "TODO".to_string(),
+            email: "todo@todo.com".to_string(),
+        }],
+        project_name: workcell.properties.name.0.clone() + "_description",
+        fixed_frame: "world".to_string(),
+        dependencies: vec![],
+        project_description: "TODO".to_string(),
+        project_version: "0.0.1".to_string(),
+        urdf_file_name: "robot.urdf".to_string(),
+    };
+
+    generate_package(workcell, package_context, &output_directory)?;
+    Ok(())
+}
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/generate_package.rs b/rmf_site_editor/src/workcell/urdf_package_exporter/generate_package.rs
new file mode 100644
index 00000000..a338175b
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/generate_package.rs
@@ -0,0 +1,138 @@
+use crate::site_asset_io::cache_path;
+use crate::workcell::urdf_package_exporter::template::PackageContext;
+use rmf_site_format::{AssetSource, Geometry, Workcell};
+use std::error::Error;
+use std::io::{Error as IoError, ErrorKind as IoErrorKind};
+use std::path::{Path, PathBuf};
+use tera::Tera;
+
+pub fn generate_package(
+    workcell: Workcell,
+    package_context: PackageContext,
+    output_directory_path: &Path,
+) -> Result<(), Box<dyn Error>> {
+    let new_package_name = &package_context.project_name;
+
+    let output_package_path = output_directory_path.join(new_package_name);
+    std::fs::create_dir_all(&output_package_path)?;
+
+    // Create the package
+    write_urdf_and_copy_mesh_files(workcell, &new_package_name, &output_package_path)?;
+    generate_templates(package_context, &output_package_path)?;
+
+    Ok(())
+}
+
+fn write_urdf_and_copy_mesh_files(
+    mut workcell: Workcell,
+    new_package_name: &str,
+    output_package_path: &Path,
+) -> Result<(), Box<dyn Error>> {
+    convert_and_copy_meshes(&mut workcell, new_package_name, output_package_path)?;
+
+    let urdf_robot = workcell.to_urdf()?;
+    let urdf_directory_path = output_package_path.join("urdf");
+    std::fs::create_dir_all(&urdf_directory_path)?;
+    let urdf_file_path = urdf_directory_path.join("robot.urdf");
+    let urdf_string = urdf_rs::write_to_string(&urdf_robot)?;
+    std::fs::write(urdf_file_path, urdf_string)?;
+
+    Ok(())
+}
+
+fn convert_and_copy_meshes(
+    workcell: &mut Workcell,
+    package_name: &str,
+    output_package_path: &Path,
+) -> Result<(), Box<dyn Error>> {
+    let meshes_directory_path = output_package_path.join("meshes");
+    std::fs::create_dir_all(&meshes_directory_path)?;
+    for (_, model) in &mut workcell
+        .visuals
+        .iter_mut()
+        .chain(workcell.collisions.iter_mut())
+    {
+        if let Geometry::Mesh {
+            source: asset_source,
+            ..
+        } = &mut model.bundle.geometry
+        {
+            let path = get_path_to_asset_file(&asset_source)?;
+
+            let file_name = path
+                .file_name()
+                .ok_or(IoError::new(
+                    IoErrorKind::InvalidInput,
+                    "Unable to get file name from path",
+                ))?
+                .to_str()
+                .ok_or(IoError::new(
+                    IoErrorKind::InvalidInput,
+                    "Unable to convert file name to str",
+                ))?;
+
+            std::fs::copy(&path, &meshes_directory_path.join(&file_name))?;
+            let package_path = format!("{}/meshes/{}", package_name, file_name);
+            *asset_source = AssetSource::Package(package_path);
+        }
+    }
+    Ok(())
+}
+
+fn get_path_to_asset_file(asset_source: &AssetSource) -> Result<PathBuf, Box<dyn Error>> {
+    match asset_source {
+        AssetSource::Package(_) => Ok(urdf_rs::utils::expand_package_path(
+            &(String::from(asset_source)),
+            None,
+        )
+        .to_string()
+        .into()),
+        AssetSource::Remote(asset_name) => {
+            let mut asset_path = cache_path();
+            asset_path.push(&asset_name);
+            Ok(asset_path)
+        }
+        AssetSource::Local(path) => Ok(path.into()),
+        AssetSource::Search(_) | AssetSource::OSMTile { .. } | AssetSource::Bundled(_) => {
+            Err(IoError::new(
+                IoErrorKind::Unsupported,
+                "Not a supported asset type for exporting a workcell to a package",
+            ))?
+        }
+    }
+}
+
+fn generate_templates(
+    package_context: PackageContext,
+    package_directory: &Path,
+) -> Result<(), Box<dyn Error>> {
+    let context = tera::Context::from_serialize(package_context)?;
+    let mut tera = Tera::default();
+    tera.add_raw_template("package.xml", include_str!("templates/package.xml.j2"))?;
+    tera.add_raw_template(
+        "CMakeLists.txt",
+        include_str!("templates/CMakeLists.txt.j2"),
+    )?;
+    tera.add_raw_template("urdf.rviz", include_str!("templates/urdf.rviz.j2"))?;
+    tera.add_raw_template(
+        "display.launch.py",
+        include_str!("templates/display.launch.py.j2"),
+    )?;
+    let f = std::fs::File::create(package_directory.join("package.xml"))?;
+    tera.render_to("package.xml", &context, f)?;
+
+    let f = std::fs::File::create(package_directory.join("CMakeLists.txt"))?;
+    tera.render_to("CMakeLists.txt", &context, f)?;
+
+    let rviz_directory = package_directory.join("rviz");
+    std::fs::create_dir_all(&rviz_directory)?;
+    let f = std::fs::File::create(rviz_directory.join("urdf.rviz"))?;
+    tera.render_to("urdf.rviz", &context, f)?;
+
+    let launch_directory = package_directory.join("launch");
+    std::fs::create_dir_all(&launch_directory)?;
+    let f = std::fs::File::create(launch_directory.join("display.launch.py"))?;
+    tera.render_to("display.launch.py", &context, f)?;
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/mod.rs b/rmf_site_editor/src/workcell/urdf_package_exporter/mod.rs
new file mode 100644
index 00000000..5d3e09b3
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/mod.rs
@@ -0,0 +1,5 @@
+pub mod generate_package;
+pub use generate_package::generate_package;
+
+pub use template::{PackageContext, Person};
+pub mod template;
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/template.rs b/rmf_site_editor/src/workcell/urdf_package_exporter/template.rs
new file mode 100644
index 00000000..f84eca0a
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/template.rs
@@ -0,0 +1,27 @@
+use serde::Serialize;
+use std::path::PathBuf;
+
+#[derive(Debug, Serialize)]
+pub struct PackageContext {
+    pub project_name: String,
+    pub project_description: String,
+    pub project_version: String,
+    pub license: String,
+    pub maintainers: Vec<Person>,
+    pub dependencies: Vec<String>,
+    pub fixed_frame: String,
+    pub urdf_file_name: String,
+}
+
+#[derive(Debug, Serialize)]
+pub struct Person {
+    pub name: String,
+    pub email: String,
+}
+
+#[derive(Debug)]
+pub struct Template {
+    pub name: String,
+    pub path: String,
+    pub output_path: PathBuf,
+}
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/templates/CMakeLists.txt.j2 b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/CMakeLists.txt.j2
new file mode 100644
index 00000000..063522fb
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/CMakeLists.txt.j2
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.16)
+
+project({{project_name}})
+
+find_package(ament_cmake REQUIRED)
+{%- for dependency in dependencies %}
+find_package({{dependency}} REQUIRED)
+{%- endfor %}
+
+install(
+  DIRECTORY launch meshes rviz urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/templates/display.launch.py.j2 b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/display.launch.py.j2
new file mode 100644
index 00000000..8e8c9efd
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/display.launch.py.j2
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    package_path = FindPackageShare('{{project_name}}')
+    default_rviz_config_path = PathJoinSubstitution([package_path, 'rviz', 'urdf.rviz'])
+
+    gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
+                                    description='Flag to enable joint_state_publisher_gui')
+    ld.add_action(gui_arg)
+
+    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
+                                     description='Absolute path to rviz config file')
+    ld.add_action(rviz_arg)
+
+    ld.add_action(IncludeLaunchDescription(
+        PathJoinSubstitution(
+            [FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
+        launch_arguments={
+            'urdf_package': '{{project_name}}',
+            'urdf_package_path': 'urdf/{{urdf_file_name}}',
+            'rviz_config': LaunchConfiguration('rvizconfig'),
+            'jsp_gui': LaunchConfiguration('gui'),
+        }.items()
+    ))
+
+    return ld
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/templates/package.xml.j2 b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/package.xml.j2
new file mode 100644
index 00000000..737b2792
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/package.xml.j2
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>{{project_name}}</name>
+  <version>{{project_version}}</version>
+  <description>{{project_description}}</description>
+
+  {%- for maintainer in maintainers %}
+  <maintainer email="{{maintainer.email}}">{{maintainer.name}}</maintainer>
+  {%- endfor %}
+
+  <license>{{license}}</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>urdf_launch</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  {%- for dependency in dependencies %}
+  <depend>{{dependency}}</depend>
+  {%- endfor %}
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/.."/>
+  </export>
+</package>
diff --git a/rmf_site_editor/src/workcell/urdf_package_exporter/templates/urdf.rviz.j2 b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/urdf.rviz.j2
new file mode 100644
index 00000000..bb8cc092
--- /dev/null
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/templates/urdf.rviz.j2
@@ -0,0 +1,35 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Value: true
+    - Alpha: 0.8
+      Class: rviz_default_plugins/RobotModel
+      Description Topic:
+        Value: /robot_description
+      Name: RobotModel
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Name: TF
+      Value: true
+  Global Options:
+    Fixed Frame: {{fixed_frame}}
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.7
+      Name: Current View
+      Pitch: 0.33
+      Value: Orbit (rviz)
+      Yaw: 5.5
+Window Geometry:
+  Height: 800
+  Width: 1200
diff --git a/rmf_site_editor/src/workcell/workcell.rs b/rmf_site_editor/src/workcell/workcell.rs
index a6326297..8a31d487 100644
--- a/rmf_site_editor/src/workcell/workcell.rs
+++ b/rmf_site_editor/src/workcell/workcell.rs
@@ -19,7 +19,7 @@ use crate::interaction::{InteractionAssets, Selectable};
 use crate::site::SiteAssets;
 use crate::CurrentWorkspace;
 use bevy::prelude::*;
-use rmf_site_format::WorkcellProperties;
+use rmf_site_format::NameOfWorkcell;
 
 /// Used as an event to command that a new workcell should be made the current one
 #[derive(Clone, Copy, Debug, Event)]
@@ -35,7 +35,7 @@ pub struct WorkcellVisualizationMarker;
 pub fn change_workcell(
     mut current_workspace: ResMut<CurrentWorkspace>,
     mut change_current_workcell: EventReader<ChangeCurrentWorkcell>,
-    open_workcells: Query<Entity, With<WorkcellProperties>>,
+    open_workcells: Query<Entity, With<NameOfWorkcell>>,
 ) {
     if let Some(cmd) = change_current_workcell.iter().last() {
         if open_workcells.get(cmd.root).is_err() {
@@ -53,7 +53,7 @@ pub fn change_workcell(
 
 pub fn add_workcell_visualization(
     mut commands: Commands,
-    new_workcells: Query<Entity, Added<WorkcellProperties>>,
+    new_workcells: Query<Entity, Added<NameOfWorkcell>>,
     site_assets: Res<SiteAssets>,
     interaction_assets: Res<InteractionAssets>,
 ) {
diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
index 449046fc..adba2269 100644
--- a/rmf_site_editor/src/workspace.rs
+++ b/rmf_site_editor/src/workspace.rs
@@ -63,6 +63,7 @@ pub enum WorkspaceData {
     LegacyBuilding(Vec<u8>),
     Site(Vec<u8>),
     Workcell(Vec<u8>),
+    WorkcellUrdf(Vec<u8>),
 }
 
 impl WorkspaceData {
@@ -74,6 +75,8 @@ impl WorkspaceData {
             Some(WorkspaceData::Site(data))
         } else if filename.ends_with("workcell.json") {
             Some(WorkspaceData::Workcell(data))
+        } else if filename.ends_with("urdf") {
+            Some(WorkspaceData::WorkcellUrdf(data))
         } else {
             error!("Unrecognized file type {:?}", filename);
             None
@@ -371,6 +374,36 @@ fn workspace_file_load_complete(
                     }
                 }
             }
+            WorkspaceData::WorkcellUrdf(data) => {
+                info!("Importing urdf workcell");
+                let Ok(utf) = std::str::from_utf8(&data) else {
+                    error!("Failed converting urdf bytes to string");
+                    return;
+                };
+                match urdf_rs::read_from_string(utf) {
+                    Ok(urdf) => {
+                        // TODO(luca) make this function return a result and this a match statement
+                        match Workcell::from_urdf(&urdf) {
+                            Ok(workcell) => {
+                                // Switch state
+                                app_state.set(AppState::WorkcellEditor);
+                                load_workcell.send(LoadWorkcell {
+                                    workcell,
+                                    focus: true,
+                                    default_file,
+                                });
+                                interaction_state.set(InteractionState::Enable);
+                            }
+                            Err(err) => {
+                                error!("Failed converting urdf to workcell {:?}", err);
+                            }
+                        }
+                    }
+                    Err(err) => {
+                        error!("Failed loading urdf workcell {:?}", err);
+                    }
+                }
+            }
         }
     }
 }
diff --git a/rmf_site_format/Cargo.toml b/rmf_site_format/Cargo.toml
index b6709986..67def6f4 100644
--- a/rmf_site_format/Cargo.toml
+++ b/rmf_site_format/Cargo.toml
@@ -16,6 +16,10 @@ thiserror = "*"
 glam = { version = "0.24", features = ["serde"] }
 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 = "0.11", optional = true }
-urdf-rs = "0.7"
+urdf-rs = "0.7.3"
 pathdiff = "*"
+
+[dev-dependencies]
+float_eq = "1.0"
diff --git a/rmf_site_format/src/category.rs b/rmf_site_format/src/category.rs
index 8fe7d5d8..4df9a01b 100644
--- a/rmf_site_format/src/category.rs
+++ b/rmf_site_format/src/category.rs
@@ -30,9 +30,12 @@ pub enum Category {
     General,
     Site,
     Anchor,
+    Collision,
     Door,
     Wall,
     Floor,
+    Inertia,
+    Joint,
     Level,
     Lane,
     Lift,
@@ -49,6 +52,7 @@ pub enum Category {
     Workcell,
     GeoReference,
     NavigationGraph,
+    Visual,
 }
 
 impl Category {
@@ -57,9 +61,12 @@ impl Category {
             Self::General => "General",
             Self::Site => "Site",
             Self::Anchor => "Anchor",
+            Self::Collision => "Collision",
             Self::Door => "Door",
             Self::Wall => "Wall",
             Self::Floor => "Floor",
+            Self::Inertia => "Inertia",
+            Self::Joint => "Joint",
             Self::Level => "Level",
             Self::Lane => "Lane",
             Self::Lift => "Lift",
@@ -76,6 +83,7 @@ impl Category {
             Self::Workcell => "Workcell",
             Self::GeoReference => "Georeference",
             Self::NavigationGraph => "Navigation Graph",
+            Self::Visual => "Visual",
         }
     }
 
diff --git a/rmf_site_format/src/workcell.rs b/rmf_site_format/src/workcell.rs
index 843a6d9c..f8efa167 100644
--- a/rmf_site_format/src/workcell.rs
+++ b/rmf_site_format/src/workcell.rs
@@ -15,19 +15,20 @@
  *
 */
 
-use std::collections::{BTreeMap, HashSet};
+use std::collections::{BTreeMap, HashMap, HashSet};
 use std::io;
 
+use crate::misc::Rotation;
 use crate::*;
 #[cfg(feature = "bevy")]
 use bevy::ecs::system::EntityCommands;
 #[cfg(feature = "bevy")]
-use bevy::prelude::{Bundle, Component, Deref, DerefMut, Entity};
+use bevy::prelude::{Bundle, Component, Deref, DerefMut, Entity, SpatialBundle};
 #[cfg(feature = "bevy")]
 use bevy::reflect::{TypePath, TypeUuid};
-use glam::Vec3;
+use glam::{EulerRot, Vec3};
 use serde::{Deserialize, Serialize};
-use urdf_rs::Robot;
+use thiserror::Error as ThisError;
 
 /// Helper structure to serialize / deserialize entities with parents
 #[derive(Serialize, Deserialize, Clone, Debug)]
@@ -73,10 +74,14 @@ pub enum MeshElement {
 #[derive(Component, Deref, DerefMut, Serialize, Deserialize, Debug, Default, Clone, PartialEq)]
 pub struct ConstraintDependents(pub HashSet<Entity>);
 
-#[derive(Serialize, Deserialize, Debug, Default, Clone)]
+#[derive(Serialize, Deserialize, Debug, Default, Clone, PartialEq)]
 #[cfg_attr(feature = "bevy", derive(Component))]
+pub struct NameOfWorkcell(pub String);
+
+#[derive(Serialize, Deserialize, Debug, Default, Clone)]
+#[cfg_attr(feature = "bevy", derive(Bundle))]
 pub struct WorkcellProperties {
-    pub name: String,
+    pub name: NameOfWorkcell,
 }
 
 #[derive(Serialize, Deserialize, Debug, Default, Clone, PartialEq)]
@@ -89,41 +94,190 @@ pub struct Mass(f32);
 
 #[derive(Serialize, Deserialize, Debug, Default, Clone)]
 #[cfg_attr(feature = "bevy", derive(Component))]
-pub struct Inertia {}
+pub struct Moment {
+    pub ixx: f32,
+    pub ixy: f32,
+    pub ixz: f32,
+    pub iyy: f32,
+    pub iyz: f32,
+    pub izz: f32,
+}
 
 #[derive(Serialize, Deserialize, Debug, Default, Clone)]
 #[cfg_attr(feature = "bevy", derive(Bundle))]
-pub struct Inertial {
-    pub origin: Pose,
+pub struct Inertia {
+    pub center: Pose,
     pub mass: Mass,
-    pub inertia: Inertia,
+    pub moment: Moment,
 }
 
-#[derive(Serialize, Deserialize, Debug, Default, Clone)]
-#[cfg_attr(feature = "bevy", derive(Bundle))]
-pub struct Link {
-    pub name: NameInWorkcell,
-    pub inertial: Inertial,
-    #[serde(skip)]
-    pub marker: LinkMarker,
+#[derive(Serialize, Deserialize, Debug, Clone)]
+pub struct JointAxis([f32; 3]);
+
+impl From<&urdf_rs::Axis> for JointAxis {
+    fn from(axis: &urdf_rs::Axis) -> Self {
+        Self(axis.xyz.map(|t| t as f32))
+    }
 }
 
-#[derive(Debug, Default, Clone)]
-#[cfg_attr(feature = "bevy", derive(Component))]
-pub struct LinkMarker;
+impl From<&JointAxis> for urdf_rs::Axis {
+    fn from(axis: &JointAxis) -> Self {
+        Self {
+            xyz: urdf_rs::Vec3(axis.0.map(|v| v as f64)),
+        }
+    }
+}
 
-#[derive(Serialize, Deserialize, Debug, Default, Clone)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
+enum RangeLimits {
+    None,
+    Symmetric(f32),
+    Asymmetric {
+        lower: Option<f32>,
+        upper: Option<f32>,
+    },
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
+pub struct JointLimits {
+    position: RangeLimits,
+    effort: RangeLimits,
+    velocity: RangeLimits,
+}
+
+impl From<&urdf_rs::JointLimit> for JointLimits {
+    fn from(limit: &urdf_rs::JointLimit) -> Self {
+        Self {
+            position: RangeLimits::Asymmetric {
+                lower: Some(limit.lower as f32),
+                upper: Some(limit.upper as f32),
+            },
+            effort: RangeLimits::Symmetric(limit.effort as f32),
+            velocity: RangeLimits::Symmetric(limit.velocity as f32),
+        }
+    }
+}
+
+impl From<&JointLimits> for urdf_rs::JointLimit {
+    fn from(limits: &JointLimits) -> Self {
+        const DEFAULT_EFFORT_LIMIT: f64 = 1e3;
+        const DEFAULT_VELOCITY_LIMIT: f64 = 10.0;
+        fn min_or_default(slice: [Option<f32>; 2], default: f64) -> f64 {
+            let mut vec = slice
+                .iter()
+                .filter_map(|v| v.map(|m| m as f64))
+                .collect::<Vec<_>>();
+            vec.sort_by(|a, b| a.total_cmp(b));
+            vec.first().cloned().unwrap_or(default)
+        }
+        // 0.0 is a valid default in urdf for lower and upper limits
+        let (lower, upper) = match limits.position {
+            RangeLimits::None => (0.0, 0.0),
+            RangeLimits::Symmetric(l) => (l as f64, l as f64),
+            RangeLimits::Asymmetric { lower, upper } => (
+                lower.map(|v| v as f64).unwrap_or_default(),
+                upper.map(|v| v as f64).unwrap_or_default(),
+            ),
+        };
+        let effort = match limits.effort {
+            RangeLimits::None => {
+                println!(
+                    "No effort limit found when exporting to urdf, setting to {}",
+                    DEFAULT_EFFORT_LIMIT
+                );
+                DEFAULT_EFFORT_LIMIT
+            }
+            RangeLimits::Symmetric(l) => l as f64,
+            RangeLimits::Asymmetric { lower, upper } => {
+                let limit = min_or_default([lower, upper], DEFAULT_EFFORT_LIMIT);
+                println!(
+                    "Asymmetric effort limit found when exporting to urdf, setting to {}",
+                    limit
+                );
+                limit
+            }
+        };
+        let velocity = match limits.velocity {
+            RangeLimits::None => {
+                println!(
+                    "No velocity limit found when exporting to urdf, setting to {}",
+                    DEFAULT_VELOCITY_LIMIT
+                );
+                DEFAULT_VELOCITY_LIMIT
+            }
+            RangeLimits::Symmetric(l) => l as f64,
+            RangeLimits::Asymmetric { lower, upper } => {
+                let limit = min_or_default([lower, upper], DEFAULT_VELOCITY_LIMIT);
+                println!(
+                    "Asymmetric velocity limit found when exporting to urdf, setting to {}",
+                    limit
+                );
+                limit
+            }
+        };
+        Self {
+            lower,
+            upper,
+            effort,
+            velocity,
+        }
+    }
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
 #[cfg_attr(feature = "bevy", derive(Bundle))]
 pub struct Joint {
     pub name: NameInWorkcell,
+    pub properties: JointProperties,
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
+#[cfg_attr(feature = "bevy", derive(Component))]
+pub enum JointProperties {
+    Fixed,
+    Prismatic(SingleDofJoint),
+    Revolute(SingleDofJoint),
+    Continuous(SingleDofJoint),
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
+pub struct SingleDofJoint {
+    pub limits: JointLimits,
+    pub axis: JointAxis,
+}
+
+impl JointProperties {
+    pub fn label(&self) -> String {
+        match &self {
+            JointProperties::Fixed => "Fixed",
+            JointProperties::Revolute(_) => "Revolute",
+            JointProperties::Prismatic(_) => "Prismatic",
+            JointProperties::Continuous(_) => "Continuous",
+        }
+        .to_string()
+    }
+}
+
+// TODO(luca) should commands implementation be in rmf_site_editor instead of rmf_site_format?
+/// Custom spawning implementation since bundles don't allow options
+#[cfg(feature = "bevy")]
+impl Joint {
+    pub fn add_bevy_components(&self, commands: &mut EntityCommands) {
+        commands.insert((
+            SpatialBundle::INHERITED_IDENTITY,
+            Category::Joint,
+            self.name.clone(),
+            self.properties.clone(),
+        ));
+    }
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum Geometry {
     //#[serde(flatten)]
-    Primitive(MeshPrimitive),
+    Primitive(PrimitiveShape),
     Mesh {
-        filename: String,
+        source: AssetSource,
         #[serde(default, skip_serializing_if = "is_default")]
         scale: Option<Vec3>,
     },
@@ -131,20 +285,20 @@ pub enum Geometry {
 
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
 #[cfg_attr(feature = "bevy", derive(Component))]
-pub enum MeshPrimitive {
+pub enum PrimitiveShape {
     Box { size: [f32; 3] },
     Cylinder { radius: f32, length: f32 },
     Capsule { radius: f32, length: f32 },
     Sphere { radius: f32 },
 }
 
-impl MeshPrimitive {
+impl PrimitiveShape {
     pub fn label(&self) -> String {
         match &self {
-            MeshPrimitive::Box { .. } => "Box",
-            MeshPrimitive::Cylinder { .. } => "Cylinder",
-            MeshPrimitive::Capsule { .. } => "Capsule",
-            MeshPrimitive::Sphere { .. } => "Sphere",
+            PrimitiveShape::Box { .. } => "Box",
+            PrimitiveShape::Cylinder { .. } => "Cylinder",
+            PrimitiveShape::Capsule { .. } => "Capsule",
+            PrimitiveShape::Sphere { .. } => "Sphere",
         }
         .to_string()
     }
@@ -152,7 +306,7 @@ impl MeshPrimitive {
 
 #[derive(Clone, Debug, Default, PartialEq)]
 #[cfg_attr(feature = "bevy", derive(Component))]
-pub struct RecallMeshPrimitive {
+pub struct RecallPrimitiveShape {
     pub box_size: Option<[f32; 3]>,
     pub cylinder_radius: Option<f32>,
     pub cylinder_length: Option<f32>,
@@ -161,60 +315,76 @@ pub struct RecallMeshPrimitive {
     pub sphere_radius: Option<f32>,
 }
 
-impl Recall for RecallMeshPrimitive {
-    type Source = MeshPrimitive;
+impl Recall for RecallPrimitiveShape {
+    type Source = PrimitiveShape;
 
-    fn remember(&mut self, source: &MeshPrimitive) {
+    fn remember(&mut self, source: &PrimitiveShape) {
         match source {
-            MeshPrimitive::Box { size } => {
+            PrimitiveShape::Box { size } => {
                 self.box_size = Some(*size);
             }
-            MeshPrimitive::Cylinder { radius, length } => {
+            PrimitiveShape::Cylinder { radius, length } => {
                 self.cylinder_radius = Some(*radius);
                 self.cylinder_length = Some(*length);
             }
-            MeshPrimitive::Capsule { radius, length } => {
+            PrimitiveShape::Capsule { radius, length } => {
                 self.capsule_radius = Some(*radius);
                 self.capsule_length = Some(*length);
             }
-            MeshPrimitive::Sphere { radius } => {
+            PrimitiveShape::Sphere { radius } => {
                 self.sphere_radius = Some(*radius);
             }
         }
     }
 }
 
-impl RecallMeshPrimitive {
-    pub fn assume_box(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        MeshPrimitive::Box {
-            size: self.box_size.unwrap_or_default(),
+impl RecallPrimitiveShape {
+    pub fn assume_box(&self, current: &PrimitiveShape) -> PrimitiveShape {
+        if matches!(current, PrimitiveShape::Box { .. }) {
+            current.clone()
+        } else {
+            PrimitiveShape::Box {
+                size: self.box_size.unwrap_or_default(),
+            }
         }
     }
 
-    pub fn assume_cylinder(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        MeshPrimitive::Cylinder {
-            radius: self.cylinder_radius.unwrap_or_default(),
-            length: self.cylinder_length.unwrap_or_default(),
+    pub fn assume_cylinder(&self, current: &PrimitiveShape) -> PrimitiveShape {
+        if matches!(current, PrimitiveShape::Cylinder { .. }) {
+            current.clone()
+        } else {
+            PrimitiveShape::Cylinder {
+                radius: self.cylinder_radius.unwrap_or_default(),
+                length: self.cylinder_length.unwrap_or_default(),
+            }
         }
     }
 
-    pub fn assume_capsule(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        MeshPrimitive::Capsule {
-            radius: self.capsule_radius.unwrap_or_default(),
-            length: self.capsule_length.unwrap_or_default(),
+    pub fn assume_capsule(&self, current: &PrimitiveShape) -> PrimitiveShape {
+        if matches!(current, PrimitiveShape::Capsule { .. }) {
+            current.clone()
+        } else {
+            PrimitiveShape::Capsule {
+                radius: self.capsule_radius.unwrap_or_default(),
+                length: self.capsule_length.unwrap_or_default(),
+            }
         }
     }
 
-    pub fn assume_sphere(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        MeshPrimitive::Sphere {
-            radius: self.sphere_radius.unwrap_or_default(),
+    pub fn assume_sphere(&self, current: &PrimitiveShape) -> PrimitiveShape {
+        if matches!(current, PrimitiveShape::Sphere { .. }) {
+            current.clone()
+        } else {
+            PrimitiveShape::Sphere {
+                radius: self.sphere_radius.unwrap_or_default(),
+            }
         }
     }
 }
 
 impl Default for Geometry {
     fn default() -> Self {
-        Geometry::Primitive(MeshPrimitive::Box { size: [0.0; 3] })
+        Geometry::Primitive(PrimitiveShape::Box { size: [0.0; 3] })
     }
 }
 
@@ -227,7 +397,7 @@ pub struct WorkcellModel {
 
 #[cfg(feature = "bevy")]
 impl WorkcellModel {
-    pub fn add_bevy_components(&self, mut commands: EntityCommands) {
+    pub fn add_bevy_components(&self, commands: &mut EntityCommands) {
         match &self.geometry {
             Geometry::Primitive(primitive) => {
                 commands.insert((
@@ -236,12 +406,12 @@ impl WorkcellModel {
                     NameInWorkcell(self.name.clone()),
                 ));
             }
-            Geometry::Mesh { filename, scale } => {
-                let scale = Scale(scale.unwrap_or_default());
+            Geometry::Mesh { source, scale } => {
+                let scale = Scale(scale.unwrap_or(Vec3::ONE));
                 // TODO(luca) Make a bundle for workcell models to avoid manual insertion here
                 commands.insert((
                     NameInWorkcell(self.name.clone()),
-                    AssetSource::from(filename.as_str()),
+                    source.clone(),
                     self.pose.clone(),
                     ConstraintDependents::default(),
                     scale,
@@ -268,10 +438,208 @@ pub struct Workcell {
     pub visuals: BTreeMap<u32, Parented<u32, WorkcellModel>>,
     /// Collisions, key is their id, used for hierarchy
     pub collisions: BTreeMap<u32, Parented<u32, WorkcellModel>>,
-    // TODO(luca) Joints
+    /// Inertias, key is their id, used for hierarchy
+    pub inertias: BTreeMap<u32, Parented<u32, Inertia>>,
+    /// Joints, key is their id, used for hierarchy. They must have a frame as a parent and a frame
+    /// as a child
+    pub joints: BTreeMap<u32, Parented<u32, Joint>>,
+}
+
+#[derive(Debug, ThisError)]
+pub enum UrdfImportError {
+    #[error("a joint refers to a non existing link [{0}]")]
+    BrokenJointReference(String),
+    // TODO(luca) Add urdf_rs::JointType to this error, it doesn't implement Display
+    #[error("unsupported joint type found")]
+    UnsupportedJointType,
+}
+
+impl From<Pose> for urdf_rs::Pose {
+    fn from(pose: Pose) -> Self {
+        urdf_rs::Pose {
+            rpy: match pose.rot {
+                Rotation::EulerExtrinsicXYZ(arr) => urdf_rs::Vec3(arr.map(|v| v.radians().into())),
+                Rotation::Yaw(v) => urdf_rs::Vec3([0.0, 0.0, v.radians().into()]),
+                Rotation::Quat([x, y, z, w]) => {
+                    let (z, y, x) = glam::quat(x, y, z, w).to_euler(EulerRot::ZYX);
+                    urdf_rs::Vec3([x as f64, y as f64, z as f64])
+                }
+            },
+            xyz: urdf_rs::Vec3(pose.trans.map(|v| v as f64)),
+        }
+    }
+}
+
+impl From<&urdf_rs::Pose> for Pose {
+    fn from(pose: &urdf_rs::Pose) -> Self {
+        Pose {
+            trans: pose.xyz.map(|t| t as f32),
+            rot: Rotation::EulerExtrinsicXYZ(pose.rpy.map(|t| Angle::Rad(t as f32))),
+        }
+    }
+}
+
+impl From<Geometry> for urdf_rs::Geometry {
+    fn from(geometry: Geometry) -> Self {
+        match geometry {
+            Geometry::Mesh { source, scale } => urdf_rs::Geometry::Mesh {
+                filename: (&source).into(),
+                scale: scale.map(|v| urdf_rs::Vec3([v.x as f64, v.y as f64, v.z as f64])),
+            },
+            Geometry::Primitive(PrimitiveShape::Box { size: [x, y, z] }) => {
+                urdf_rs::Geometry::Box {
+                    size: urdf_rs::Vec3([x as f64, y as f64, z as f64]),
+                }
+            }
+            Geometry::Primitive(PrimitiveShape::Cylinder { radius, length }) => {
+                urdf_rs::Geometry::Cylinder {
+                    radius: radius as f64,
+                    length: length as f64,
+                }
+            }
+            Geometry::Primitive(PrimitiveShape::Capsule { radius, length }) => {
+                urdf_rs::Geometry::Capsule {
+                    radius: radius as f64,
+                    length: length as f64,
+                }
+            }
+            Geometry::Primitive(PrimitiveShape::Sphere { radius }) => urdf_rs::Geometry::Sphere {
+                radius: radius as f64,
+            },
+        }
+    }
+}
+
+#[derive(Debug, ThisError)]
+pub enum WorkcellToUrdfError {
+    #[error("Invalid anchor type {0:?}")]
+    InvalidAnchorType(Anchor),
+    #[error("Urdf error: {0}")]
+    WriteToStringError(#[from] urdf_rs::UrdfError),
+    #[error("Broken reference: {0}")]
+    BrokenReference(u32),
+    #[error("Frame {0} referred by joint {1} has no name, this is not allowed in URDF")]
+    MissingJointFrameName(u32, u32),
 }
 
 impl Workcell {
+    pub fn from_urdf(urdf: &urdf_rs::Robot) -> Result<Self, UrdfImportError> {
+        let mut frame_name_to_id = HashMap::new();
+        let root_id = 0_u32;
+        let mut cur_id = 1u32..;
+        let mut frames = BTreeMap::new();
+        let mut visuals = BTreeMap::new();
+        let mut collisions = BTreeMap::new();
+        let mut inertias = BTreeMap::new();
+        let mut joints = BTreeMap::new();
+        // Populate here
+        for link in &urdf.links {
+            let inertia = Inertia::from(&link.inertial);
+            // Add a frame with the link's name, then the inertia data as a child
+            let frame_id = cur_id.next().unwrap();
+            let inertia_id = cur_id.next().unwrap();
+            frame_name_to_id.insert(link.name.clone(), frame_id);
+            // Pose and parent will be overwritten by joints, if needed
+            frames.insert(
+                frame_id,
+                Parented {
+                    parent: root_id,
+                    bundle: Frame {
+                        anchor: Anchor::Pose3D(Pose::default()),
+                        name: Some(NameInWorkcell(link.name.clone())),
+                        mesh_constraint: Default::default(),
+                        marker: Default::default(),
+                    },
+                },
+            );
+            inertias.insert(
+                inertia_id,
+                Parented {
+                    parent: frame_id,
+                    bundle: inertia,
+                },
+            );
+            for visual in &link.visual {
+                let model = WorkcellModel::from(visual);
+                let visual_id = cur_id.next().unwrap();
+                visuals.insert(
+                    visual_id,
+                    Parented {
+                        parent: frame_id,
+                        bundle: model,
+                    },
+                );
+            }
+            for collision in &link.collision {
+                let model = WorkcellModel::from(collision);
+                let collision_id = cur_id.next().unwrap();
+                collisions.insert(
+                    collision_id,
+                    Parented {
+                        parent: frame_id,
+                        bundle: model,
+                    },
+                );
+            }
+        }
+        for joint in &urdf.joints {
+            let parent = frame_name_to_id.get(&joint.parent.link).ok_or(
+                UrdfImportError::BrokenJointReference(joint.parent.link.clone()),
+            )?;
+            let child = frame_name_to_id.get(&joint.child.link).ok_or(
+                UrdfImportError::BrokenJointReference(joint.child.link.clone()),
+            )?;
+            let properties = match joint.joint_type {
+                urdf_rs::JointType::Revolute => JointProperties::Revolute(SingleDofJoint {
+                    axis: (&joint.axis).into(),
+                    limits: (&joint.limit).into(),
+                }),
+                urdf_rs::JointType::Prismatic => JointProperties::Prismatic(SingleDofJoint {
+                    axis: (&joint.axis).into(),
+                    limits: (&joint.limit).into(),
+                }),
+                urdf_rs::JointType::Fixed => JointProperties::Fixed,
+                urdf_rs::JointType::Continuous => JointProperties::Continuous(SingleDofJoint {
+                    axis: (&joint.axis).into(),
+                    limits: (&joint.limit).into(),
+                }),
+                _ => {
+                    return Err(UrdfImportError::UnsupportedJointType);
+                }
+            };
+            let joint_id = cur_id.next().unwrap();
+            // Reassign the child parenthood and pose to the joint
+            // If the frame didn't exist we would have returned an error when populating child
+            // hence this is safe.
+            let child_frame = frames.get_mut(child).unwrap();
+            child_frame.parent = joint_id;
+            // In urdf, joint origin represents the coordinates of the joint in the
+            // parent frame. The child is always in the origin of the joint
+            child_frame.bundle.anchor = Anchor::Pose3D((&joint.origin).into());
+            joints.insert(
+                joint_id,
+                Parented {
+                    parent: *parent,
+                    bundle: Joint {
+                        name: NameInWorkcell(joint.name.clone()),
+                        properties,
+                    },
+                },
+            );
+        }
+
+        Ok(Workcell {
+            properties: WorkcellProperties {
+                name: NameOfWorkcell(urdf.name.clone()),
+            },
+            id: root_id,
+            frames,
+            visuals,
+            collisions,
+            inertias,
+            joints,
+        })
+    }
     pub fn to_writer<W: io::Write>(&self, writer: W) -> serde_json::Result<()> {
         serde_json::ser::to_writer_pretty(writer, self)
     }
@@ -280,6 +648,191 @@ impl Workcell {
         serde_json::ser::to_string_pretty(self)
     }
 
+    pub fn to_urdf(&self) -> Result<urdf_rs::Robot, WorkcellToUrdfError> {
+        let mut parent_to_visuals = HashMap::new();
+        for (_, visual) in self.visuals.iter() {
+            let parent = visual.parent;
+            let visual = &visual.bundle;
+            let visual = urdf_rs::Visual {
+                name: Some(visual.name.clone()),
+                origin: visual.pose.into(),
+                geometry: visual.geometry.clone().into(),
+                material: None,
+            };
+            parent_to_visuals
+                .entry(parent)
+                .or_insert_with(Vec::new)
+                .push(visual);
+        }
+
+        let mut parent_to_collisions = HashMap::new();
+        for (_, collision) in self.collisions.iter() {
+            let parent = collision.parent;
+            let collision = &collision.bundle;
+            let collision = urdf_rs::Collision {
+                name: Some(collision.name.clone()),
+                origin: collision.pose.into(),
+                geometry: collision.geometry.clone().into(),
+            };
+            parent_to_collisions
+                .entry(parent)
+                .or_insert_with(Vec::new)
+                .push(collision);
+        }
+
+        // If the workcell has a single frame child we can use the child as the base link.
+        // Otherwise, we will need to spawn a new base link to contain all the workcell children
+        let workcell_child_frames = self
+            .frames
+            .iter()
+            .filter(|(_, frame)| frame.parent == self.id);
+        let num_children = workcell_child_frames.clone().count();
+        let frames = if num_children != 1 {
+            // TODO(luca) remove hardcoding of base link name, it might in some cases create
+            // duplicates
+            let mut frames = self.frames.clone();
+            let dummy_frame = Frame {
+                anchor: Anchor::Pose3D(Pose {
+                    rot: Rotation::Quat([0.0, 0.0, 0.0, 0.0]),
+                    trans: [0.0, 0.0, 0.0],
+                }),
+                name: Some(NameInWorkcell(String::from("world"))),
+                mesh_constraint: None,
+                marker: FrameMarker,
+            };
+            frames.insert(
+                self.id,
+                Parented {
+                    // Root has no parent, use placeholder of max u32
+                    parent: u32::MAX,
+                    bundle: dummy_frame,
+                },
+            );
+            frames
+        } else {
+            // Flatten the hierarchy by making the only child the new workcell base link
+            self.frames.clone()
+        };
+
+        let mut parent_to_inertials = HashMap::new();
+        for (_, inertia) in self.inertias.iter() {
+            let parent = inertia.parent;
+            let inertia = &inertia.bundle;
+            let inertial = urdf_rs::Inertial::from(inertia);
+            parent_to_inertials.insert(parent, inertial);
+        }
+
+        // TODO(luca) combine multiple frames without a joint inbetween into a single link.
+        // For now as soon as a joint is missing the hierarchy will be broken
+        let links = frames
+            .iter()
+            .map(|(frame_id, parented_frame)| {
+                let name = match &parented_frame.bundle.name {
+                    Some(name) => name.0.clone(),
+                    None => format!("frame_{}", &frame_id),
+                };
+
+                let inertial = parent_to_inertials.remove(&frame_id).unwrap_or_default();
+                let collision = parent_to_collisions.remove(&frame_id).unwrap_or_default();
+                let visual = parent_to_visuals.remove(&frame_id).unwrap_or_default();
+
+                urdf_rs::Link {
+                    name,
+                    inertial,
+                    collision,
+                    visual,
+                }
+            })
+            .collect::<Vec<_>>();
+
+        let joints = self
+            .joints
+            .iter()
+            .map(|(joint_id, parented_joint)| {
+                let joint_parent = parented_joint.parent;
+                let joint = &parented_joint.bundle;
+                // The pose of the joint is the pose of the frame that has it as its parent
+                let parent_frame = self
+                    .frames
+                    .get(&joint_parent)
+                    .ok_or(WorkcellToUrdfError::BrokenReference(joint_parent))?;
+                let (child_frame_id, child_frame) = self
+                    .frames
+                    .iter()
+                    .find(|(_, frame)| frame.parent == *joint_id)
+                    .ok_or(WorkcellToUrdfError::BrokenReference(*joint_id))?;
+                let parent_name = parent_frame.bundle.name.clone().ok_or(
+                    WorkcellToUrdfError::MissingJointFrameName(joint_parent, *joint_id),
+                )?;
+                let child_name = child_frame.bundle.name.clone().ok_or(
+                    WorkcellToUrdfError::MissingJointFrameName(*child_frame_id, *joint_id),
+                )?;
+                let Anchor::Pose3D(pose) = child_frame.bundle.anchor else {
+                    return Err(WorkcellToUrdfError::InvalidAnchorType(
+                        child_frame.bundle.anchor.clone(),
+                    ));
+                };
+                let (joint_type, axis, limit) = match &joint.properties {
+                    JointProperties::Fixed => (
+                        urdf_rs::JointType::Fixed,
+                        urdf_rs::Axis::default(),
+                        urdf_rs::JointLimit::default(),
+                    ),
+                    JointProperties::Revolute(joint) => (
+                        urdf_rs::JointType::Revolute,
+                        (&joint.axis).into(),
+                        (&joint.limits).into(),
+                    ),
+                    JointProperties::Prismatic(joint) => (
+                        urdf_rs::JointType::Prismatic,
+                        (&joint.axis).into(),
+                        (&joint.limits).into(),
+                    ),
+                    JointProperties::Continuous(joint) => (
+                        urdf_rs::JointType::Continuous,
+                        (&joint.axis).into(),
+                        (&joint.limits).into(),
+                    ),
+                };
+                Ok(urdf_rs::Joint {
+                    name: joint.name.0.clone(),
+                    joint_type,
+                    origin: pose.into(),
+                    parent: urdf_rs::LinkName {
+                        link: parent_name.0,
+                    },
+                    child: urdf_rs::LinkName { link: child_name.0 },
+                    axis,
+                    limit,
+                    dynamics: None,
+                    mimic: None,
+                    safety_controller: None,
+                })
+            })
+            .collect::<Result<Vec<_>, WorkcellToUrdfError>>()?;
+
+        // TODO(luca) implement materials
+        let robot = urdf_rs::Robot {
+            name: self.properties.name.0.clone(),
+            links,
+            joints,
+            materials: vec![],
+        };
+        Ok(robot)
+    }
+
+    pub fn to_urdf_string(&self) -> Result<String, WorkcellToUrdfError> {
+        let urdf = self.to_urdf()?;
+        urdf_rs::write_to_string(&urdf).map_err(|e| WorkcellToUrdfError::WriteToStringError(e))
+    }
+
+    pub fn to_urdf_writer(&self, mut writer: impl io::Write) -> Result<(), std::io::Error> {
+        let urdf = self
+            .to_urdf_string()
+            .map_err(|e| std::io::Error::new(std::io::ErrorKind::Other, e))?;
+        writer.write_all(urdf.as_bytes())
+    }
+
     pub fn from_reader<R: io::Read>(reader: R) -> serde_json::Result<Self> {
         serde_json::de::from_reader(reader)
     }
@@ -298,28 +851,28 @@ impl Workcell {
     derive(Component, Clone, Debug, Deref, DerefMut, TypeUuid, TypePath)
 )]
 #[cfg_attr(feature = "bevy", uuid = "fe707f9e-c6f3-11ed-afa1-0242ac120002")]
-pub struct UrdfRoot(pub Robot);
+pub struct UrdfRoot(pub urdf_rs::Robot);
 
 // TODO(luca) feature gate urdf support
 impl From<&urdf_rs::Geometry> for Geometry {
     fn from(geom: &urdf_rs::Geometry) -> Self {
         match geom {
-            urdf_rs::Geometry::Box { size } => Geometry::Primitive(MeshPrimitive::Box {
+            urdf_rs::Geometry::Box { size } => Geometry::Primitive(PrimitiveShape::Box {
                 size: (**size).map(|f| f as f32),
             }),
             urdf_rs::Geometry::Cylinder { radius, length } => {
-                Geometry::Primitive(MeshPrimitive::Cylinder {
+                Geometry::Primitive(PrimitiveShape::Cylinder {
                     radius: *radius as f32,
                     length: *length as f32,
                 })
             }
             urdf_rs::Geometry::Capsule { radius, length } => {
-                Geometry::Primitive(MeshPrimitive::Capsule {
+                Geometry::Primitive(PrimitiveShape::Capsule {
                     radius: *radius as f32,
                     length: *length as f32,
                 })
             }
-            urdf_rs::Geometry::Sphere { radius } => Geometry::Primitive(MeshPrimitive::Sphere {
+            urdf_rs::Geometry::Sphere { radius } => Geometry::Primitive(PrimitiveShape::Sphere {
                 radius: *radius as f32,
             }),
             urdf_rs::Geometry::Mesh { filename, scale } => {
@@ -327,7 +880,7 @@ impl From<&urdf_rs::Geometry> for Geometry {
                     .clone()
                     .and_then(|s| Some(Vec3::from_array(s.map(|v| v as f32))));
                 Geometry::Mesh {
-                    filename: filename.clone(),
+                    source: (&**filename).into(),
                     scale,
                 }
             }
@@ -335,21 +888,44 @@ impl From<&urdf_rs::Geometry> for Geometry {
     }
 }
 
-impl From<&urdf_rs::Link> for Link {
-    fn from(link: &urdf_rs::Link) -> Self {
+impl From<&urdf_rs::Inertia> for Moment {
+    fn from(inertia: &urdf_rs::Inertia) -> Self {
         Self {
-            name: NameInWorkcell(link.name.clone()),
-            inertial: Inertial {
-                origin: Pose {
-                    trans: link.inertial.origin.xyz.0.map(|v| v as f32),
-                    rot: Rotation::EulerExtrinsicXYZ(
-                        link.inertial.origin.rpy.map(|v| Angle::Rad(v as f32)),
-                    ),
-                },
-                mass: Mass(link.inertial.mass.value as f32),
-                inertia: Inertia::default(),
+            ixx: inertia.ixx as f32,
+            ixy: inertia.ixy as f32,
+            ixz: inertia.ixz as f32,
+            iyy: inertia.iyy as f32,
+            iyz: inertia.iyz as f32,
+            izz: inertia.izz as f32,
+        }
+    }
+}
+
+impl From<&urdf_rs::Inertial> for Inertia {
+    fn from(inertial: &urdf_rs::Inertial) -> Self {
+        Self {
+            center: (&inertial.origin).into(),
+            mass: Mass(inertial.mass.value as f32),
+            moment: (&inertial.inertia).into(),
+        }
+    }
+}
+
+impl From<&Inertia> for urdf_rs::Inertial {
+    fn from(inertia: &Inertia) -> Self {
+        Self {
+            origin: inertia.center.into(),
+            mass: urdf_rs::Mass {
+                value: inertia.mass.0 as f64,
+            },
+            inertia: urdf_rs::Inertia {
+                ixx: inertia.moment.ixx as f64,
+                ixy: inertia.moment.ixy as f64,
+                ixz: inertia.moment.ixz as f64,
+                iyy: inertia.moment.iyy as f64,
+                iyz: inertia.moment.iyz as f64,
+                izz: inertia.moment.izz as f64,
             },
-            marker: LinkMarker,
         }
     }
 }
@@ -360,12 +936,10 @@ impl WorkcellModel {
         name: &Option<String>,
         geometry: &urdf_rs::Geometry,
     ) -> Self {
-        let trans = pose.xyz.map(|t| t as f32);
-        let rot = Rotation::EulerExtrinsicXYZ(pose.rpy.map(|t| Angle::Rad(t as f32)));
         WorkcellModel {
             name: name.clone().unwrap_or_default(),
             geometry: geometry.into(),
-            pose: Pose { trans, rot },
+            pose: pose.into(),
         }
     }
 }
@@ -381,3 +955,192 @@ impl From<&urdf_rs::Collision> for WorkcellModel {
         WorkcellModel::from_urdf_data(&collision.origin, &collision.name, &collision.geometry)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use float_eq::{assert_float_eq, float_eq};
+
+    fn frame_by_name(
+        frames: &BTreeMap<u32, Parented<u32, Frame>>,
+        name: &str,
+    ) -> Option<(u32, Parented<u32, Frame>)> {
+        frames
+            .iter()
+            .find(|(_, parented_frame)| {
+                parented_frame.bundle.name == Some(NameInWorkcell(name.to_string()))
+            })
+            .map(|(id, f)| (*id, f.clone()))
+    }
+
+    fn element_by_parent<T: Clone>(
+        models: &BTreeMap<u32, Parented<u32, T>>,
+        parent: u32,
+    ) -> Option<(u32, Parented<u32, T>)> {
+        models
+            .iter()
+            .find(|(_, parented_element)| parented_element.parent == parent)
+            .map(|(id, e)| (*id, e.clone()))
+    }
+
+    fn is_pose_eq(p1: &Pose, p2: &Pose) -> bool {
+        if !p1
+            .trans
+            .iter()
+            .zip(p2.trans.iter())
+            .map(|(t1, t2)| float_eq!(t1, t2, abs <= 1e-6))
+            .all(|eq| eq)
+        {
+            return false;
+        }
+        match (
+            p1.rot.as_euler_extrinsic_xyz(),
+            p2.rot.as_euler_extrinsic_xyz(),
+        ) {
+            (Rotation::EulerExtrinsicXYZ(r1), Rotation::EulerExtrinsicXYZ(r2)) => r1
+                .iter()
+                .zip(r2.iter())
+                .map(|(a1, a2)| float_eq!(a1.radians(), a2.radians(), abs <= 1e-6))
+                .all(|eq| eq),
+            _ => false,
+        }
+    }
+
+    fn is_inertia_eq(i1: &Inertia, i2: &Inertia) -> bool {
+        is_pose_eq(&i1.center, &i2.center)
+            && float_eq!(i1.mass.0, i2.mass.0, abs <= 1e6)
+            && float_eq!(i1.moment.ixx, i2.moment.ixx, abs <= 1e6)
+            && float_eq!(i1.moment.ixy, i2.moment.ixy, abs <= 1e6)
+            && float_eq!(i1.moment.ixz, i2.moment.ixz, abs <= 1e6)
+            && float_eq!(i1.moment.iyy, i2.moment.iyy, abs <= 1e6)
+            && float_eq!(i1.moment.iyz, i2.moment.iyz, abs <= 1e6)
+            && float_eq!(i1.moment.izz, i2.moment.izz, abs <= 1e6)
+    }
+
+    #[test]
+    fn urdf_roundtrip() {
+        let urdf = urdf_rs::read_file("test/07-physics.urdf").unwrap();
+        let workcell = Workcell::from_urdf(&urdf).unwrap();
+        assert_eq!(workcell.visuals.len(), 16);
+        assert_eq!(workcell.collisions.len(), 16);
+        assert_eq!(workcell.frames.len(), 16);
+        assert_eq!(workcell.joints.len(), 15);
+        assert_eq!(workcell.properties.name.0, "physics");
+        // Test that we convert poses from joints to frames
+        let (right_leg_id, right_leg) = frame_by_name(&workcell.frames, "right_leg").unwrap();
+        let target_right_leg_pose = Pose {
+            trans: [0.0, -0.22, 0.25],
+            rot: Default::default(),
+        };
+        assert!(right_leg
+            .bundle
+            .anchor
+            .is_close(&Anchor::Pose3D(target_right_leg_pose), 1e-6));
+        // Test that we can parse parenthood and properties of visuals and collisions correctly
+        let (_, right_leg_visual) = element_by_parent(&workcell.visuals, right_leg_id).unwrap();
+        let target_right_leg_model_pose = Pose {
+            trans: [0.0, 0.0, -0.3],
+            rot: Rotation::EulerExtrinsicXYZ([
+                Angle::Rad(0.0),
+                Angle::Rad(1.57075),
+                Angle::Rad(0.0),
+            ]),
+        };
+        assert!(is_pose_eq(
+            &right_leg_visual.bundle.pose,
+            &target_right_leg_model_pose
+        ));
+        assert!(matches!(
+            right_leg_visual.bundle.geometry,
+            Geometry::Primitive(PrimitiveShape::Box { .. })
+        ));
+        let (_, right_leg_collision) =
+            element_by_parent(&workcell.collisions, right_leg_id).unwrap();
+        assert!(is_pose_eq(
+            &right_leg_collision.bundle.pose,
+            &target_right_leg_model_pose
+        ));
+        assert!(matches!(
+            right_leg_collision.bundle.geometry,
+            Geometry::Primitive(PrimitiveShape::Box { .. })
+        ));
+        // Test inertia parenthood and parsing
+        let (_, right_leg_inertia) = element_by_parent(&workcell.inertias, right_leg_id).unwrap();
+        assert_float_eq!(right_leg_inertia.bundle.mass.0, 10.0, abs <= 1e6);
+        let target_right_leg_inertia = Inertia {
+            center: Pose::default(),
+            mass: Mass(10.0),
+            moment: Moment {
+                ixx: 1.0,
+                ixy: 0.0,
+                ixz: 0.0,
+                iyy: 1.0,
+                iyz: 0.0,
+                izz: 1.0,
+            },
+        };
+        assert!(is_inertia_eq(
+            &right_leg_inertia.bundle,
+            &target_right_leg_inertia
+        ));
+        // Test joint parenthood and parsing
+        let (_, right_leg_joint) = element_by_parent(&workcell.joints, right_leg_id).unwrap();
+        assert!(matches!(
+            right_leg_joint.bundle.properties,
+            JointProperties::Fixed
+        ));
+        assert_eq!(
+            right_leg_joint.bundle.name,
+            NameInWorkcell("right_base_joint".to_string())
+        );
+        // Test that the new urdf contains the same data
+        let new_urdf = workcell.to_urdf().unwrap();
+        assert_eq!(new_urdf.name, "physics");
+        assert_eq!(new_urdf.links.len(), 16);
+        assert_eq!(new_urdf.joints.len(), 15);
+        // Check that link information is preserved
+        let right_leg_link = new_urdf
+            .links
+            .iter()
+            .find(|l| l.name == "right_leg")
+            .unwrap();
+        assert!(is_inertia_eq(
+            &(&right_leg_link.inertial).into(),
+            &target_right_leg_inertia
+        ));
+        assert_eq!(right_leg_link.visual.len(), 1);
+        assert_eq!(right_leg_link.collision.len(), 1);
+        let right_leg_visual = right_leg_link.visual.get(0).unwrap();
+        let right_leg_collision = right_leg_link.collision.get(0).unwrap();
+        assert!(is_pose_eq(
+            &(&right_leg_visual.origin).into(),
+            &target_right_leg_model_pose
+        ));
+        assert!(is_pose_eq(
+            &(&right_leg_collision.origin).into(),
+            &target_right_leg_model_pose
+        ));
+        assert!(matches!(
+            right_leg_visual.geometry,
+            urdf_rs::Geometry::Box { .. }
+        ));
+        assert!(matches!(
+            right_leg_collision.geometry,
+            urdf_rs::Geometry::Box { .. }
+        ));
+        // Check that joint origin is preserved
+        let right_leg_joint = new_urdf
+            .joints
+            .iter()
+            .find(|l| l.name == "base_to_right_leg")
+            .unwrap();
+        assert!(is_pose_eq(
+            &(&right_leg_joint.origin).into(),
+            &target_right_leg_pose
+        ));
+        assert!(matches!(
+            right_leg_joint.joint_type,
+            urdf_rs::JointType::Fixed
+        ));
+    }
+}
diff --git a/rmf_site_format/test/07-physics.urdf b/rmf_site_format/test/07-physics.urdf
new file mode 100644
index 00000000..95c4419e
--- /dev/null
+++ b/rmf_site_format/test/07-physics.urdf
@@ -0,0 +1,418 @@
+<?xml version="1.0"?>
+<!-- Taken from https://github.com/ros/urdf_tutorial/blob/master/urdf/07-physics.urdf -->
+<robot name="physics">
+
+<material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="black">
+    <color rgba="0 0 0 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="right_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_right_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_leg"/>
+    <origin xyz="0 -0.22 0.25"/>
+  </joint>
+
+  <link name="right_base">
+    <visual>
+      <geometry>
+        <box size="0.4 0.1 0.1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.4 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_base_joint" type="fixed">
+    <parent link="right_leg"/>
+    <child link="right_base"/>
+    <origin xyz="0 0 -0.6"/>
+  </joint>
+
+  <link name="right_front_wheel">
+    <visual>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_front_wheel_joint" type="continuous">
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+    <parent link="right_base"/>
+    <child link="right_front_wheel"/>
+    <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
+  </joint>
+
+  <link name="right_back_wheel">
+    <visual>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_back_wheel_joint" type="continuous">
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+    <parent link="right_base"/>
+    <child link="right_back_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
+  </joint>
+
+  <link name="left_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="base_to_left_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_leg"/>
+    <origin xyz="0 0.22 0.25"/>
+  </joint>
+
+  <link name="left_base">
+    <visual>
+      <geometry>
+        <box size="0.4 0.1 0.1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.4 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_base_joint" type="fixed">
+    <parent link="left_leg"/>
+    <child link="left_base"/>
+    <origin xyz="0 0 -0.6"/>
+  </joint>
+
+  <link name="left_front_wheel">
+    <visual>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_front_wheel_joint" type="continuous">
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+    <parent link="left_base"/>
+    <child link="left_front_wheel"/>
+    <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
+  </joint>
+
+  <link name="left_back_wheel">
+    <visual>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_back_wheel_joint" type="continuous">
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+    <parent link="left_base"/>
+    <child link="left_back_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
+  </joint>
+
+  <joint name="gripper_extension" type="prismatic">
+    <parent link="base_link"/>
+    <child link="gripper_pole"/>
+    <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
+    <origin rpy="0 0 0" xyz="0.19 0 0.2"/>
+  </joint>
+
+  <link name="gripper_pole">
+    <visual>
+      <geometry>
+        <cylinder length="0.2" radius="0.01"/>
+      </geometry>
+      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.2" radius="0.01"/>
+      </geometry>
+      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_gripper_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
+    <parent link="gripper_pole"/>
+    <child link="left_gripper"/>
+  </joint>
+
+  <link name="left_gripper">
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
+      </geometry>
+      <origin rpy="0.0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_tip_joint" type="fixed">
+    <parent link="left_gripper"/>
+    <child link="left_tip"/>
+  </joint>
+
+  <link name="left_tip">
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
+      </geometry>
+      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_gripper_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
+    <parent link="gripper_pole"/>
+    <child link="right_gripper"/>
+  </joint>
+
+  <link name="right_gripper">
+    <visual>
+      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
+      </geometry>
+      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_tip_joint" type="fixed">
+    <parent link="right_gripper"/>
+    <child link="right_tip"/>
+  </joint>
+
+  <link name="right_tip">
+    <visual>
+      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
+      </geometry>
+      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="head">
+    <visual>
+      <geometry>
+        <sphere radius="0.2"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="head_swivel" type="continuous">
+    <parent link="base_link"/>
+    <child link="head"/>
+    <axis xyz="0 0 1"/>
+    <origin xyz="0 0 0.3"/>
+  </joint>
+
+  <link name="box">
+    <visual>
+      <geometry>
+        <box size="0.08 0.08 0.08"/>
+      </geometry>
+      <material name="blue"/>
+      <origin xyz="-0.04 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.08 0.08 0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="tobox" type="fixed">
+    <parent link="head"/>
+    <child link="box"/>
+    <origin xyz="0.1814 0 0.1414"/>
+  </joint>
+
+</robot>