diff --git a/.github/workflows/ci_web.yaml b/.github/workflows/ci_web.yaml
index 59abb607..cf4b23e7 100644
--- a/.github/workflows/ci_web.yaml
+++ b/.github/workflows/ci_web.yaml
@@ -27,7 +27,7 @@ jobs:
 
     - name: cargo-deps
       run: |
-        cargo install wasm-bindgen-cli --vers =0.2.84
+        cargo install wasm-bindgen-cli
 
     - uses: actions/checkout@v3
 
diff --git a/Cargo.lock b/Cargo.lock
index 40ab0046..4338079e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -20,24 +20,24 @@ checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
 
 [[package]]
 name = "accesskit"
-version = "0.11.2"
+version = "0.12.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76eb1adf08c5bcaa8490b9851fd53cca27fa9880076f178ea9d29f05196728a8"
+checksum = "6cb10ed32c63247e4e39a8f42e8e30fb9442fbf7878c8e4a9849e7e381619bea"
 
 [[package]]
 name = "accesskit_consumer"
-version = "0.15.2"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04bb4d9e4772fe0d47df57d0d5dbe5d85dd05e2f37ae1ddb6b105e76be58fb00"
+checksum = "8c17cca53c09fbd7288667b22a201274b9becaa27f0b91bf52a526db95de45e6"
 dependencies = [
  "accesskit",
 ]
 
 [[package]]
 name = "accesskit_macos"
-version = "0.9.0"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "134d0acf6acb667c89d3332999b1a5df4edbc8d6113910f392ebb73f2b03bb56"
+checksum = "cd3b6ae1eabbfbced10e840fd3fce8a93ae84f174b3e4ba892ab7bcb42e477a7"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
@@ -47,23 +47,23 @@ dependencies = [
 
 [[package]]
 name = "accesskit_windows"
-version = "0.14.3"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9eac0a7f2d7cd7a93b938af401d3d8e8b7094217989a7c25c55a953023436e31"
+checksum = "afcae27ec0974fc7c3b0b318783be89fd1b2e66dd702179fe600166a38ff4a0b"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
- "arrayvec",
  "once_cell",
  "paste",
+ "static_assertions",
  "windows 0.48.0",
 ]
 
 [[package]]
 name = "accesskit_winit"
-version = "0.14.4"
+version = "0.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "825d23acee1bd6d25cbaa3ca6ed6e73faf24122a774ec33d52c5c86c6ab423c0"
+checksum = "88e39fcec2e10971e188730b7a76bab60647dacc973d4591855ebebcadfaa738"
 dependencies = [
  "accesskit",
  "accesskit_macos",
@@ -86,68 +86,14 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
-[[package]]
-name = "aead"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fc95d1bdb8e6666b2b217308eeeb09f2d6728d104be3e31916cc74d15420331"
-dependencies = [
- "generic-array",
-]
-
-[[package]]
-name = "aes"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "884391ef1066acaa41e766ba8f596341b96e93ce34f9a43e7d24bf0a0eaf0561"
-dependencies = [
- "aes-soft",
- "aesni",
- "cipher",
-]
-
-[[package]]
-name = "aes-gcm"
-version = "0.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5278b5fabbb9bd46e24aa69b2fdea62c99088e0a950a9be40e3e0101298f88da"
-dependencies = [
- "aead",
- "aes",
- "cipher",
- "ctr",
- "ghash",
- "subtle",
-]
-
-[[package]]
-name = "aes-soft"
-version = "0.6.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be14c7498ea50828a38d0e24a765ed2effe92a705885b57d029cd67d45744072"
-dependencies = [
- "cipher",
- "opaque-debug",
-]
-
-[[package]]
-name = "aesni"
-version = "0.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea2e11f5e94c2f7d386164cc2aa1f97823fed6f259e486940a71c174dd01b0ce"
-dependencies = [
- "cipher",
- "opaque-debug",
-]
-
 [[package]]
 name = "ahash"
-version = "0.8.6"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91429305e9f0a25f6205c5b8e0d2db09e0708a7a6df0f42212bb56c32c8ac97a"
+checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
 dependencies = [
  "cfg-if",
- "getrandom 0.2.11",
+ "getrandom",
  "once_cell",
  "version_check",
  "zerocopy",
@@ -170,14 +116,13 @@ checksum = "0942ffc6dcaadf03badf6e6a2d0228460359d5e34b57ccdc720b7382dfbd5ec5"
 
 [[package]]
 name = "alsa"
-version = "0.7.1"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2562ad8dcf0f789f65c6fdaad8a8a9708ed6b488e649da28c01656ad66b8b47"
+checksum = "37fe60779335388a88c01ac6c3be40304d1e349de3ada3b15f7808bb90fa9dce"
 dependencies = [
  "alsa-sys",
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
  "libc",
- "nix 0.24.3",
 ]
 
 [[package]]
@@ -202,9 +147,9 @@ dependencies = [
  "jni-sys",
  "libc",
  "log",
- "ndk",
+ "ndk 0.7.0",
  "ndk-context",
- "ndk-sys",
+ "ndk-sys 0.4.1+23.1.7779620",
  "num_enum 0.6.1",
 ]
 
@@ -237,9 +182,9 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.6.4"
+version = "0.6.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
+checksum = "d96bd03f33fe50a863e394ee9718a706f988b9079b20c3784fb726e7678b62fb"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -251,43 +196,43 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.4"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
+checksum = "8901269c6307e8d93993578286ac0edf7f195079ffff5ebdeea6a59ffb7e36bc"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.2"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "317b9a89c1868f5ea6ff1d9539a69f45dffc21ce321ac1fd1160dfa48c8e2140"
+checksum = "c75ac65da39e5fe5ab759307499ddad880d724eed2f6ce5b5e8a26f4f387928c"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.0.0"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ca11d4be1bab0c8bc8734a9aa7bf4ee8316d462a08c6ac5052f888fef5b494b"
+checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.1"
+version = "3.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0699d10d2f4d628a98ee7b57b289abbc98ff3bad977cb3152709d4bf2330628"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
 dependencies = [
  "anstyle",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "anyhow"
-version = "1.0.75"
+version = "1.0.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
+checksum = "5ad32ce52e4161730f7098c077cd2ed6229b5804ccf99e5366be1ab72a98b4e1"
 
 [[package]]
 name = "approx"
@@ -300,12 +245,12 @@ dependencies = [
 
 [[package]]
 name = "arboard"
-version = "3.2.1"
+version = "3.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac57f2b058a76363e357c056e4f74f1945bf734d37b8b3ef49066c4787dde0fc"
+checksum = "a2041f1943049c7978768d84e6d0fd95de98b76d6c4727b09e78ec253d29fa58"
 dependencies = [
  "clipboard-win",
- "core-graphics",
+ "core-graphics 0.23.1",
  "image",
  "log",
  "objc",
@@ -313,10 +258,16 @@ dependencies = [
  "objc_id",
  "parking_lot",
  "thiserror",
- "winapi",
+ "windows-sys 0.48.0",
  "x11rb",
 ]
 
+[[package]]
+name = "arrayref"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6b4930d2cb77ce62f89ee5d5289b4ac049559b1c45539271f5ed4fdc7db34545"
+
 [[package]]
 name = "arrayvec"
 version = "0.7.4"
@@ -332,6 +283,16 @@ dependencies = [
  "libloading 0.7.4",
 ]
 
+[[package]]
+name = "async-broadcast"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c48ccdbf6ca6b121e0f586cbc0e73ae440e56c67c30fa0873b4e110d9c26d2b"
+dependencies = [
+ "event-listener 2.5.3",
+ "futures-core",
+]
+
 [[package]]
 name = "async-channel"
 version = "1.9.0"
@@ -345,64 +306,41 @@ dependencies = [
 
 [[package]]
 name = "async-channel"
-version = "2.1.0"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d37875bd9915b7d67c2f117ea2c30a0989874d0b2cb694fe25403c85763c0c9e"
+checksum = "f28243a43d821d11341ab73c80bed182dc015c514b951616cf79bd4af39af0c3"
 dependencies = [
  "concurrent-queue",
- "event-listener 3.1.0",
- "event-listener-strategy",
+ "event-listener 5.2.0",
+ "event-listener-strategy 0.5.0",
  "futures-core",
  "pin-project-lite",
 ]
 
 [[package]]
 name = "async-executor"
-version = "1.6.0"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b0c4a4f319e45986f347ee47fef8bf5e81c9abc3f6f58dc2391439f30df65f0"
+checksum = "17ae5ebefcc48e7452b4987947920dac9450be1110cadf34d1b8c116bdbaf97c"
 dependencies = [
- "async-lock 2.8.0",
+ "async-lock 3.3.0",
  "async-task",
  "concurrent-queue",
  "fastrand 2.0.1",
- "futures-lite 1.13.0",
+ "futures-lite 2.2.0",
  "slab",
 ]
 
 [[package]]
-name = "async-global-executor"
-version = "2.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1b6f5d7df27bd294849f8eec66ecfc63d11814df7a4f5d74168a2394467b776"
-dependencies = [
- "async-channel 1.9.0",
- "async-executor",
- "async-io",
- "async-lock 2.8.0",
- "blocking",
- "futures-lite 1.13.0",
- "once_cell",
-]
-
-[[package]]
-name = "async-io"
-version = "1.13.0"
+name = "async-fs"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fc5b45d93ef0529756f812ca52e44c221b35341892d3dcc34132ac02f3dd2af"
+checksum = "279cf904654eeebfa37ac9bb1598880884924aab82e290aa65c9e77a0e142e06"
 dependencies = [
  "async-lock 2.8.0",
  "autocfg",
- "cfg-if",
- "concurrent-queue",
+ "blocking",
  "futures-lite 1.13.0",
- "log",
- "parking",
- "polling",
- "rustix",
- "slab",
- "socket2",
- "waker-fn",
 ]
 
 [[package]]
@@ -416,57 +354,20 @@ dependencies = [
 
 [[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]]
-name = "async-std"
-version = "1.12.0"
+version = "3.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62565bb4402e926b29953c785397c6dc0391b7b446e45008b0049eb43cec6f5d"
+checksum = "d034b430882f8381900d3fe6f0aaa3ad94f2cb4ac519b429692a1bc2dda4ae7b"
 dependencies = [
- "async-channel 1.9.0",
- "async-global-executor",
- "async-io",
- "async-lock 2.8.0",
- "crossbeam-utils",
- "futures-channel",
- "futures-core",
- "futures-io",
- "futures-lite 1.13.0",
- "gloo-timers",
- "kv-log-macro",
- "log",
- "memchr",
- "once_cell",
+ "event-listener 4.0.3",
+ "event-listener-strategy 0.4.0",
  "pin-project-lite",
- "pin-utils",
- "slab",
- "wasm-bindgen-futures",
 ]
 
 [[package]]
 name = "async-task"
-version = "4.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4eb2cdb97421e01129ccb49169d8279ed21e829929144f4a22a6e54ac549ca1"
-
-[[package]]
-name = "async-trait"
-version = "0.1.74"
+version = "4.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.39",
-]
+checksum = "fbb36e985947064623dbd357f727af08ffd077f93d696782f3c56365fa2e2799"
 
 [[package]]
 name = "atk-sys"
@@ -495,12 +396,6 @@ version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
-[[package]]
-name = "atomic_refcell"
-version = "0.1.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41e67cd8309bbd06cd603a9e693a784ac2e5d1e955f11286e355089fcab3047c"
-
 [[package]]
 name = "autocfg"
 version = "1.1.0"
@@ -522,12 +417,6 @@ dependencies = [
  "rustc-demangle",
 ]
 
-[[package]]
-name = "base-x"
-version = "0.2.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cbbc9d0964165b47557570cce6c952866c2678457aca742aafc9fb771d30270"
-
 [[package]]
 name = "base64"
 version = "0.13.1"
@@ -536,24 +425,24 @@ checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
 [[package]]
 name = "base64"
-version = "0.21.5"
+version = "0.21.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
+checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567"
 
 [[package]]
 name = "bevy"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91c6d3ec4f89e85294dc97334c5b271ddc301fdf67ac9bb994fe44d9273e6ed7"
+checksum = "e4bc7e09282a82a48d70ade0c4c1154b0fd7882a735a39c66766a5d0f4718ea9"
 dependencies = [
  "bevy_internal",
 ]
 
 [[package]]
 name = "bevy_a11y"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "132c9e35a77c5395951f6d25fa2c52ee92296353426df4f961e60f3ff47e2e42"
+checksum = "68080288c932634f6563d3a8299efe0ddc9ea6787539c4c771ba250d089a94f0"
 dependencies = [
  "accesskit",
  "bevy_app",
@@ -563,9 +452,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_animation"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f44eae3f1c35a87e38ad146f72317f19ce7616dad8bbdfb88ee752c1282d28c5"
+checksum = "7aa37683b1281e1ba8cf285644e6e3f0704f14b3901c5ee282067ff7ff6f4a56"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -582,9 +471,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_app"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f557a7d59e1e16892d7544fc37316506ee598cb5310ef0365125a30783c11531"
+checksum = "d41731817993f92e4363dd3335558e779e290bc71eefc0b5547052b85810907e"
 dependencies = [
  "bevy_derive",
  "bevy_ecs",
@@ -598,26 +487,29 @@ dependencies = [
 
 [[package]]
 name = "bevy_asset"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9714af523da4cdf58c42a317e5ed40349708ad954a18533991fd64c8ae0a6f68"
+checksum = "935984568f75867dd7357133b06f4b1502cd2be55e4642d483ce597e46e63bff"
 dependencies = [
- "anyhow",
- "async-channel 1.9.0",
+ "async-broadcast",
+ "async-fs",
+ "async-lock 2.8.0",
  "bevy_app",
- "bevy_diagnostic",
+ "bevy_asset_macros",
  "bevy_ecs",
  "bevy_log",
  "bevy_reflect",
  "bevy_tasks",
  "bevy_utils",
  "bevy_winit",
+ "blake3",
  "crossbeam-channel",
  "downcast-rs",
- "fastrand 1.9.0",
+ "futures-io",
+ "futures-lite 1.13.0",
  "js-sys",
- "notify",
  "parking_lot",
+ "ron",
  "serde",
  "thiserror",
  "wasm-bindgen",
@@ -625,13 +517,24 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "bevy_asset_macros"
+version = "0.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f48b9bbe4ec605e4910b5cd1e1a0acbfbe0b80af5f3bcc4489a9fdd1e80058c"
+dependencies = [
+ "bevy_macro_utils",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
 [[package]]
 name = "bevy_audio"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4de308bd63a2f7a0b77ffeb7cf00cc185ec01393c5db2091fe03964f97152749"
+checksum = "18a69889e1bfa4dbac4e641536b94f91c441da55796ad9832e77836b8264688b"
 dependencies = [
- "anyhow",
  "bevy_app",
  "bevy_asset",
  "bevy_derive",
@@ -640,16 +543,15 @@ dependencies = [
  "bevy_reflect",
  "bevy_transform",
  "bevy_utils",
- "oboe",
- "parking_lot",
+ "oboe 0.5.0",
  "rodio",
 ]
 
 [[package]]
 name = "bevy_core"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d5272321be5fcf5ce2fb16023bc825bb10dfcb71611117296537181ce950f48"
+checksum = "3daa24502a14839509f02407bc7e48299fe84d260877de23b60662de0f4f4b6c"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -662,41 +564,42 @@ dependencies = [
 
 [[package]]
 name = "bevy_core_pipeline"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67382fa9c96ce4f4e5833ed7cedd9886844a8f3284b4a717bd4ac738dcdea0c3"
+checksum = "b4b77c4fca6e90edbe2e72da7bc9aa7aed7dfdfded0920ae0a0c845f5e11084a"
 dependencies = [
  "bevy_app",
  "bevy_asset",
  "bevy_core",
  "bevy_derive",
  "bevy_ecs",
+ "bevy_log",
  "bevy_math",
  "bevy_reflect",
  "bevy_render",
  "bevy_transform",
  "bevy_utils",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "radsort",
  "serde",
 ]
 
 [[package]]
 name = "bevy_derive"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a44e4e2784a81430199e4157e02903a987a32127c773985506f020e7d501b62e"
+checksum = "f484318350462c58ba3942a45a656c1fd6b6e484a6b6b7abc3a787ad1a51e500"
 dependencies = [
  "bevy_macro_utils",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "bevy_diagnostic"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6babb230dc383c98fdfc9603e3a7a2a49e1e2879dbe8291059ef37dca897932e"
+checksum = "fa38ca5967d335cc1006a0e0f1a86c350e2f15fd1878449f61d04cd57a7c4060"
 dependencies = [
  "bevy_app",
  "bevy_core",
@@ -709,9 +612,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_ecs"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "266144b36df7e834d5198049e037ecdf2a2310a76ce39ed937d1b0a6a2c4e8c6"
+checksum = "7709fbd22f81fb681534cd913c41e1cd18b17143368743281195d7f024b61aea"
 dependencies = [
  "async-channel 1.9.0",
  "bevy_ecs_macros",
@@ -730,21 +633,21 @@ dependencies = [
 
 [[package]]
 name = "bevy_ecs_macros"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7157a9c3be038d5008ee3f114feb6cf6b39c1d3d32ee21a7cacb8f81fccdfa80"
+checksum = "a8843aa489f159f25cdcd9fee75cd7d221a7098a71eaa72cb2d6b40ac4e3f1ba"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "bevy_egui"
-version = "0.21.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a73a93a8cf6b8c744281d1b88f5b0fa278d608e909af9bbf4eb491a7cb1ad2c"
+checksum = "85450af551b7e1cb766f710763b60a12a82ffd6323945a8f776c6334c59ccdc1"
 dependencies = [
  "arboard",
  "bevy",
@@ -755,9 +658,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_encase_derive"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0ac0f55ad6bca1be7b0f35bbd5fc95ed3d31e4e9db158fee8e5327f59006001"
+checksum = "5328a3715e933ebbff07d0e99528dc423c4f7a53590ed1ac19a120348b028990"
 dependencies = [
  "bevy_macro_utils",
  "encase_derive_impl",
@@ -765,9 +668,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_gilrs"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65f4d79c55829f8016014593a42453f61a564ffb06ef79460d25696ccdfac67b"
+checksum = "9b81ca2ebf66cbc7f998f1f142b15038ffe3c4ae1d51f70adda26dcf51b0c4ca"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -781,9 +684,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_gizmos"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e286a3e7276431963f4aa29165ea5429fa7dbbc6d5c5ba0c531e7dd44ecc88a2"
+checksum = "db232274ddca2ae452eb2731b98267b795d133ddd14013121bc7daddde1c7491"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -801,11 +704,10 @@ dependencies = [
 
 [[package]]
 name = "bevy_gltf"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f07494a733dca032e71a20f4b1f423de765da49cbff34406ae6cd813f9b50c41"
+checksum = "85adc6b1fc86687bf67149e0bafaa4d6da432232fa956472d1b37f19121d3ace"
 dependencies = [
- "anyhow",
  "base64 0.13.1",
  "bevy_animation",
  "bevy_app",
@@ -832,9 +734,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_hierarchy"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "103f8f58416ac6799b8c7f0b418f1fac9eba44fa924df3b0e16b09256b897e3d"
+checksum = "06bd477152ce2ae1430f5e0a4f19216e5785c22fee1ab23788b5982dc59d1a55"
 dependencies = [
  "bevy_app",
  "bevy_core",
@@ -847,18 +749,17 @@ dependencies = [
 
 [[package]]
 name = "bevy_infinite_grid"
-version = "0.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8afb79f58da54f827c3bce5c81cb6585efa41d765ae7ca6783bc312331ce4250"
+version = "0.10.0"
+source = "git+https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid?rev=86018dd#86018dd5708357067323931241ebc835fa73bf30"
 dependencies = [
  "bevy",
 ]
 
 [[package]]
 name = "bevy_input"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ffbd935401101ac8003f3c3aea70788c65ad03f7a32716a10608bedda7a648bc"
+checksum = "cab9a599189b2a694c182d60cd52219dd9364f9892ff542d87799b8e45d9e6dc"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -870,9 +771,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_internal"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0e35a9b2bd29aa784b3cc416bcbf2a298f69f00ca51fd042ea39d9af7fad37e"
+checksum = "f124bece9831afd80897815231072d51bfe3ac58c6bb58eca8880963b6d0487c"
 dependencies = [
  "bevy_a11y",
  "bevy_animation",
@@ -909,9 +810,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_log"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07dcc615ff4f617b06c3f9522fca3c55d56f9644db293318f8ab68fcdea5d4fe"
+checksum = "0dc10ba1d225a8477b9e80a1bf797d8a8b8274e83c9b24fb4d9351aec9229755"
 dependencies = [
  "android_log-sys",
  "bevy_app",
@@ -925,21 +826,22 @@ dependencies = [
 
 [[package]]
 name = "bevy_macro_utils"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23ddc18d489b4e57832d4958cde7cd2f349f0ad91e5892ac9e2f2ee16546b981"
+checksum = "e566640c6b6dced73d2006c764c2cffebe1a82be4809486c4a5d7b4b50efed4d"
 dependencies = [
+ "proc-macro2",
  "quote",
  "rustc-hash",
- "syn 2.0.39",
- "toml_edit 0.19.15",
+ "syn 2.0.52",
+ "toml_edit 0.20.7",
 ]
 
 [[package]]
 name = "bevy_math"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78286a81fead796dc4b45ab14f4f02fe29a94423d3587bcfef872b2a8e0a474b"
+checksum = "58ddc2b76783939c530178f88e5711a1b01044d7b02db4033e2eb8b43b6cf4ec"
 dependencies = [
  "glam",
  "serde",
@@ -947,18 +849,18 @@ dependencies = [
 
 [[package]]
 name = "bevy_mikktspace"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6cfc2a21ea47970a9b1f0f4735af3256a8f204815bd756110051d10f9d909497"
+checksum = "8ec4962977a746d870170532fc92759e04d3dbcae8b7b82e7ca3bb83b1d75277"
 dependencies = [
  "glam",
 ]
 
 [[package]]
 name = "bevy_mod_outline"
-version = "0.5.1"
+version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6bc7f9d694a9b767def28e2a649bdc9b290bb9cd3c8f6d8ae90c3ad2234e3580"
+checksum = "35d72134cd809630e78bc953318156f37ff2839a50bebb148bc5c3a669e133e0"
 dependencies = [
  "bevy",
  "bitfield",
@@ -969,19 +871,30 @@ dependencies = [
 
 [[package]]
 name = "bevy_mod_raycast"
-version = "0.15.0"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b833e94bd71d2ef27445f3e146b07da4a7922fdb7b464f0f1221521f85a5725a"
+checksum = "6b127622dcbfd9e6a1661219af65965625901c2549b434f0c44c4460dd055dce"
 dependencies = [
- "bevy",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_gizmos",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_sprite",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "crossbeam-channel",
 ]
 
 [[package]]
 name = "bevy_obj"
-version = "0.11.0"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5cbe04365fda91ae1b681322bda661f0b69ede9a5bc50b3db6a97188c85bb670"
+checksum = "308882b319e5d4809655429d95c8d162b5ed5426f7882ed7c522440754e580ac"
 dependencies = [
  "anyhow",
  "bevy_app",
@@ -997,9 +910,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_pbr"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "63ca796a619e61cd43a0a3b11fde54644f7f0732a1fba1eef5d406248c6eba85"
+checksum = "520bfd2a898c74f84ea52cfb8eb061f37373ad15e623489d5f75d27ebd6138fe"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1012,34 +925,37 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "bytemuck",
+ "fixedbitset",
  "naga_oil",
  "radsort",
+ "smallvec",
+ "thread_local",
 ]
 
 [[package]]
 name = "bevy_polyline"
-version = "0.7.0"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b82c222b756d1d41ca808595934fc02edc5b05604151930bc7d00bb4fd8d1bd"
+checksum = "dc6824e97e332fafcbfe31d169b2b9073b9ba568b2a9f59cfd3ac4697982b4bf"
 dependencies = [
  "bevy",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "naga",
 ]
 
 [[package]]
 name = "bevy_ptr"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72c7586401a46f7d8e436028225c1df5288f2e0082d066b247a82466fea155c6"
+checksum = "c77ec20c8fafcdc196508ef5ccb4f0400a8d193cb61f7b14a36ed9a25ad423cf"
 
 [[package]]
 name = "bevy_reflect"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0778197a1eb3e095a71417c74b7152ede02975cdc95b5ea4ddc5251ed00a2eb5"
+checksum = "d7921f15fc944c9c8ad01d7dbcea6505b8909c6655cd9382bab1407181556038"
 dependencies = [
  "bevy_math",
  "bevy_ptr",
@@ -1048,8 +964,6 @@ dependencies = [
  "downcast-rs",
  "erased-serde",
  "glam",
- "once_cell",
- "parking_lot",
  "serde",
  "smallvec",
  "smol_str",
@@ -1058,25 +972,23 @@ dependencies = [
 
 [[package]]
 name = "bevy_reflect_derive"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "342a4b2d09db22c48607d23ad59a056aff1ee004549050a51d490d375ba29528"
+checksum = "b4a8c5475f216e751ef4452a1306b00711f33d2d04d9f149e4c845dfeb6753a0"
 dependencies = [
  "bevy_macro_utils",
- "bit-set",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
  "uuid",
 ]
 
 [[package]]
 name = "bevy_render"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39df4824b760928c27afc7b00fb649c7a63c9d76661ab014ff5c86537ee906cb"
+checksum = "bdefdd3737125b0d94a6ff20bb70fa8cfe9d7d5dcd72ba4dfe6c5f1d30d9f6e4"
 dependencies = [
- "anyhow",
  "async-channel 1.9.0",
  "bevy_app",
  "bevy_asset",
@@ -1095,7 +1007,7 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "bytemuck",
  "codespan-reporting",
  "downcast-rs",
@@ -1107,8 +1019,6 @@ dependencies = [
  "ktx2",
  "naga",
  "naga_oil",
- "parking_lot",
- "regex",
  "ruzstd",
  "serde",
  "smallvec",
@@ -1117,28 +1027,26 @@ dependencies = [
  "wasm-bindgen",
  "web-sys",
  "wgpu",
- "wgpu-hal",
 ]
 
 [[package]]
 name = "bevy_render_macros"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bd08c740aac73363e32fb45af869b10cec65bcb76fe3e6cd0f8f7eebf4c36c9"
+checksum = "64d86bfc5a1e7fbeeaec0c4ceab18155530f5506624670965db3415f75826bea"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "bevy_scene"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd47e1263506153bef3a8be97fe2d856f206d315668c4f97510ca6cc181d9681"
+checksum = "e7df078b5e406e37c8a1c6ba0d652bf105fde713ce3c3efda7263fe27467eee5"
 dependencies = [
- "anyhow",
  "bevy_app",
  "bevy_asset",
  "bevy_derive",
@@ -1156,9 +1064,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_sprite"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68a8ca824fad75c6ef74cfbbba0a4ce3ccc435fa23d6bf3f003f260548813397"
+checksum = "c7cc0c9d946e17e3e0aaa202f182837bc796c4f862b2e5a805134f873f21cf7f"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1171,31 +1079,33 @@ dependencies = [
  "bevy_render",
  "bevy_transform",
  "bevy_utils",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "bytemuck",
  "fixedbitset",
  "guillotiere",
+ "radsort",
  "rectangle-pack",
  "thiserror",
 ]
 
 [[package]]
 name = "bevy_stl"
-version = "0.11.0"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a48abf4210b2ec8c2abcca6c4257ec22c4d656c6fc3bb4e80c42b505e521be38"
+checksum = "b503a4a2a4e15456ae19e7f467b7f3447ccdcf9bbb10de9f4f3c1b2e88e12cdd"
 dependencies = [
  "anyhow",
  "bevy",
+ "futures-lite 2.2.0",
  "stl_io",
  "thiserror",
 ]
 
 [[package]]
 name = "bevy_tasks"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c73bbb847c83990d3927005090df52f8ac49332e1643d2ad9aac3cd2974e66bf"
+checksum = "f4fefa7fe0da8923525f7500e274f1bd60dbd79918a25cf7d0dfa0a6ba15c1cf"
 dependencies = [
  "async-channel 1.9.0",
  "async-executor",
@@ -1207,12 +1117,11 @@ dependencies = [
 
 [[package]]
 name = "bevy_text"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "692288ab7b0a9f8b38058964c52789fc6bcb63703b23de51cce90ec41bfca355"
+checksum = "3a9a79d49ca06170d69149949b134c14e8b99ace1444c1ca2cd4743b19d5b055"
 dependencies = [
  "ab_glyph",
- "anyhow",
  "bevy_app",
  "bevy_asset",
  "bevy_ecs",
@@ -1230,9 +1139,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_time"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d58d6dbae9c8225d8c0e0f04d2c5dbb71d22adc01ecd5ab3cebc364139e4a6d"
+checksum = "e6250d76eed3077128b6a3d004f9f198b01107800b9824051e32bb658054e837"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -1244,22 +1153,23 @@ dependencies = [
 
 [[package]]
 name = "bevy_transform"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b9b0ac0149a57cd846cb357a35fc99286f9848e53d4481954608ac9552ed2d4"
+checksum = "d541e0c292edbd96afae816ee680e02247422423ccd5dc635c1e211a20ed64be"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
  "bevy_hierarchy",
  "bevy_math",
  "bevy_reflect",
+ "thiserror",
 ]
 
 [[package]]
 name = "bevy_ui"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59b6d295a755e5b79e869a09e087029d72974562a521ec7ccfba7141fa948a32"
+checksum = "d785e3b75dabcb2a8ad0d50933f8f3446d59e512cabc2d2a145e28c2bb8792ba"
 dependencies = [
  "bevy_a11y",
  "bevy_app",
@@ -1287,15 +1197,16 @@ dependencies = [
 
 [[package]]
 name = "bevy_utils"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08d9484e32434ea84dc548cff246ce0c6f756c1336f5ea03f24ac120a48595c7"
+checksum = "7915222f4a08ccc782e08d10b751b42e5f9d786e697d0cb3fd09333cb7e8b6ea"
 dependencies = [
  "ahash",
  "bevy_utils_proc_macros",
- "getrandom 0.2.11",
- "hashbrown 0.14.2",
+ "getrandom",
+ "hashbrown 0.14.3",
  "instant",
+ "nonmax",
  "petgraph",
  "thiserror",
  "tracing",
@@ -1304,21 +1215,22 @@ dependencies = [
 
 [[package]]
 name = "bevy_utils_proc_macros"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5391b242c36f556db01d5891444730c83aa9dd648b6a8fd2b755d22cb3bddb57"
+checksum = "7aafecc952b6b8eb1a93c12590bd867d25df2f4ae1033a01dfdfc3c35ebccfff"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "bevy_window"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd584c0da7c4ada6557b09f57f30fb7cff21ccedc641473fc391574b4c9b7944"
+checksum = "41ee72bf7f974000e9b31bb971a89387f1432ba9413f35c4fef59fef49767260"
 dependencies = [
+ "bevy_a11y",
  "bevy_app",
  "bevy_ecs",
  "bevy_input",
@@ -1330,9 +1242,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_winit"
-version = "0.11.3"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfdc044abdb95790c20053e6326760f0a2985f0dcd78613d397bf35f16039d53"
+checksum = "1eb71f287eca9006dda998784c7b931e400ae2cc4c505da315882a8b082f21ad"
 dependencies = [
  "accesskit_winit",
  "approx",
@@ -1355,22 +1267,22 @@ dependencies = [
 
 [[package]]
 name = "bindgen"
-version = "0.68.1"
+version = "0.69.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "726e4313eb6ec35d2730258ad4e15b547ee75d6afaa1361a922e78e59b7d8078"
+checksum = "a00dc851838a2120612785d195287475a3ac45514741da670b735818822129a0"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "cexpr",
  "clang-sys",
+ "itertools 0.12.1",
  "lazy_static",
  "lazycell",
- "peeking_take_while",
  "proc-macro2",
  "quote",
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -1402,27 +1314,31 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.4.1"
+version = "2.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
+checksum = "ed570934406eb16438a4e976b1b4500774099c13b8cb96eec99f620f05090ddf"
 dependencies = [
  "serde",
 ]
 
 [[package]]
-name = "block"
-version = "0.1.6"
+name = "blake3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d8c1fef690941d3e7788d328517591fecc684c084084702d6ff1641e993699a"
+checksum = "0231f06152bf547e9c2b5194f247cd97aacf6dcd8b15d8e5ec0663f64580da87"
+dependencies = [
+ "arrayref",
+ "arrayvec",
+ "cc",
+ "cfg-if",
+ "constant_time_eq",
+]
 
 [[package]]
-name = "block-buffer"
-version = "0.9.0"
+name = "block"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4152116fd6e9dadb291ae18fc1ec3575ed6d84c29642d97890f4b4a3417297e4"
-dependencies = [
- "generic-array",
-]
+checksum = "0d8c1fef690941d3e7788d328517591fecc684c084084702d6ff1641e993699a"
 
 [[package]]
 name = "block-buffer"
@@ -1458,21 +1374,21 @@ version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a37913e8dc4ddcc604f0c6d3bf2887c995153af3611de9e23c352b44c1b9118"
 dependencies = [
- "async-channel 2.1.0",
- "async-lock 3.1.0",
+ "async-channel 2.2.0",
+ "async-lock 3.3.0",
  "async-task",
  "fastrand 2.0.1",
  "futures-io",
- "futures-lite 2.0.1",
+ "futures-lite 2.2.0",
  "piper",
  "tracing",
 ]
 
 [[package]]
 name = "bstr"
-version = "1.8.0"
+version = "1.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "542f33a8835a0884b006a0c3df3dadd99c0c3f296ed26c2fdc8028e01ad6230c"
+checksum = "05efc5cfd9110c8416e471df0e96702d58690178e206e61b7173706673c93706"
 dependencies = [
  "memchr",
  "serde",
@@ -1480,15 +1396,15 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.14.0"
+version = "3.15.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec"
+checksum = "8ea184aa71bb362a1157c896979544cc23974e08fd265f29ea96b59f0b4a555b"
 
 [[package]]
 name = "bytemuck"
-version = "1.14.0"
+version = "1.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6"
+checksum = "a2ef034f05691a48569bd920a96c81b9d91bbad1ab5ac7c4616c1f6ef36cb79f"
 dependencies = [
  "bytemuck_derive",
 ]
@@ -1501,7 +1417,7 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -1510,12 +1426,6 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
-[[package]]
-name = "bytes"
-version = "0.5.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e4cec68f03f32e44924783795810fa50a7035d8c8ebe78580ad7e6c703fba38"
-
 [[package]]
 name = "bytes"
 version = "1.5.0"
@@ -1534,10 +1444,11 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.84"
+version = "1.0.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f8e7c90afad890484a21653d08b6e209ae34770fb5ee298f9c699fcc1e5c856"
+checksum = "a0ba8f7aaa012f30d5b2861462f6708eccd49c3c39863fe083a308035f63d723"
 dependencies = [
+ "jobserver",
  "libc",
 ]
 
@@ -1558,9 +1469,9 @@ dependencies = [
 
 [[package]]
 name = "cfg-expr"
-version = "0.15.5"
+version = "0.15.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03915af431787e6ffdcc74c645077518c6b6e01f80b761e0fbbfa288536311b3"
+checksum = "fa50868b64a9a6fda9d593ce778849ea8715cd2a3d2cc17ffdb4a2f2f2f1961d"
 dependencies = [
  "smallvec",
  "target-lexicon",
@@ -1580,21 +1491,21 @@ checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
 [[package]]
 name = "chrono"
-version = "0.4.31"
+version = "0.4.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f2c685bad3eb3d45a01354cedb7d5faa66194d1d58ba6e267a8de788f79db38"
+checksum = "5bc015644b92d5890fab7489e49d21f879d5c990186827d42ec511919404f38b"
 dependencies = [
  "android-tzdata",
  "iana-time-zone",
  "num-traits",
- "windows-targets 0.48.5",
+ "windows-targets 0.52.4",
 ]
 
 [[package]]
 name = "chrono-tz"
-version = "0.8.4"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e23185c0e21df6ed832a12e2bda87c7d1def6842881fb634a8511ced741b0d76"
+checksum = "d59ae0466b83e838b81a54256c39d5d7c20b9d7daa10510a242d9b75abd5936e"
 dependencies = [
  "chrono",
  "chrono-tz-build",
@@ -1612,31 +1523,22 @@ dependencies = [
  "phf_codegen",
 ]
 
-[[package]]
-name = "cipher"
-version = "0.2.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12f8e7987cbd042a63249497f41aed09f8e65add917ea6566effbc56578d6801"
-dependencies = [
- "generic-array",
-]
-
 [[package]]
 name = "clang-sys"
-version = "1.6.1"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c688fc74432808e3eb684cae8830a86be1d66a2bd58e1f248ed0960a590baf6f"
+checksum = "67523a3b4be3ce1989d607a828d036249522dd9c1c8de7f4dd2dae43a37369d1"
 dependencies = [
  "glob",
  "libc",
- "libloading 0.7.4",
+ "libloading 0.8.3",
 ]
 
 [[package]]
 name = "clap"
-version = "4.4.8"
+version = "4.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2275f18819641850fa26c89acc84d465c1bf91ce57bc2748b28c420473352f64"
+checksum = "c918d541ef2913577a0f9566e9ce27cb35b6df072075769e0b26cb5a554520da"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -1644,9 +1546,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.8"
+version = "4.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07cdf1b148b25c1e1f7a42225e30a0d99a615cd4637eae7365548dd4529b95bc"
+checksum = "9f3e7391dad68afb0c2ede1bf619f579a3dc9c2ec67f089baa397123a2f3d1eb"
 dependencies = [
  "anstream",
  "anstyle",
@@ -1656,31 +1558,29 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.4.7"
+version = "4.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
+checksum = "307bc0538d5f0f83b8248db3087aa92fe504e4691294d0c96c0eabc33f47ba47"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.6.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
+checksum = "98cc8fbded0c607b7ba9dd60cd98df59af97e84d24e49c8557331cfc26d301ce"
 
 [[package]]
 name = "clipboard-win"
-version = "4.5.0"
+version = "5.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7191c27c2357d9b7ef96baac1773290d4ca63b24205b82a3fd8a0637afcf0362"
+checksum = "12f9a0700e0127ba15d1d52dd742097f821cd9c65939303a44d970465040a297"
 dependencies = [
  "error-code",
- "str-buf",
- "winapi",
 ]
 
 [[package]]
@@ -1717,15 +1617,15 @@ version = "4.6.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "35ed6e9d84f0b51a7f52daf1c7d71dd136fd7a3f41a8462b8cdb8c78d920fad4"
 dependencies = [
- "bytes 1.5.0",
+ "bytes",
  "memchr",
 ]
 
 [[package]]
 name = "concurrent-queue"
-version = "2.3.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f057a694a54f12365049b0958a1685bb52d567f5593b355fbf685838e873d400"
+checksum = "d16048cd947b08fa32c24458a22f5dc5e835264f689f4f5653210c69fd107363"
 dependencies = [
  "crossbeam-utils",
 ]
@@ -1740,12 +1640,6 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "const_fn"
-version = "0.4.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbdcdcb6d86f71c5e97409ad45898af11cbc995b4ee8112d59095a28d376c935"
-
 [[package]]
 name = "const_panic"
 version = "0.2.8"
@@ -1758,6 +1652,12 @@ version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "87ca1caa64ef4ed453e68bb3db612e51cf1b2f5b871337f0fcab1c8f87cc3dff"
 
+[[package]]
+name = "constant_time_eq"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7144d30dcf0fafbce74250a3963025d8d52177934239851c917d29f1df280c2"
+
 [[package]]
 name = "constgebra"
 version = "0.1.3"
@@ -1776,28 +1676,11 @@ dependencies = [
  "unicode-segmentation",
 ]
 
-[[package]]
-name = "cookie"
-version = "0.14.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03a5d7b21829bc7b4bf4754a978a241ae54ea55a40f92bb20216e54096f4b951"
-dependencies = [
- "aes-gcm",
- "base64 0.13.1",
- "hkdf",
- "hmac",
- "percent-encoding",
- "rand 0.8.5",
- "sha2 0.9.9",
- "time",
- "version_check",
-]
-
 [[package]]
 name = "core-foundation"
-version = "0.9.3"
+version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "194a7a9e6de53fa55116934067c844d9d749312f75c6f6d0980e8c252f8c2146"
+checksum = "91e195e091a93c46f7102ec7818a2aa394e1e1771c3ab4825963fa03e45afb8f"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -1805,9 +1688,9 @@ dependencies = [
 
 [[package]]
 name = "core-foundation-sys"
-version = "0.8.4"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e496a50fda8aacccc86d7529e2c1e0892dbd0f898a6b5645b5561b89c3210efa"
+checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
 
 [[package]]
 name = "core-graphics"
@@ -1818,15 +1701,28 @@ dependencies = [
  "bitflags 1.3.2",
  "core-foundation",
  "core-graphics-types",
- "foreign-types",
+ "foreign-types 0.3.2",
+ "libc",
+]
+
+[[package]]
+name = "core-graphics"
+version = "0.23.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "970a29baf4110c26fedbc7f82107d42c23f7e88e404c4577ed73fe99ff85a212"
+dependencies = [
+ "bitflags 1.3.2",
+ "core-foundation",
+ "core-graphics-types",
+ "foreign-types 0.5.0",
  "libc",
 ]
 
 [[package]]
 name = "core-graphics-types"
-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bb142d41022986c1d8ff29103a1411c8a3dfad3552f87a4f8dc50d61d4f4e33"
+checksum = "45390e6114f68f718cc7a830514a96f903cccd70d02a8f6d9f643ac4ba45afaf"
 dependencies = [
  "bitflags 1.3.2",
  "core-foundation",
@@ -1846,58 +1742,50 @@ dependencies = [
 
 [[package]]
 name = "coreaudio-sys"
-version = "0.2.13"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8478e5bdad14dce236b9898ea002eabfa87cbe14f0aa538dbe3b6a4bec4332d"
+checksum = "7f01585027057ff5f0a5bf276174ae4c1594a2c5bde93d5f46a016d76270f5a9"
 dependencies = [
  "bindgen",
 ]
 
 [[package]]
 name = "cpal"
-version = "0.15.2"
+version = "0.15.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d959d90e938c5493000514b446987c07aed46c668faaa7d34d6c7a67b1a578c"
+checksum = "873dab07c8f743075e57f524c583985fbaf745602acbe916a01539364369a779"
 dependencies = [
  "alsa",
  "core-foundation-sys",
  "coreaudio-rs",
  "dasp_sample",
- "jni 0.19.0",
+ "jni",
  "js-sys",
  "libc",
  "mach2",
- "ndk",
+ "ndk 0.8.0",
  "ndk-context",
- "oboe",
- "once_cell",
- "parking_lot",
+ "oboe 0.6.1",
  "wasm-bindgen",
  "wasm-bindgen-futures",
  "web-sys",
- "windows 0.46.0",
+ "windows 0.54.0",
 ]
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.11"
+version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
+checksum = "53fe5e26ff1b7aef8bca9c6080520cfb8d9333c7568e1829cef191a9723e5504"
 dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "cpuid-bool"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcb25d077389e53838a8158c8e99174c5a9d902dee4904320db714f3c653ffba"
-
 [[package]]
 name = "crc32fast"
-version = "1.3.2"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
+checksum = "b3855a8a784b474f333699ef2bbca9db2c4a1f6d9088a90a2d25b1eb53111eaa"
 dependencies = [
  "cfg-if",
 ]
@@ -1910,91 +1798,56 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.8"
+version = "0.5.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a33c2bf77f2df06183c3aa30d1e96c0695a313d4f9c453cc3762a6db39f99200"
+checksum = "ab3db02a9c5b5121e1e42fbdb1aeb65f5e02624cc58c43f2884c6ccac0b82f95"
 dependencies = [
- "cfg-if",
  "crossbeam-utils",
 ]
 
 [[package]]
-name = "crossbeam-utils"
-version = "0.8.16"
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- "cfg-if",
-]
-
-[[package]]
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-dependencies = [
- "generic-array",
- "typenum",
-]
-
-[[package]]
-name = "crypto-mac"
-version = "0.10.1"
+name = "crossbeam-deque"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bff07008ec701e8028e2ceb8f83f0e4274ee62bd2dbdc4fefff2e9a91824081a"
+checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
 dependencies = [
- "generic-array",
- "subtle",
+ "crossbeam-epoch",
+ "crossbeam-utils",
 ]
 
 [[package]]
-name = "ctr"
-version = "0.6.0"
+name = "crossbeam-epoch"
+version = "0.9.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb4a30d54f7443bf3d6191dcd486aca19e67cb3c49fa7a06a319966346707e7f"
+checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
 dependencies = [
- "cipher",
+ "crossbeam-utils",
 ]
 
 [[package]]
-name = "curl"
-version = "0.4.44"
+name = "crossbeam-utils"
+version = "0.8.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "509bd11746c7ac09ebd19f0b17782eae80aadee26237658a6b4808afb5c11a22"
-dependencies = [
- "curl-sys",
- "libc",
- "openssl-probe",
- "openssl-sys",
- "schannel",
- "socket2",
- "winapi",
-]
+checksum = "248e3bacc7dc6baa3b21e405ee045c3047101a49145e7e9eca583ab4c2ca5345"
 
 [[package]]
-name = "curl-sys"
-version = "0.4.68+curl-8.4.0"
+name = "crypto-common"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4a0d18d88360e374b16b2273c832b5e57258ffc1d4aa4f96b108e0738d5752f"
+checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
 dependencies = [
- "cc",
- "libc",
- "libnghttp2-sys",
- "libz-sys",
- "openssl-sys",
- "pkg-config",
- "vcpkg",
- "windows-sys 0.48.0",
+ "generic-array",
+ "typenum",
 ]
 
 [[package]]
 name = "d3d12"
-version = "0.6.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8f0de2f5a8e7bd4a9eec0e3c781992a4ce1724f68aec7d7a3715344de8b39da"
+checksum = "e16e44ab292b1dddfdaf7be62cfd8877df52f2f3fde5858d95bab606be259f20"
 dependencies = [
- "bitflags 1.3.2",
- "libloading 0.7.4",
+ "bitflags 2.4.2",
+ "libloading 0.8.3",
  "winapi",
 ]
 
@@ -2006,24 +1859,15 @@ checksum = "0c87e182de0887fd5361989c677c4e8f5000cd9491d6d563161a8f3a5519fc7f"
 
 [[package]]
 name = "data-encoding"
-version = "2.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2e66c9d817f1720209181c316d28635c050fa304f9c79e47a520882661b7308"
+checksum = "7e962a19be5cfc3f3bf6dd8f61eb50107f356ad6270fbb3ed41476571db78be5"
 
 [[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"
+version = "1.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3dd60d1080a57a05ab032377049e0591415d2b31afd7028356dbf3cc6dcb066"
-dependencies = [
- "generic-array",
-]
+checksum = "b6e854126756c496b8c81dec88f9a706b15b875c5849d4097a3854476b9fdf94"
 
 [[package]]
 name = "digest"
@@ -2031,7 +1875,7 @@ version = "0.10.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
 dependencies = [
- "block-buffer 0.10.4",
+ "block-buffer",
  "crypto-common",
 ]
 
@@ -2056,18 +1900,21 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
-[[package]]
-name = "discard"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "212d0f5754cb6769937f4501cc0e67f4f4483c8d2c3e1e922ee9edbe4ab4c7c0"
-
 [[package]]
 name = "dispatch"
 version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bd0c93bb4b0c6d9b77f4435b0ae98c24d17f1c45b2ff844c6151a07256ca923b"
 
+[[package]]
+name = "document-features"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
+dependencies = [
+ "litrs",
+]
+
 [[package]]
 name = "downcast-rs"
 version = "1.2.0"
@@ -2080,41 +1927,56 @@ version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "79127ed59a85d7687c409e9978547cffb7dc79675355ed22da6b66fd5f6ead01"
 dependencies = [
- "itertools",
+ "itertools 0.11.0",
  "num-traits",
 ]
 
 [[package]]
 name = "ecolor"
-version = "0.22.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e479a7fa3f23d4e794f8b2f8b3568dd4e47886ad1b12c9c095e141cb591eb63"
+checksum = "cfdf4e52dbbb615cfd30cf5a5265335c217b5fd8d669593cea74a517d9c605af"
 dependencies = [
  "bytemuck",
 ]
 
 [[package]]
 name = "egui"
-version = "0.22.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3aef8ec3ae1b772f340170c65bf27d5b8c28f543a0116c844d2ac08d01123e7"
+checksum = "8bd69fed5fcf4fbb8225b24e80ea6193b61e17a625db105ef0c4d71dde6eb8b7"
 dependencies = [
  "ahash",
  "epaint",
  "nohash-hasher",
 ]
 
+[[package]]
+name = "ehttp"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e598cc2bfc28612f26426259ed99a978270e9433d63ae6d2843e30fb0974cd02"
+dependencies = [
+ "async-channel 2.2.0",
+ "document-features",
+ "js-sys",
+ "ureq",
+ "wasm-bindgen",
+ "wasm-bindgen-futures",
+ "web-sys",
+]
+
 [[package]]
 name = "either"
-version = "1.9.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
+checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
 
 [[package]]
 name = "emath"
-version = "0.22.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3857d743a6e0741cdd60b622a74c7a36ea75f5f8f11b793b41d905d2c9721a4b"
+checksum = "1ef2b29de53074e575c18b694167ccbe6e5191f7b25fe65175a0d905a32eeec0"
 dependencies = [
  "bytemuck",
 ]
@@ -2148,27 +2010,17 @@ checksum = "3fe2568f851fd6144a45fa91cfed8fe5ca8fc0b56ba6797bfc1ed2771b90e37c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
-]
-
-[[package]]
-name = "encoding_rs"
-version = "0.8.33"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7268b386296a025e474d5140678f75d6de9493ae55a5d709eeb9dd08149945e1"
-dependencies = [
- "cfg-if",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "epaint"
-version = "0.22.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09333964d4d57f40a85338ba3ca5ed4716070ab184dcfed966b35491c5c64f3b"
+checksum = "58067b840d009143934d91d8dcb8ded054d8301d7c11a517ace0a99bb1e1595e"
 dependencies = [
  "ab_glyph",
  "ahash",
- "atomic_refcell",
  "bytemuck",
  "ecolor",
  "emath",
@@ -2193,23 +2045,19 @@ dependencies = [
 
 [[package]]
 name = "errno"
-version = "0.3.6"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c18ee0ed65a5f1f81cac6b1d213b69c35fa47d4252ad41f1486dbd8226fe36e"
+checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
 dependencies = [
  "libc",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "error-code"
-version = "2.3.1"
+version = "3.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64f18991e7bf11e7ffee451b5318b5c1a73c52d0d0ada6e5a3017c8c1ced6a21"
-dependencies = [
- "libc",
- "str-buf",
-]
+checksum = "a0474425d51df81997e2f90a21591180b38eccf27292d755f3e30750225c175b"
 
 [[package]]
 name = "euclid"
@@ -2228,9 +2076,20 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "event-listener"
-version = "3.1.0"
+version = "4.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67b215c49b2b248c855fb73579eb1f4f26c38ffdc12973e20e07b91d78d5646e"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "event-listener"
+version = "5.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d93877bcde0eb80ca09131a08d23f0a5c18a620b01db137dba666d18cd9b30c2"
+checksum = "2b5fb89194fa3cad959b833185b3063ba881dbfc7030680b314250779fb4cc91"
 dependencies = [
  "concurrent-queue",
  "parking",
@@ -2239,11 +2098,21 @@ dependencies = [
 
 [[package]]
 name = "event-listener-strategy"
-version = "0.3.0"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "958e4d70b6d5e81971bebec42271ec641e7ff4e170a6fa605f2b8a8b65cb97d3"
+dependencies = [
+ "event-listener 4.0.3",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "event-listener-strategy"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d96b852f1345da36d551b9473fa1e2b1eb5c5195585c6c018118bc92a8d91160"
+checksum = "feedafcaa9b749175d5ac357452a9d41ea2911da598fde46ce1fe02c37751291"
 dependencies = [
- "event-listener 3.1.0",
+ "event-listener 5.2.0",
  "pin-project-lite",
 ]
 
@@ -2264,25 +2133,13 @@ checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5"
 
 [[package]]
 name = "fdeflate"
-version = "0.3.1"
+version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64d6dafc854908ff5da46ff3f8f473c6984119a2876a383a860246dd7841a868"
+checksum = "4f9bfee30e4dedf0ab8b422f03af778d9612b63f502710fc500a334ebe2de645"
 dependencies = [
  "simd-adler32",
 ]
 
-[[package]]
-name = "filetime"
-version = "0.2.22"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4029edd3e734da6fe05b6cd7bd2960760a616bd2ddd0d59a0124746d6272af0"
-dependencies = [
- "cfg-if",
- "libc",
- "redox_syscall 0.3.5",
- "windows-sys 0.48.0",
-]
-
 [[package]]
 name = "fixedbitset"
 version = "0.4.2"
@@ -2301,9 +2158,9 @@ dependencies = [
 
 [[package]]
 name = "float-cmp"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1267f4ac4f343772758f7b1bdcbe767c218bbab93bb432acbf5162bbf85a6c4"
+checksum = "98de4bbd547a563b716d8dfa9aad1cb19bfab00f4fa09a6a4ed21dbcf44ce9c4"
 dependencies = [
  "num-traits",
 ]
@@ -2320,17 +2177,6 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8bf7cc16383c4b8d58b9905a8509f02926ce3058053c056376248d958c9df1e8"
 
-[[package]]
-name = "flume"
-version = "0.9.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bebadab126f8120d410b677ed95eee4ba6eb7c6dd8e34a5ec88a08050e26132"
-dependencies = [
- "futures-core",
- "futures-sink",
- "spinning_top",
-]
-
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -2343,80 +2189,62 @@ version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f6f339eb8adc052cd2ca78910fda869aefa38d22d5cb648e6485e4d3fc06f3b1"
 dependencies = [
- "foreign-types-shared",
+ "foreign-types-shared 0.1.1",
 ]
 
 [[package]]
-name = "foreign-types-shared"
-version = "0.1.1"
+name = "foreign-types"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
+checksum = "d737d9aa519fb7b749cbc3b962edcf310a8dd1f4b67c91c4f83975dbdd17d965"
+dependencies = [
+ "foreign-types-macros",
+ "foreign-types-shared 0.3.1",
+]
 
 [[package]]
-name = "form_urlencoded"
-version = "1.2.0"
+name = "foreign-types-macros"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a62bc1cf6f830c2ec14a513a9fb124d0a213a629668a4186f329db21fe045652"
+checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
- "percent-encoding",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
 ]
 
 [[package]]
-name = "fsevent-sys"
-version = "4.1.0"
+name = "foreign-types-shared"
+version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76ee7a02da4d231650c7cea31349b889be2f45ddb3ef3032d2ec8185f6313fd2"
-dependencies = [
- "libc",
-]
+checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
 
 [[package]]
-name = "futures"
-version = "0.3.29"
+name = "foreign-types-shared"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0290714b38af9b4a7b094b8a37086d1b4e61f2df9122c3cad2577669145335"
-dependencies = [
- "futures-channel",
- "futures-core",
- "futures-executor",
- "futures-io",
- "futures-sink",
- "futures-task",
- "futures-util",
-]
+checksum = "aa9a19cbb55df58761df49b23516a86d432839add4af60fc256da840f66ed35b"
 
 [[package]]
-name = "futures-channel"
-version = "0.3.29"
+name = "form_urlencoded"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
+checksum = "e13624c2627564efccf4934284bdd98cbaa14e79b0b5a141218e507b3a823456"
 dependencies = [
- "futures-core",
- "futures-sink",
+ "percent-encoding",
 ]
 
 [[package]]
 name = "futures-core"
-version = "0.3.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
-
-[[package]]
-name = "futures-executor"
-version = "0.3.29"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f4fb8693db0cf099eadcca0efe2a5a22e4550f98ed16aba6c48700da29597bc"
-dependencies = [
- "futures-core",
- "futures-task",
- "futures-util",
-]
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
 
 [[package]]
 name = "futures-io"
-version = "0.3.29"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
+checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
 
 [[package]]
 name = "futures-lite"
@@ -2435,59 +2263,17 @@ dependencies = [
 
 [[package]]
 name = "futures-lite"
-version = "2.0.1"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3831c2651acb5177cbd83943f3d9c8912c5ad03c76afcc0e9511ba568ec5ebb"
+checksum = "445ba825b27408685aaecefd65178908c36c6e96aaf6d8599419d46e624192ba"
 dependencies = [
  "fastrand 2.0.1",
  "futures-core",
  "futures-io",
- "memchr",
  "parking",
  "pin-project-lite",
 ]
 
-[[package]]
-name = "futures-macro"
-version = "0.3.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.39",
-]
-
-[[package]]
-name = "futures-sink"
-version = "0.3.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
-
-[[package]]
-name = "futures-task"
-version = "0.3.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
-
-[[package]]
-name = "futures-util"
-version = "0.3.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
-dependencies = [
- "futures-channel",
- "futures-core",
- "futures-io",
- "futures-macro",
- "futures-sink",
- "futures-task",
- "memchr",
- "pin-project-lite",
- "pin-utils",
- "slab",
-]
-
 [[package]]
 name = "gdk-pixbuf-sys"
 version = "0.18.0"
@@ -2547,9 +2333,9 @@ dependencies = [
 
 [[package]]
 name = "geo-types"
-version = "0.7.12"
+version = "0.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "567495020b114f1ce9bed679b29975aa0bfae06ac22beacd5cfde5dabe7b05d6"
+checksum = "9ff16065e5720f376fbced200a5ae0f47ace85fd70b7e54269790281353b6d61"
 dependencies = [
  "approx",
  "num-traits",
@@ -2559,62 +2345,41 @@ dependencies = [
 
 [[package]]
 name = "geographiclib-rs"
-version = "0.2.3"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ea804e7bd3c6a4ca6a01edfa35231557a8a81d4d3f3e1e2b650d028c42592be"
+checksum = "e6e5ed84f8089c70234b0a8e0aedb6dc733671612ddc0d37c6066052f9781960"
 dependencies = [
- "lazy_static",
+ "libm",
 ]
 
 [[package]]
 name = "gethostname"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1ebd34e35c46e00bb73e81363248d627782724609fe1b6396f553f68fe3862e"
-dependencies = [
- "libc",
- "winapi",
-]
-
-[[package]]
-name = "getrandom"
-version = "0.1.16"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fc3cb4d91f53b50155bdcfd23f6a4c39ae1969c2ae85982b135750cccaf5fce"
+checksum = "0176e0459c2e4a1fe232f984bca6890e681076abb9934f6cea7c326f3fc47818"
 dependencies = [
- "cfg-if",
  "libc",
- "wasi 0.9.0+wasi-snapshot-preview1",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
 name = "getrandom"
-version = "0.2.11"
+version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
+checksum = "190092ea657667030ac6a35e305e62fc4dd69fd98ac98631e5d3a2b1575a12b5"
 dependencies = [
  "cfg-if",
  "js-sys",
  "libc",
- "wasi 0.11.0+wasi-snapshot-preview1",
+ "wasi",
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "ghash"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97304e4cd182c3846f7575ced3890c53012ce534ad9114046b0a9e00bb30a375"
-dependencies = [
- "opaque-debug",
- "polyval",
-]
-
 [[package]]
 name = "gilrs"
-version = "0.10.3"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e9eec02069fcbd7abe00a28adf216547774889129a777cb5e53fdfb75d59f09"
+checksum = "d8b2e57a9cb946b5d04ae8638c5f554abb5a9f82c4c950fd5b1fee6d119592fb"
 dependencies = [
  "fnv",
  "gilrs-core",
@@ -2625,30 +2390,30 @@ dependencies = [
 
 [[package]]
 name = "gilrs-core"
-version = "0.5.9"
+version = "0.5.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "178769da179a47b187837d1ab2b5b9b684a21180166a77a4ca37e7e58ee3833d"
+checksum = "0af1827b7dd2f36d740ae804c1b3ea0d64c12533fb61ff91883005143a0e8c5a"
 dependencies = [
  "core-foundation",
- "inotify 0.10.2",
+ "inotify",
  "io-kit-sys",
  "js-sys",
  "libc",
  "libudev-sys",
  "log",
- "nix 0.27.1",
+ "nix",
  "uuid",
  "vec_map",
  "wasm-bindgen",
  "web-sys",
- "windows 0.51.1",
+ "windows 0.52.0",
 ]
 
 [[package]]
 name = "gimli"
-version = "0.28.0"
+version = "0.28.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
+checksum = "4271d37baee1b8c7e4b708028c57d816cf9d2434acb33a549475f78c181f6253"
 
 [[package]]
 name = "gio-sys"
@@ -2691,15 +2456,15 @@ checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
 
 [[package]]
 name = "globset"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "759c97c1e17c55525b57192c06a267cda0ac5210b222d6b82189a2338fa1c13d"
+checksum = "57da3b9b5b85bd66f31093f8c408b90a74431672542466497dcbdfdc02034be1"
 dependencies = [
  "aho-corasick",
  "bstr",
- "fnv",
  "log",
- "regex",
+ "regex-automata 0.4.6",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -2713,18 +2478,6 @@ dependencies = [
  "walkdir",
 ]
 
-[[package]]
-name = "gloo-timers"
-version = "0.2.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b995a66bb87bebce9a0f4a95aed01daca4872c050bfcb21653361c03bc35e5c"
-dependencies = [
- "futures-channel",
- "futures-core",
- "js-sys",
- "wasm-bindgen",
-]
-
 [[package]]
 name = "glow"
 version = "0.12.3"
@@ -2739,32 +2492,33 @@ dependencies = [
 
 [[package]]
 name = "gltf"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad2dcfb6dd7a66f9eb3d181a29dcfb22d146b0bcdc2e1ed1713cbf03939a88ea"
+checksum = "3b78f069cf941075835822953c345b9e1edd67ae347b81ace3aea9de38c2ef33"
 dependencies = [
  "byteorder",
  "gltf-json",
  "lazy_static",
+ "serde_json",
 ]
 
 [[package]]
 name = "gltf-derive"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2cbcea5dd47e7ad4e9ee6f040384fcd7204bbf671aa4f9e7ca7dfc9bfa1de20"
+checksum = "438ffe1a5540d75403feaf23636b164e816e93f6f03131674722b3886ce32a57"
 dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "gltf-json"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d5b810806b78dde4b71a95cc0e6fdcab34c4c617da3574df166f9987be97d03"
+checksum = "655951ba557f2bc69ea4b0799446bae281fa78efae6319968bdd2c3e9a06d8e1"
 dependencies = [
  "gltf-derive",
  "serde",
@@ -2796,21 +2550,21 @@ dependencies = [
 
 [[package]]
 name = "gpu-alloc"
-version = "0.5.4"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22beaafc29b38204457ea030f6fb7a84c9e4dd1b86e311ba0542533453d87f62"
+checksum = "fbcd2dba93594b227a1f57ee09b8b9da8892c34d55aa332e034a228d0fe6a171"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
  "gpu-alloc-types",
 ]
 
 [[package]]
 name = "gpu-alloc-types"
-version = "0.2.0"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54804d0d6bc9d7f26db4eaec1ad10def69b599315f487d32c334a80d1efe67a5"
+checksum = "98ff03b468aa837d70984d55f5d3f846f6ec31fe34bbb97c4f85219caeee1ca4"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
 ]
 
 [[package]]
@@ -2832,9 +2586,9 @@ version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc11df1ace8e7e564511f53af41f3e42ddc95b56fd07b3f4445d2a6048bc682c"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "gpu-descriptor-types",
- "hashbrown 0.14.2",
+ "hashbrown 0.14.3",
 ]
 
 [[package]]
@@ -2843,7 +2597,7 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6bf0b36e6f090b7e1d8a4b49c0cb81c1f8376f72198c65dd3ad9ff3556b8b78c"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
 ]
 
 [[package]]
@@ -2883,14 +2637,14 @@ dependencies = [
 [[package]]
 name = "gz-fuel"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=first_implementation#44c2e1e074df4499d3c40eedaa386d9d612a9314"
+source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=luca/ehttp#44b3fc616146a9f0b32652ba9a9fe34eaf40a629"
 dependencies = [
  "dirs",
- "futures-lite 2.0.1",
- "itertools",
+ "ehttp",
+ "futures-lite 2.2.0",
+ "itertools 0.12.1",
  "serde",
  "serde_json",
- "surf",
 ]
 
 [[package]]
@@ -2910,9 +2664,9 @@ checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.2"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f93e7192158dbcda357bdec5fb5788eebf8bbac027f3f33e719d29135ae84156"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 dependencies = [
  "ahash",
  "allocator-api2",
@@ -2942,7 +2696,7 @@ checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
 dependencies = [
  "atomic-polyfill",
  "hash32",
- "rustc_version 0.4.0",
+ "rustc_version",
  "spin",
  "stable_deref_trait",
 ]
@@ -2962,12 +2716,6 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
 
-[[package]]
-name = "hermit-abi"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d77f7ec81a6d05a3abb01ab6eb7590f6083d08449fe5a1c8b1e620283546ccb7"
-
 [[package]]
 name = "hexasphere"
 version = "9.1.0"
@@ -2984,85 +2732,13 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dfa686283ad6dd069f105e5ab091b04c62850d3e4cf5d67debad1933f55023df"
 
-[[package]]
-name = "hkdf"
-version = "0.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "51ab2f639c231793c5f6114bdb9bbe50a7dbbfcd7c7c6bd8475dec2d991e964f"
-dependencies = [
- "digest 0.9.0",
- "hmac",
-]
-
-[[package]]
-name = "hmac"
-version = "0.10.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1441c6b1e930e2817404b5046f1f989899143a12bf92de603b69f4e0aee1e15"
-dependencies = [
- "crypto-mac",
- "digest 0.9.0",
-]
-
 [[package]]
 name = "home"
-version = "0.5.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
-dependencies = [
- "windows-sys 0.48.0",
-]
-
-[[package]]
-name = "http"
-version = "0.2.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8947b1a6fad4393052c7ba1f4cd97bed3e953a95c79c92ad9b051a04611d9fbb"
-dependencies = [
- "bytes 1.5.0",
- "fnv",
- "itoa",
-]
-
-[[package]]
-name = "http-client"
-version = "6.5.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1947510dc91e2bf586ea5ffb412caad7673264e14bb39fb9078da114a94ce1a5"
-dependencies = [
- "async-std",
- "async-trait",
- "cfg-if",
- "futures",
- "http-types",
- "isahc",
- "js-sys",
- "log",
- "wasm-bindgen",
- "wasm-bindgen-futures",
- "web-sys",
-]
-
-[[package]]
-name = "http-types"
-version = "2.12.0"
+version = "0.5.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e9b187a72d63adbfba487f48095306ac823049cb504ee195541e91c7775f5ad"
+checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5"
 dependencies = [
- "anyhow",
- "async-channel 1.9.0",
- "async-std",
- "base64 0.13.1",
- "cookie",
- "futures-lite 1.13.0",
- "infer",
- "pin-project-lite",
- "rand 0.7.3",
- "serde",
- "serde_json",
- "serde_qs",
- "serde_urlencoded",
- "url",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -3076,16 +2752,16 @@ dependencies = [
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.58"
+version = "0.1.60"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8326b86b6cff230b97d0d312a6c40a60726df3332e721f72a1b035f451663b20"
+checksum = "e7ffbb5a1b541ea2561f8c41c087286cc091e21e556a4f09a8f6cbf17b69b141"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
  "iana-time-zone-haiku",
  "js-sys",
  "wasm-bindgen",
- "windows-core",
+ "windows-core 0.52.0",
 ]
 
 [[package]]
@@ -3099,9 +2775,9 @@ dependencies = [
 
 [[package]]
 name = "idna"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d20d6b07bfbc108882d88ed8e37d39636dcc260e15e30c45e6ba089610b917c"
+checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6"
 dependencies = [
  "unicode-bidi",
  "unicode-normalization",
@@ -3109,32 +2785,30 @@ dependencies = [
 
 [[package]]
 name = "ignore"
-version = "0.4.20"
+version = "0.4.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbe7873dab538a9a44ad79ede1faf5f30d49f9a5c883ddbab48bce81b64b7492"
+checksum = "b46810df39e66e925525d6e38ce1e7f6e1d208f72dc39757880fcb66e2c58af1"
 dependencies = [
+ "crossbeam-deque",
  "globset",
- "lazy_static",
  "log",
  "memchr",
- "regex",
+ "regex-automata 0.4.6",
  "same-file",
- "thread_local",
  "walkdir",
  "winapi-util",
 ]
 
 [[package]]
 name = "image"
-version = "0.24.7"
+version = "0.24.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f3dfdbdd72063086ff443e297b61695500514b1e41095b6fb9a5ab48a70a711"
+checksum = "5690139d2f55868e080017335e4b94cb7414274c74f1669c84fb5feba2c9f69d"
 dependencies = [
  "bytemuck",
  "byteorder",
  "color_quant",
  "jpeg-decoder",
- "num-rational",
  "num-traits",
  "png",
  "tiff",
@@ -3152,37 +2826,20 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.1.0"
+version = "2.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
+checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.2",
+ "hashbrown 0.14.3",
 ]
 
-[[package]]
-name = "infer"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64e9829a50b42bb782c1df523f78d332fe371b10c661e78b7a3c34b0198e9fac"
-
 [[package]]
 name = "inflections"
 version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a257582fdcde896fd96463bf2d40eefea0580021c0712a0e2b028b60b47a837a"
 
-[[package]]
-name = "inotify"
-version = "0.9.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8069d3ec154eb856955c1c0fbffefbf5f3c40a104ec912d4797314c1801abff"
-dependencies = [
- "bitflags 1.3.2",
- "inotify-sys",
- "libc",
-]
-
 [[package]]
 name = "inotify"
 version = "0.10.2"
@@ -3231,40 +2888,6 @@ dependencies = [
  "mach2",
 ]
 
-[[package]]
-name = "io-lifetimes"
-version = "1.0.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
-dependencies = [
- "hermit-abi",
- "libc",
- "windows-sys 0.48.0",
-]
-
-[[package]]
-name = "isahc"
-version = "0.9.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2948a0ce43e2c2ef11d7edf6816508998d99e13badd1150be0914205df9388a"
-dependencies = [
- "bytes 0.5.6",
- "crossbeam-utils",
- "curl",
- "curl-sys",
- "flume",
- "futures-lite 1.13.0",
- "http",
- "log",
- "once_cell",
- "slab",
- "sluice",
- "tracing",
- "tracing-futures",
- "url",
- "waker-fn",
-]
-
 [[package]]
 name = "itertools"
 version = "0.11.0"
@@ -3275,38 +2898,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "itoa"
-version = "1.0.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
-
-[[package]]
-name = "jni"
-version = "0.19.0"
+name = "itertools"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6df18c2e3db7e453d3c6ac5b3e9d5182664d28788126d39b91f2d1e22b017ec"
+checksum = "ba291022dbbd398a455acf126c1e341954079855bc60dfdda641363bd6922569"
 dependencies = [
- "cesu8",
- "combine",
- "jni-sys",
- "log",
- "thiserror",
- "walkdir",
+ "either",
 ]
 
 [[package]]
-name = "jni"
-version = "0.20.0"
+name = "itoa"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "039022cdf4d7b1cf548d31f60ae783138e5fd42013f6271049d7df7afadef96c"
-dependencies = [
- "cesu8",
- "combine",
- "jni-sys",
- "log",
- "thiserror",
- "walkdir",
-]
+checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
 
 [[package]]
 name = "jni"
@@ -3330,17 +2934,26 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
+[[package]]
+name = "jobserver"
+version = "0.1.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ab46a6e9526ddef3ae7f787c06f0f2600639ba80ea3eade3d8e670a2230f51d6"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "jpeg-decoder"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc0000e42512c92e31c2252315bda326620a4e034105e900c98ec492fa077b3e"
+checksum = "f5d4a7da358eff58addd2877a45865158f0d78c911d43a5784ceb7bbf52833b0"
 
 [[package]]
 name = "js-sys"
-version = "0.3.61"
+version = "0.3.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "445dde2150c55e483f3d8416706b97ec8e8237c307e5b7b4b8dd15e6af2a0730"
+checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -3356,26 +2969,6 @@ dependencies = [
  "pkg-config",
 ]
 
-[[package]]
-name = "kqueue"
-version = "1.0.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7447f1ca1b7b563588a205fe93dea8df60fd981423a768bc1c0ded35ed147d0c"
-dependencies = [
- "kqueue-sys",
- "libc",
-]
-
-[[package]]
-name = "kqueue-sys"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed9625ffda8729b85e45cf04090035ac368927b8cebc34898e7c120f52e4838b"
-dependencies = [
- "bitflags 1.3.2",
- "libc",
-]
-
 [[package]]
 name = "ktx2"
 version = "0.3.0"
@@ -3385,15 +2978,6 @@ dependencies = [
  "bitflags 1.3.2",
 ]
 
-[[package]]
-name = "kv-log-macro"
-version = "1.0.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0de8b303297635ad57c9f5059fd9cee7a47f8e8daa09df0fcd07dd39fb22977f"
-dependencies = [
- "log",
-]
-
 [[package]]
 name = "lazy_static"
 version = "1.4.0"
@@ -3419,9 +3003,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.150"
+version = "0.2.153"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
+checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
 
 [[package]]
 name = "libloading"
@@ -3435,12 +3019,12 @@ dependencies = [
 
 [[package]]
 name = "libloading"
-version = "0.8.1"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c571b676ddfc9a8c12f1f3d3085a7b163966a8fd8098a90640953ce5f6170161"
+checksum = "0c2a198fb6b0eada2a8df47933734e6d35d350665a33a3593d7164fa52c75c19"
 dependencies = [
  "cfg-if",
- "windows-sys 0.48.0",
+ "windows-targets 0.52.4",
 ]
 
 [[package]]
@@ -3449,23 +3033,13 @@ version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
-[[package]]
-name = "libnghttp2-sys"
-version = "0.1.8+1.55.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fae956c192dadcdb5dace96db71fa0b827333cce7c7b38dc71446f024d8a340"
-dependencies = [
- "cc",
- "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",
+ "bitflags 2.4.2",
  "libc",
  "redox_syscall 0.4.1",
 ]
@@ -3476,7 +3050,7 @@ version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "libc",
  "redox_syscall 0.4.1",
 ]
@@ -3491,18 +3065,6 @@ dependencies = [
  "pkg-config",
 ]
 
-[[package]]
-name = "libz-sys"
-version = "1.1.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d97137b25e321a73eef1418d1d5d2eda4d77e12813f8e6dead84bc52c5870a7b"
-dependencies = [
- "cc",
- "libc",
- "pkg-config",
- "vcpkg",
-]
-
 [[package]]
 name = "linked-hash-map"
 version = "0.5.6"
@@ -3511,9 +3073,15 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.3.8"
+version = "0.4.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
+checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c"
+
+[[package]]
+name = "litrs"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
 
 [[package]]
 name = "lock_api"
@@ -3527,18 +3095,15 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.20"
+version = "0.4.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
-dependencies = [
- "value-bag",
-]
+checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
 
 [[package]]
 name = "mach2"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d0d1830bcd151a6fc4aea1369af235b36c1528fe976b8ff678683c9995eade8"
+checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709"
 dependencies = [
  "libc",
 ]
@@ -3573,47 +3138,23 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.6.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
-
-[[package]]
-name = "memoffset"
-version = "0.6.5"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce"
-dependencies = [
- "autocfg",
-]
+checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
 
 [[package]]
 name = "metal"
-version = "0.24.0"
+version = "0.26.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de11355d1f6781482d027a3b4d4de7825dcedb197bf573e0596d00008402d060"
+checksum = "623b5e6cefd76e58f774bd3cc0c6f5c7615c58c03a97815245a25c3c9bdee318"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
  "block",
  "core-graphics-types",
- "foreign-types",
+ "foreign-types 0.5.0",
  "log",
  "objc",
-]
-
-[[package]]
-name = "mime"
-version = "0.3.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
-
-[[package]]
-name = "mime_guess"
-version = "2.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4192263c238a5f0d0c6bfd21f336a313a4ce1c450542449ca191bb657b4642ef"
-dependencies = [
- "mime",
- "unicase",
+ "paste",
 ]
 
 [[package]]
@@ -3633,9 +3174,9 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.7.1"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7810e0be55b428ada41041c41f32c9f1a42817901b4ccf45fa3d4b6561e74c7"
+checksum = "9d811f3e15f28568be3407c8e7fdb6514c1cda3cb30683f15b6a1a1dc4ea14a7"
 dependencies = [
  "adler",
  "simd-adler32",
@@ -3643,24 +3184,24 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.9"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3dce281c5e46beae905d4de1870d8b1509a9142b62eedf18b443b011ca8343d0"
+checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
 dependencies = [
  "libc",
  "log",
- "wasi 0.11.0+wasi-snapshot-preview1",
+ "wasi",
  "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "naga"
-version = "0.12.3"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbcc2e0513220fd2b598e6068608d4462db20322c0e77e47f6f488dfcfc279cb"
+checksum = "c1ceaaa4eedaece7e4ec08c55c640ba03dbb73fb812a6570a59bcf1930d0f70e"
 dependencies = [
  "bit-set",
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
  "codespan-reporting",
  "hexf-parse",
  "indexmap 1.9.3",
@@ -3676,9 +3217,9 @@ dependencies = [
 
 [[package]]
 name = "naga_oil"
-version = "0.8.2"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8be942a5c21c58b9b0bf4d9b99db3634ddb7a916f8e1d1d0b71820cc4150e56b"
+checksum = "4ac54c77b3529887f9668d3dd81e955e58f252b31a333f836e3548c06460b958"
 dependencies = [
  "bit-set",
  "codespan-reporting",
@@ -3687,7 +3228,7 @@ dependencies = [
  "naga",
  "once_cell",
  "regex",
- "regex-syntax 0.6.29",
+ "regex-syntax 0.7.5",
  "rustc-hash",
  "thiserror",
  "tracing",
@@ -3696,9 +3237,9 @@ dependencies = [
 
 [[package]]
 name = "nalgebra"
-version = "0.32.3"
+version = "0.32.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
+checksum = "4541eb06dce09c0241ebbaab7102f0a01a0c8994afed2e5d0d66775016e25ac2"
 dependencies = [
  "approx",
  "matrixmultiply",
@@ -3729,12 +3270,26 @@ checksum = "451422b7e4718271c8b5b3aadf5adedba43dc76312454b387e98fae0fc951aa0"
 dependencies = [
  "bitflags 1.3.2",
  "jni-sys",
- "ndk-sys",
+ "ndk-sys 0.4.1+23.1.7779620",
  "num_enum 0.5.11",
  "raw-window-handle",
  "thiserror",
 ]
 
+[[package]]
+name = "ndk"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2076a31b7010b17a38c01907c45b945e8f11495ee4dd588309718901b1f7a5b7"
+dependencies = [
+ "bitflags 2.4.2",
+ "jni-sys",
+ "log",
+ "ndk-sys 0.5.0+25.2.9519653",
+ "num_enum 0.7.2",
+ "thiserror",
+]
+
 [[package]]
 name = "ndk-context"
 version = "0.1.1"
@@ -3751,15 +3306,12 @@ dependencies = [
 ]
 
 [[package]]
-name = "nix"
-version = "0.24.3"
+name = "ndk-sys"
+version = "0.5.0+25.2.9519653"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069"
+checksum = "8c196769dd60fd4f363e11d948139556a344e79d451aeb2fa2fd040738ef7691"
 dependencies = [
- "bitflags 1.3.2",
- "cfg-if",
- "libc",
- "memoffset",
+ "jni-sys",
 ]
 
 [[package]]
@@ -3768,7 +3320,7 @@ version = "0.27.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2eb04e9c688eff1c89d72b407f168cf79bb9e867a9d3323ed6c01519eb9cc053"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "cfg-if",
  "libc",
 ]
@@ -3790,23 +3342,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "notify"
-version = "6.1.1"
+name = "nonmax"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6205bd8bb1e454ad2e27422015fb5e4f2bcc7e08fa8f27058670d208324a4d2d"
-dependencies = [
- "bitflags 2.4.1",
- "crossbeam-channel",
- "filetime",
- "fsevent-sys",
- "inotify 0.9.6",
- "kqueue",
- "libc",
- "log",
- "mio",
- "walkdir",
- "windows-sys 0.48.0",
-]
+checksum = "610a5acd306ec67f907abe5567859a3c693fb9886eb1f012ab8f2a47bef3db51"
 
 [[package]]
 name = "ntapi"
@@ -3829,9 +3368,9 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.4"
+version = "0.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
+checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6"
 dependencies = [
  "num-traits",
 ]
@@ -3840,20 +3379,30 @@ dependencies = [
 name = "num-derive"
 version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "num-integer"
-version = "0.1.45"
+version = "0.1.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
 dependencies = [
- "autocfg",
  "num-traits",
 ]
 
@@ -3870,9 +3419,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.17"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
+checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
  "libm",
@@ -3896,13 +3445,22 @@ dependencies = [
  "num_enum_derive 0.6.1",
 ]
 
+[[package]]
+name = "num_enum"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive 0.7.2",
+]
+
 [[package]]
 name = "num_enum_derive"
 version = "0.5.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
 dependencies = [
- "proc-macro-crate",
+ "proc-macro-crate 1.3.1",
  "proc-macro2",
  "quote",
  "syn 1.0.109",
@@ -3914,10 +3472,22 @@ version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "96667db765a921f7b295ffee8b60472b686a51d4f21c2ee4ffdb94c7013b65a6"
 dependencies = [
- "proc-macro-crate",
+ "proc-macro-crate 1.3.1",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro-crate 3.1.0",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -3987,9 +3557,9 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.32.1"
+version = "0.32.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf5f9dd3933bd50a9e1f149ec995f39ae2c496d31fd772c1fd45ebc27e902b0"
+checksum = "a6a622008b6e321afc04970976f62ee297fdbaa6f95318ca343e3eebb9648441"
 dependencies = [
  "memchr",
 ]
@@ -4000,12 +3570,23 @@ version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8868cc237ee02e2d9618539a23a8d228b9bb3fc2e7a5b11eed3831de77c395d0"
 dependencies = [
- "jni 0.20.0",
- "ndk",
+ "num-derive 0.3.3",
+ "num-traits",
+ "oboe-sys 0.5.0",
+]
+
+[[package]]
+name = "oboe"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8b61bebd49e5d43f5f8cc7ee2891c16e0f41ec7954d36bcb6c14c5e0de867fb"
+dependencies = [
+ "jni",
+ "ndk 0.8.0",
  "ndk-context",
- "num-derive",
+ "num-derive 0.4.2",
  "num-traits",
- "oboe-sys",
+ "oboe-sys 0.6.1",
 ]
 
 [[package]]
@@ -4017,6 +3598,15 @@ dependencies = [
  "cc",
 ]
 
+[[package]]
+name = "oboe-sys"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c8bb09a4a2b1d668170cfe0a7d5bc103f8999fb316c98099b6a9939c9f2e79d"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "ogg"
 version = "0.8.0"
@@ -4028,33 +3618,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.18.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
-
-[[package]]
-name = "opaque-debug"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "624a8340c38c1b80fd549087862da4ba43e08858af025b236e509b6649fc13d5"
-
-[[package]]
-name = "openssl-probe"
-version = "0.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf"
-
-[[package]]
-name = "openssl-sys"
-version = "0.9.95"
+version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40a4130519a360279579c2053038317e40eff64d13fd3f004f9e1b72b8a6aaf9"
-dependencies = [
- "cc",
- "libc",
- "pkg-config",
- "vcpkg",
-]
+checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
 [[package]]
 name = "option-ext"
@@ -4148,23 +3714,17 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8835116a5c179084a830efb3adc117ab007512b535bc1a21c991d3b32a6b44dd"
 
-[[package]]
-name = "peeking_take_while"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
-
 [[package]]
 name = "percent-encoding"
-version = "2.3.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
-version = "2.7.5"
+version = "2.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae9cee2a55a544be8b89dc6848072af97a20f2422603c10865be2a42b580fff5"
+checksum = "56f8023d0fb78c8e03784ea1c7f3fa36e68a723138990b8d5a47d916b651e7a8"
 dependencies = [
  "memchr",
  "thiserror",
@@ -4173,9 +3733,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.7.5"
+version = "2.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81d78524685f5ef2a3b3bd1cafbc9fcabb036253d9b1463e726a91cd16e2dfc2"
+checksum = "b0d24f72393fd16ab6ac5738bc33cdb6a9aa73f8b902e8fe29cf4e67d7dd1026"
 dependencies = [
  "pest",
  "pest_generator",
@@ -4183,26 +3743,26 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.7.5"
+version = "2.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68bd1206e71118b5356dae5ddc61c8b11e28b09ef6a31acbd15ea48a28e0c227"
+checksum = "fdc17e2a6c7d0a492f0158d7a4bd66cc17280308bbaff78d5bef566dca35ab80"
 dependencies = [
  "pest",
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "pest_meta"
-version = "2.7.5"
+version = "2.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c747191d4ad9e4a4ab9c8798f1e82a39affe7ef9648390b7e5548d18e099de6"
+checksum = "934cd7631c050f4674352a6e835d5f6711ffbfb9345c2fc0107155ac495ae293"
 dependencies = [
  "once_cell",
  "pest",
- "sha2 0.10.8",
+ "sha2",
 ]
 
 [[package]]
@@ -4212,7 +3772,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
 dependencies = [
  "fixedbitset",
- "indexmap 2.1.0",
+ "indexmap 2.2.5",
 ]
 
 [[package]]
@@ -4241,7 +3801,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "48e4cc64c2ad9ebe670cb8fd69dd50ae301650392e81c05f9bfcb2d5bdbc24b0"
 dependencies = [
  "phf_shared",
- "rand 0.8.5",
+ "rand",
 ]
 
 [[package]]
@@ -4253,38 +3813,12 @@ dependencies = [
  "siphasher",
 ]
 
-[[package]]
-name = "pin-project"
-version = "1.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fda4ed1c6c173e3fc7a83629421152e01d7b1f9b7f65fb301e490e8cfc656422"
-dependencies = [
- "pin-project-internal",
-]
-
-[[package]]
-name = "pin-project-internal"
-version = "1.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4359fd9c9171ec6e8c62926d6faaf553a8dc3f64e1507e76da7911b4f6a04405"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.39",
-]
-
 [[package]]
 name = "pin-project-lite"
 version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
-[[package]]
-name = "pin-utils"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
-
 [[package]]
 name = "piper"
 version = "0.2.1"
@@ -4298,15 +3832,15 @@ dependencies = [
 
 [[package]]
 name = "pkg-config"
-version = "0.3.27"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26072860ba924cbfa98ea39c8c19b4dd6a4a25423dbdf219c1eca91aa0cf6964"
+checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
 
 [[package]]
 name = "png"
-version = "0.17.10"
+version = "0.17.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd75bf2d8dd3702b9707cdbc56a5b9ef42cec752eb8b3bafc01234558442aa64"
+checksum = "06e4b0d3d1312775e782c86c91a111aa1f910cbb65e1337f9975b5f9a554b5e1"
 dependencies = [
  "bitflags 1.3.2",
  "crc32fast",
@@ -4315,33 +3849,6 @@ dependencies = [
  "miniz_oxide",
 ]
 
-[[package]]
-name = "polling"
-version = "2.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b2d323e8ca7996b3e23126511a523f7e62924d93ecd5ae73b333815b0eb3dce"
-dependencies = [
- "autocfg",
- "bitflags 1.3.2",
- "cfg-if",
- "concurrent-queue",
- "libc",
- "log",
- "pin-project-lite",
- "windows-sys 0.48.0",
-]
-
-[[package]]
-name = "polyval"
-version = "0.4.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eebcc4aa140b9abd2bc40d9c3f7ccec842679cd79045ac3a7ac698c1a064b7cd"
-dependencies = [
- "cpuid-bool",
- "opaque-debug",
- "universal-hash",
-]
-
 [[package]]
 name = "pp-rs"
 version = "0.2.1"
@@ -4368,31 +3875,34 @@ dependencies = [
 ]
 
 [[package]]
-name = "proc-macro-hack"
-version = "0.5.20+deprecated"
+name = "proc-macro-crate"
+version = "3.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc375e1527247fe1a97d8b7156678dfe7c1af2fc075c9a4db3690ecd2a148068"
+checksum = "6d37c51ca738a55da99dc0c4a34860fd675453b8b36209178c2249bb13651284"
+dependencies = [
+ "toml_edit 0.21.1",
+]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.69"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "profiling"
-version = "1.0.11"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f89dff0959d98c9758c88826cc002e2c3d0b9dfac4139711d1f30de442f1139b"
+checksum = "43d84d1d7a6ac92673717f9f6d1518374ef257669c24ebc5ac25d5033828be58"
 
 [[package]]
 name = "quote"
-version = "1.0.33"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
@@ -4403,19 +3913,6 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "17fd96390ed3feda12e1dfe2645ed587e0bea749e319333f104a33ff62f77a0b"
 
-[[package]]
-name = "rand"
-version = "0.7.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a6b1679d49b24bbfe0c803429aa1874472f50d9b363131f0e89fc356b544d03"
-dependencies = [
- "getrandom 0.1.16",
- "libc",
- "rand_chacha 0.2.2",
- "rand_core 0.5.1",
- "rand_hc",
-]
-
 [[package]]
 name = "rand"
 version = "0.8.5"
@@ -4423,18 +3920,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
 dependencies = [
  "libc",
- "rand_chacha 0.3.1",
- "rand_core 0.6.4",
-]
-
-[[package]]
-name = "rand_chacha"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4c8ed856279c9737206bf725bf36935d8666ead7aa69b52be55af369d193402"
-dependencies = [
- "ppv-lite86",
- "rand_core 0.5.1",
+ "rand_chacha",
+ "rand_core",
 ]
 
 [[package]]
@@ -4444,16 +3931,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6c10a63a0fa32252be49d21e7709d4d4baf8d231c2dbce1eaa8141b9b127d88"
 dependencies = [
  "ppv-lite86",
- "rand_core 0.6.4",
-]
-
-[[package]]
-name = "rand_core"
-version = "0.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90bde5296fc891b0cef12a6d03ddccc162ce7b2aff54160af9338f8d40df6d19"
-dependencies = [
- "getrandom 0.1.16",
+ "rand_core",
 ]
 
 [[package]]
@@ -4462,16 +3940,7 @@ version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 dependencies = [
- "getrandom 0.2.11",
-]
-
-[[package]]
-name = "rand_hc"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca3129af7b92a17112d59ad498c6f81eaf463253766b90396d39ea7a39d6613c"
-dependencies = [
- "rand_core 0.5.1",
+ "getrandom",
 ]
 
 [[package]]
@@ -4522,20 +3991,20 @@ version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4"
 dependencies = [
- "getrandom 0.2.11",
+ "getrandom",
  "libredox 0.0.1",
  "thiserror",
 ]
 
 [[package]]
 name = "regex"
-version = "1.10.2"
+version = "1.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
+checksum = "b62dbe01f0b06f9d8dc7d49e05a0785f153b00b2c227856282f671e0318c9b15"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.4.3",
+ "regex-automata 0.4.6",
  "regex-syntax 0.8.2",
 ]
 
@@ -4550,9 +4019,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.3"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
+checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -4565,6 +4034,12 @@ version = "0.6.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
+[[package]]
+name = "regex-syntax"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
+
 [[package]]
 name = "regex-syntax"
 version = "0.8.2"
@@ -4573,9 +4048,9 @@ checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
 
 [[package]]
 name = "renderdoc-sys"
-version = "1.0.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
+checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
 [[package]]
 name = "rfd"
@@ -4600,6 +4075,21 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "ring"
+version = "0.17.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c17fa4cb658e3583423e915b9f3acc01cceaee1860e33d59ebae66adc3a2dc0d"
+dependencies = [
+ "cc",
+ "cfg-if",
+ "getrandom",
+ "libc",
+ "spin",
+ "untrusted",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "rmf_site_editor"
 version = "0.0.1"
@@ -4612,16 +4102,16 @@ dependencies = [
  "bevy_obj",
  "bevy_polyline",
  "bevy_stl",
- "bevy_utils",
  "bitfield",
  "clap",
  "console_error_panic_hook",
  "crossbeam-channel",
  "dirs",
+ "ehttp",
  "futures-lite 1.13.0",
  "geo",
  "gz-fuel",
- "itertools",
+ "itertools 0.12.1",
  "pathdiff",
  "rfd",
  "rmf_site_format",
@@ -4630,7 +4120,6 @@ dependencies = [
  "serde_json",
  "serde_yaml",
  "smallvec",
- "surf",
  "tera",
  "thiserror",
  "thread_local",
@@ -4680,8 +4169,8 @@ version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
- "base64 0.21.5",
- "bitflags 2.4.1",
+ "base64 0.21.7",
+ "bitflags 2.4.2",
  "serde",
  "serde_derive",
 ]
@@ -4709,36 +4198,57 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
-[[package]]
-name = "rustc_version"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
-dependencies = [
- "semver 0.9.0",
-]
-
 [[package]]
 name = "rustc_version"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.21",
+ "semver",
 ]
 
 [[package]]
 name = "rustix"
-version = "0.37.27"
+version = "0.38.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fea8ca367a3a01fe35e6943c400addf443c0f57670e6ec51196f71a4b8762dd2"
+checksum = "6ea3e1a662af26cd7a3ba09c0297a31af215563ecf42817c98df621387f4e949"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.4.2",
  "errno",
- "io-lifetimes",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "rustls"
+version = "0.22.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e87c9956bd9807afa1f77e0f7594af32566e830e088a5576d27c5b6f30f49d41"
+dependencies = [
+ "log",
+ "ring",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "subtle",
+ "zeroize",
+]
+
+[[package]]
+name = "rustls-pki-types"
+version = "1.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5ede67b28608b4c60685c7d54122d4400d90f62b40caee7700e700380a390fa8"
+
+[[package]]
+name = "rustls-webpki"
+version = "0.102.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "faaa0a62740bedb9b2ef5afa303da42764c012f743917351dc9a237ea1663610"
+dependencies = [
+ "ring",
+ "rustls-pki-types",
+ "untrusted",
 ]
 
 [[package]]
@@ -4758,7 +4268,7 @@ version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a98f186c7a2f3abbffb802984b7f1dfd65dac8be1aafdaabbca4137f53f0dff7"
 dependencies = [
- "bytes 1.5.0",
+ "bytes",
  "rxml_validation",
  "smartstring",
 ]
@@ -4771,9 +4281,9 @@ checksum = "22a197350ece202f19a166d1ad6d9d6de145e1d2a8ef47db299abe164dbd7530"
 
 [[package]]
 name = "ryu"
-version = "1.0.15"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
+checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
 
 [[package]]
 name = "safe_arch"
@@ -4793,15 +4303,6 @@ dependencies = [
  "winapi-util",
 ]
 
-[[package]]
-name = "schannel"
-version = "0.1.22"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c3733bf4cf7ea0880754e19cb5a462007c4a8c1914bff372ccc95b464f1df88"
-dependencies = [
- "windows-sys 0.48.0",
-]
-
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
@@ -4823,85 +4324,47 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "0.9.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
-dependencies = [
- "semver-parser",
-]
-
-[[package]]
-name = "semver"
-version = "1.0.21"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b97ed7a9823b74f99c7742f5336af7be5ecd3eeafcb1507d1fa93347b1d589b0"
-
-[[package]]
-name = "semver-parser"
-version = "0.7.0"
+version = "1.0.22"
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-checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
 
 [[package]]
 name = "serde"
-version = "1.0.192"
+version = "1.0.197"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bca2a08484b285dcb282d0f67b26cadc0df8b19f8c12502c13d966bf9482f001"
+checksum = "3fb1c873e1b9b056a4dc4c0c198b24c3ffa059243875552b2bd0933b1aee4ce2"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.192"
+version = "1.0.197"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6c7207fbec9faa48073f3e3074cbe553af6ea512d7c21ba46e434e70ea9fbc1"
+checksum = "7eb0b34b42edc17f6b7cac84a52a1c5f0e1bb2227e997ca9011ea3dd34e8610b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.108"
+version = "1.0.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
+checksum = "c5f09b1bd632ef549eaa9f60a1f8de742bdbc698e6cee2095fc84dde5f549ae0"
 dependencies = [
  "itoa",
  "ryu",
  "serde",
 ]
 
-[[package]]
-name = "serde_qs"
-version = "0.8.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7715380eec75f029a4ef7de39a9200e0a63823176b759d055b613f5a87df6a6"
-dependencies = [
- "percent-encoding",
- "serde",
- "thiserror",
-]
-
 [[package]]
 name = "serde_spanned"
-version = "0.6.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12022b835073e5b11e90a14f86838ceb1c8fb0325b72416845c487ac0fa95e80"
-dependencies = [
- "serde",
-]
-
-[[package]]
-name = "serde_urlencoded"
-version = "0.7.1"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3491c14715ca2294c4d6a88f15e84739788c1d030eed8c110436aafdaa2f3fd"
+checksum = "eb3622f419d1296904700073ea6cc23ad690adbd66f13ea683df73298736f0c1"
 dependencies = [
- "form_urlencoded",
- "itoa",
- "ryu",
  "serde",
 ]
 
@@ -4917,34 +4380,6 @@ dependencies = [
  "yaml-rust",
 ]
 
-[[package]]
-name = "sha1"
-version = "0.6.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1da05c97445caa12d05e848c4a4fcbbea29e748ac28f7e80e9b010392063770"
-dependencies = [
- "sha1_smol",
-]
-
-[[package]]
-name = "sha1_smol"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae1a47186c03a32177042e55dbc5fd5aee900b8e0069a8d70fba96a9375cd012"
-
-[[package]]
-name = "sha2"
-version = "0.9.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d58a1e1bf39749807d89cf2d98ac2dfa0ff1cb3faa38fbb64dd88ac8013d800"
-dependencies = [
- "block-buffer 0.9.0",
- "cfg-if",
- "cpufeatures",
- "digest 0.9.0",
- "opaque-debug",
-]
-
 [[package]]
 name = "sha2"
 version = "0.10.8"
@@ -4953,7 +4388,7 @@ checksum = "793db75ad2bcafc3ffa7c68b215fee268f537982cd901d132f89c6343f3a3dc8"
 dependencies = [
  "cfg-if",
  "cpufeatures",
- "digest 0.10.7",
+ "digest",
 ]
 
 [[package]]
@@ -4967,9 +4402,9 @@ dependencies = [
 
 [[package]]
 name = "shlex"
-version = "1.2.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7cee0529a6d40f580e7a5e6c495c8fbfe21b7b52795ed4bb5e62cdf92bc6380"
+checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
 [[package]]
 name = "simba"
@@ -5007,9 +4442,9 @@ dependencies = [
 
 [[package]]
 name = "slotmap"
-version = "1.0.6"
+version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1e08e261d0e8f5c43123b7adf3e4ca1690d655377ac93a03b2c9d3e98de1342"
+checksum = "dbff4acf519f630b3a3ddcfaea6c06b42174d9a44bc70c620e9ed1649d58b82a"
 dependencies = [
  "version_check",
 ]
@@ -5024,22 +4459,11 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "sluice"
-version = "0.5.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d7400c0eff44aa2fcb5e31a5f24ba9716ed90138769e4977a2ba6014ae63eb5"
-dependencies = [
- "async-channel 1.9.0",
- "futures-core",
- "futures-io",
-]
-
 [[package]]
 name = "smallvec"
-version = "1.11.2"
+version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
+checksum = "e6ecd384b10a64542d77071bd64bd7b231f4ed5940fba55e98c3de13824cf3d7"
 dependencies = [
  "serde",
 ]
@@ -5057,30 +4481,20 @@ dependencies = [
 
 [[package]]
 name = "smol_str"
-version = "0.2.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74212e6bbe9a4352329b2f68ba3130c15a3f26fe88ff22dbdc6cdd58fa85e99c"
+checksum = "e6845563ada680337a52d43bb0b29f396f2d911616f6573012645b9e3d048a49"
 dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "socket2"
-version = "0.4.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f7916fc008ca5542385b89a3d3ce689953c143e9304a9bf8beec1de48994c0d"
-dependencies = [
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "spade"
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "61addf9117b11d1f5b4bf6fe94242ba25f59d2d4b2080544b771bd647024fd00"
 dependencies = [
- "hashbrown 0.14.2",
+ "hashbrown 0.14.3",
  "num-traits",
  "robust",
  "smallvec",
@@ -5088,18 +4502,9 @@ dependencies = [
 
 [[package]]
 name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
-[[package]]
-name = "spinning_top"
-version = "0.2.5"
+version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b9eb1a2f4c41445a3a0ff9abc5221c5fcd28e1f13cd7c0397706f9ac938ddb0"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
 dependencies = [
  "lock_api",
 ]
@@ -5120,120 +4525,33 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
-[[package]]
-name = "standback"
-version = "0.2.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e113fb6f3de07a243d434a56ec6f186dfd51cb08448239fe7bcae73f87ff28ff"
-dependencies = [
- "version_check",
-]
-
 [[package]]
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 checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 
-[[package]]
-name = "stdweb"
-version = "0.4.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d022496b16281348b52d0e30ae99e01a73d737b2f45d38fed4edf79f9325a1d5"
-dependencies = [
- "discard",
- "rustc_version 0.2.3",
- "stdweb-derive",
- "stdweb-internal-macros",
- "stdweb-internal-runtime",
- "wasm-bindgen",
-]
-
-[[package]]
-name = "stdweb-derive"
-version = "0.5.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c87a60a40fccc84bef0652345bbbbbe20a605bf5d0ce81719fc476f5c03b50ef"
-dependencies = [
- "proc-macro2",
- "quote",
- "serde",
- "serde_derive",
- "syn 1.0.109",
-]
-
-[[package]]
-name = "stdweb-internal-macros"
-version = "0.2.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58fa5ff6ad0d98d1ffa8cb115892b6e69d67799f6763e162a1c9db421dc22e11"
-dependencies = [
- "base-x",
- "proc-macro2",
- "quote",
- "serde",
- "serde_derive",
- "serde_json",
- "sha1",
- "syn 1.0.109",
-]
-
-[[package]]
-name = "stdweb-internal-runtime"
-version = "0.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "213701ba3370744dcd1a12960caa4843b3d68b4d1c0a5d575e0d65b2ee9d16c0"
-
 [[package]]
 name = "stl_io"
-version = "0.6.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c68e41108b3ec269d885cc56af66cd15f1392f68d2ae461df86d7d3285f065d"
+checksum = "d520eb03e632e666ac32f3c0cf018ac6dcd535ab0be1420937e2d896f44f7cf7"
 dependencies = [
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  "float-cmp",
 ]
 
-[[package]]
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-version = "1.0.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e08d8363704e6c71fc928674353e6b7c23dcea9d82d7012c8faf2a3a025f8d0"
-
 [[package]]
 name = "strsim"
-version = "0.10.0"
+version = "0.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
+checksum = "5ee073c9e4cd00e28217186dbe12796d692868f432bf2e97ee73bed0c56dfa01"
 
 [[package]]
 name = "subtle"
-version = "2.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6bdef32e8150c2a081110b42772ffe7d7c9032b606bc226c8260fd97e0976601"
-
-[[package]]
-name = "surf"
-version = "2.3.2"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "718b1ae6b50351982dedff021db0def601677f2120938b070eadb10ba4038dd7"
-dependencies = [
- "async-std",
- "async-trait",
- "cfg-if",
- "encoding_rs",
- "futures-util",
- "getrandom 0.2.11",
- "http-client",
- "http-types",
- "log",
- "mime_guess",
- "once_cell",
- "pin-project-lite",
- "serde",
- "serde_json",
- "web-sys",
-]
+checksum = "81cdd64d312baedb58e21336b31bc043b77e01cc99033ce76ef539f78e965ebc"
 
 [[package]]
 name = "svg_fmt"
@@ -5254,9 +4572,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.39"
+version = "2.0.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
+checksum = "b699d15b36d1f02c3e7c69f8ffef53de37aefae075d8488d4ba1a7788d574a07"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -5265,9 +4583,9 @@ dependencies = [
 
 [[package]]
 name = "sysinfo"
-version = "0.29.10"
+version = "0.29.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a18d114d420ada3a891e6bc8e96a2023402203296a47cdd65083377dad18ba5"
+checksum = "cd727fc423c2060f6c92d9534cef765c65a6ed3f428a03d7def74a8c4348e666"
 dependencies = [
  "cfg-if",
  "core-foundation-sys",
@@ -5304,9 +4622,9 @@ dependencies = [
 
 [[package]]
 name = "target-lexicon"
-version = "0.12.12"
+version = "0.12.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c39fd04924ca3a864207c66fc2cd7d22d7c016007f9ce846cbb9326331930a"
+checksum = "e1fc403891a21bcfb7c37834ba66a547a8f402146eba7265b5a6d88059c9ff2f"
 
 [[package]]
 name = "tera"
@@ -5322,7 +4640,7 @@ dependencies = [
  "percent-encoding",
  "pest",
  "pest_derive",
- "rand 0.8.5",
+ "rand",
  "regex",
  "serde",
  "serde_json",
@@ -5332,58 +4650,58 @@ dependencies = [
 
 [[package]]
 name = "termcolor"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
+checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
 dependencies = [
  "winapi-util",
 ]
 
 [[package]]
 name = "thiserror"
-version = "1.0.50"
+version = "1.0.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
+checksum = "1e45bcbe8ed29775f228095caf2cd67af7a4ccf756ebff23a306bf3e8b47b24b"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-core"
-version = "1.0.38"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d97345f6437bb2004cd58819d8a9ef8e36cdd7661c2abc4bbde0a7c40d9f497"
+checksum = "c001ee18b7e5e3f62cbf58c7fe220119e68d902bb7443179c0c8aef30090e999"
 dependencies = [
  "thiserror-core-impl",
 ]
 
 [[package]]
 name = "thiserror-core-impl"
-version = "1.0.38"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10ac1c5050e43014d16b2f94d0d2ce79e65ffdd8b38d8048f9c8f6a8a6da62ac"
+checksum = "e4c60d69f36615a077cc7663b9cb8e42275722d23e58a7fa3d2c7f2915d09d04"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.50"
+version = "1.0.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
+checksum = "a953cb265bef375dae3de6663da4d3804eee9682ea80d8e2542529b73c531c81"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "thread_local"
-version = "1.1.7"
+version = "1.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdd6f064ccff2d6567adcb3873ca630700f00b5ad3f060c25b5dcfd9a4ce152"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
 dependencies = [
  "cfg-if",
  "once_cell",
@@ -5391,53 +4709,15 @@ dependencies = [
 
 [[package]]
 name = "tiff"
-version = "0.9.0"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d172b0f4d3fba17ba89811858b9d3d97f928aece846475bbda076ca46736211"
+checksum = "ba1310fcea54c6a9a4fd1aad794ecc02c31682f6bfbecdf460bf19533eed1e3e"
 dependencies = [
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  "jpeg-decoder",
  "weezl",
 ]
 
-[[package]]
-name = "time"
-version = "0.2.27"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4752a97f8eebd6854ff91f1c1824cd6160626ac4bd44287f7f4ea2035a02a242"
-dependencies = [
- "const_fn",
- "libc",
- "standback",
- "stdweb",
- "time-macros",
- "version_check",
- "winapi",
-]
-
-[[package]]
-name = "time-macros"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "957e9c6e26f12cb6d0dd7fc776bb67a706312e7299aed74c8dd5b17ebb27e2f1"
-dependencies = [
- "proc-macro-hack",
- "time-macros-impl",
-]
-
-[[package]]
-name = "time-macros-impl"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd3c141a1b43194f3f56a1411225df8646c55781d5f26db825b3d98507eb482f"
-dependencies = [
- "proc-macro-hack",
- "proc-macro2",
- "quote",
- "standback",
- "syn 1.0.109",
-]
-
 [[package]]
 name = "tinyvec"
 version = "1.6.0"
@@ -5455,9 +4735,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tobj"
-version = "4.0.0"
+version = "4.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b450e3ba06251ec4fc76917dafeaf55805ffb26dbf7d5500bfb9511ce63a0d1f"
+checksum = "5f7ca3ec0405b0f2f95e0dbcced28882190dc79b0dac63ff82533d256d770223"
 dependencies = [
  "ahash",
  "log",
@@ -5465,14 +4745,14 @@ dependencies = [
 
 [[package]]
 name = "toml"
-version = "0.8.8"
+version = "0.8.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1a195ec8c9da26928f773888e0742ca3ca1040c6cd859c919c9f59c1954ab35"
+checksum = "9a9aad4a3066010876e8dcf5a8a06e70a558751117a145c6ce2b82c2e2054290"
 dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "toml_edit 0.21.0",
+ "toml_edit 0.22.6",
 ]
 
 [[package]]
@@ -5490,22 +4770,44 @@ version = "0.19.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
- "indexmap 2.1.0",
+ "indexmap 2.2.5",
  "toml_datetime",
- "winnow",
+ "winnow 0.5.40",
 ]
 
 [[package]]
 name = "toml_edit"
-version = "0.21.0"
+version = "0.20.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70f427fce4d84c72b5b732388bf4a9f4531b53f74e2887e3ecb2481f68f66d81"
+dependencies = [
+ "indexmap 2.2.5",
+ "toml_datetime",
+ "winnow 0.5.40",
+]
+
+[[package]]
+name = "toml_edit"
+version = "0.21.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a8534fd7f78b5405e860340ad6575217ce99f38d4d5c8f2442cb5ecb50090e1"
+dependencies = [
+ "indexmap 2.2.5",
+ "toml_datetime",
+ "winnow 0.5.40",
+]
+
+[[package]]
+name = "toml_edit"
+version = "0.22.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d34d383cd00a163b4a5b85053df514d45bc330f6de7737edfe0a93311d1eaa03"
+checksum = "2c1b5fd4128cc8d3e0cb74d4ed9a9cc7c7284becd4df68f5f940e1ad123606f6"
 dependencies = [
- "indexmap 2.1.0",
+ "indexmap 2.2.5",
  "serde",
  "serde_spanned",
  "toml_datetime",
- "winnow",
+ "winnow 0.6.5",
 ]
 
 [[package]]
@@ -5514,7 +4816,6 @@ version = "0.1.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
 dependencies = [
- "log",
  "pin-project-lite",
  "tracing-attributes",
  "tracing-core",
@@ -5528,7 +4829,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -5541,16 +4842,6 @@ dependencies = [
  "valuable",
 ]
 
-[[package]]
-name = "tracing-futures"
-version = "0.2.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97d095ae15e245a057c8e8451bab9b3ee1e1f68e9ba2b4fbc18d0ac5237835f2"
-dependencies = [
- "pin-project",
- "tracing",
-]
-
 [[package]]
 name = "tracing-log"
 version = "0.1.4"
@@ -5680,20 +4971,11 @@ dependencies = [
  "unic-common",
 ]
 
-[[package]]
-name = "unicase"
-version = "2.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7d2d4dafb69621809a81864c9c1b864479e1235c0dd4e199924b9742439ed89"
-dependencies = [
- "version_check",
-]
-
 [[package]]
 name = "unicode-bidi"
-version = "0.3.13"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
+checksum = "08f95100a766bf4f8f28f90d77e0a5461bbdb219042e7679bebe79004fed8d75"
 
 [[package]]
 name = "unicode-ident"
@@ -5703,18 +4985,18 @@ checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.22"
+version = "0.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c5713f0fc4b5db668a2ac63cdb7bb4469d8c9fed047b1d0292cc7b0ce2ba921"
+checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
 dependencies = [
  "tinyvec",
 ]
 
 [[package]]
 name = "unicode-segmentation"
-version = "1.10.1"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1dd624098567895118886609431a7c3b8f516e41d30e0643f03d94592a147e36"
+checksum = "d4c87d22b6e3f4a18d4d40ef354e97c90fcb14dd91d7dc0aa9d8a1172ebf7202"
 
 [[package]]
 name = "unicode-width"
@@ -5729,14 +5011,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
 
 [[package]]
-name = "universal-hash"
-version = "0.4.1"
+name = "untrusted"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f214e8f697e925001e66ec2c6e37a4ef93f0f78c2eed7814394e10c62025b05"
-dependencies = [
- "generic-array",
- "subtle",
-]
+checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
 [[package]]
 name = "urdf-rs"
@@ -5751,16 +5029,32 @@ dependencies = [
  "yaserde_derive",
 ]
 
+[[package]]
+name = "ureq"
+version = "2.9.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11f214ce18d8b2cbe84ed3aa6486ed3f5b285cf8d8fbdbce9f3f767a724adc35"
+dependencies = [
+ "base64 0.21.7",
+ "flate2",
+ "log",
+ "once_cell",
+ "rustls",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "url",
+ "webpki-roots",
+]
+
 [[package]]
 name = "url"
-version = "2.4.1"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "143b538f18257fac9cad154828a57c6bf5157e1aa604d4816b5995bf6de87ae5"
+checksum = "31e6302e3bb753d46e83516cae55ae196fc0c309407cf11ab35cc51a4c2a4633"
 dependencies = [
  "form_urlencoded",
  "idna",
  "percent-encoding",
- "serde",
 ]
 
 [[package]]
@@ -5777,11 +5071,11 @@ checksum = "95b09e3b3a0abd1ccb77673a6b7b8875d9d1c80626154add451cf18392dc4c3c"
 
 [[package]]
 name = "uuid"
-version = "1.5.0"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88ad59a7560b41a70d191093a945f0b87bc1deeda46fb237479708a1d6b6cdfc"
+checksum = "f00cc9702ca12d3c81455259621e676d0f7251cec66a21e98fe2e9a37db93b2a"
 dependencies = [
- "getrandom 0.2.11",
+ "getrandom",
  "serde",
 ]
 
@@ -5791,18 +5085,6 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
 
-[[package]]
-name = "value-bag"
-version = "1.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a72e1902dde2bd6441347de2b70b7f5d59bf157c6c62f0c44572607a1d55bbe"
-
-[[package]]
-name = "vcpkg"
-version = "0.2.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
-
 [[package]]
 name = "vec_map"
 version = "0.8.2"
@@ -5829,20 +5111,14 @@ checksum = "f3c4517f54858c779bbcbf228f4fca63d121bf85fbecb2dc578cdf4a39395690"
 
 [[package]]
 name = "walkdir"
-version = "2.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d71d857dc86794ca4c280d616f7da00d2dbfd8cd788846559a6813e6aa4b54ee"
+checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
 dependencies = [
  "same-file",
  "winapi-util",
 ]
 
-[[package]]
-name = "wasi"
-version = "0.9.0+wasi-snapshot-preview1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cccddf32554fecc6acb585f82a32a72e28b48f8c4c1883ddfeeeaa96f7d8e519"
-
 [[package]]
 name = "wasi"
 version = "0.11.0+wasi-snapshot-preview1"
@@ -5851,9 +5127,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.84"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "31f8dcbc21f30d9b8f2ea926ecb58f6b91192c17e9d33594b3df58b2007ca53b"
+checksum = "4be2531df63900aeb2bca0daaaddec08491ee64ceecbee5076636a3b026795a8"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -5861,24 +5137,24 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.84"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95ce90fd5bcc06af55a641a86428ee4229e44e07033963a2290a8e241607ccb9"
+checksum = "614d787b966d3989fa7bb98a654e369c762374fd3213d212cfc0251257e747da"
 dependencies = [
  "bumpalo",
  "log",
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.34"
+version = "0.4.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f219e0d211ba40266969f6dbdd90636da12f75bee4fc9d6c23d1260dadb51454"
+checksum = "76bc14366121efc8dbb487ab05bcc9d346b3b5ec0eaa76e46594cabbe51762c0"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -5888,9 +5164,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.84"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c21f77c0bedc37fd5dc21f897894a5ca01e7bb159884559461862ae90c0b4c5"
+checksum = "a1f8823de937b71b9460c0c34e25f3da88250760bec0ebac694b49997550d726"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -5898,22 +5174,22 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.84"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2aff81306fcac3c7515ad4e177f521b5c9a15f2b08f4e32d823066102f35a5f6"
+checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.84"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0046fef7e28c3804e5e38bfa31ea2a0f73905319b677e57ebe37e49358989b5d"
+checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
 
 [[package]]
 name = "wayland-scanner"
@@ -5928,9 +5204,9 @@ dependencies = [
 
 [[package]]
 name = "web-sys"
-version = "0.3.61"
+version = "0.3.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e33b99f4b23ba3eec1a53ac264e35a755f00e966e0065077d6027c0f575b0b97"
+checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -5938,13 +5214,13 @@ dependencies = [
 
 [[package]]
 name = "webbrowser"
-version = "0.8.12"
+version = "0.8.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82b2391658b02c27719fc5a0a73d6e696285138e8b12fba9d4baa70451023c71"
+checksum = "d1b04c569c83a9bb971dd47ec6fd48753315f4bf989b9b04a2e7ca4d7f0dc950"
 dependencies = [
  "core-foundation",
  "home",
- "jni 0.21.1",
+ "jni",
  "log",
  "ndk-context",
  "objc",
@@ -5953,17 +5229,26 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "webpki-roots"
+version = "0.26.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b3de34ae270483955a94f4b21bdaaeb83d508bb84a01435f393818edb0012009"
+dependencies = [
+ "rustls-pki-types",
+]
+
 [[package]]
 name = "weezl"
-version = "0.1.7"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9193164d4de03a926d909d3bc7c30543cecb35400c02114792c2cae20d5e2dbb"
+checksum = "53a85b86a771b1c87058196170769dd264f66c0782acf1ae6cc51bfd64b39082"
 
 [[package]]
 name = "wgpu"
-version = "0.16.3"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "480c965c9306872eb6255fa55e4b4953be55a8b64d57e61d7ff840d3dcc051cd"
+checksum = "752e44d3998ef35f71830dd1ad3da513e628e2e4d4aedb0ab580f850827a0b41"
 dependencies = [
  "arrayvec",
  "cfg-if",
@@ -5985,13 +5270,13 @@ dependencies = [
 
 [[package]]
 name = "wgpu-core"
-version = "0.16.1"
+version = "0.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f478237b4bf0d5b70a39898a66fa67ca3a007d79f2520485b8b0c3dfc46f8c2"
+checksum = "0f8a44dd301a30ceeed3c27d8c0090433d3da04d7b2a4042738095a424d12ae7"
 dependencies = [
  "arrayvec",
  "bit-vec",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "codespan-reporting",
  "log",
  "naga",
@@ -6008,19 +5293,18 @@ dependencies = [
 
 [[package]]
 name = "wgpu-hal"
-version = "0.16.2"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ecb3258078e936deee14fd4e0febe1cfe9bbb5ffef165cb60218d2ee5eb4448"
+checksum = "9a80bf0e3c77399bb52850cb0830af9bad073d5cfcb9dd8253bef8125c42db17"
 dependencies = [
  "android_system_properties",
  "arrayvec",
  "ash",
  "bit-set",
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "block",
  "core-graphics-types",
  "d3d12",
- "foreign-types",
  "glow",
  "gpu-alloc",
  "gpu-allocator",
@@ -6029,7 +5313,7 @@ dependencies = [
  "js-sys",
  "khronos-egl",
  "libc",
- "libloading 0.8.1",
+ "libloading 0.8.3",
  "log",
  "metal",
  "naga",
@@ -6050,20 +5334,20 @@ dependencies = [
 
 [[package]]
 name = "wgpu-types"
-version = "0.16.1"
+version = "0.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0c153280bb108c2979eb5c7391cb18c56642dd3c072e55f52065e13e2a1252a"
+checksum = "ee64d7398d0c2f9ca48922c902ef69c42d000c759f3db41e355f4a570b052b67"
 dependencies = [
- "bitflags 2.4.1",
+ "bitflags 2.4.2",
  "js-sys",
  "web-sys",
 ]
 
 [[package]]
 name = "wide"
-version = "0.7.13"
+version = "0.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c68938b57b33da363195412cfc5fc37c9ed49aa9cfe2156fde64b8d2c9498242"
+checksum = "89beec544f246e679fc25490e3f8e08003bc4bf612068f325120dad4cea02c1c"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -6100,15 +5384,6 @@ dependencies = [
  "winapi",
 ]
 
-[[package]]
-name = "winapi-wsapoll"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44c17110f57155602a80dca10be03852116403c9ff3cd25b079d666f2aa3df6e"
-dependencies = [
- "winapi",
-]
-
 [[package]]
 name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
@@ -6126,41 +5401,52 @@ dependencies = [
 
 [[package]]
 name = "windows"
-version = "0.46.0"
+version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cdacb41e6a96a052c6cb63a144f24900236121c6f63f4f8219fef5977ecb0c25"
+checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
 dependencies = [
- "windows-targets 0.42.2",
+ "windows-implement",
+ "windows-interface",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
 name = "windows"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
+checksum = "e48a53791691ab099e5e2ad123536d0fff50652600abaf43bbf952894110d0be"
 dependencies = [
- "windows-implement",
- "windows-interface",
- "windows-targets 0.48.5",
+ "windows-core 0.52.0",
+ "windows-targets 0.52.4",
 ]
 
 [[package]]
 name = "windows"
-version = "0.51.1"
+version = "0.54.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca229916c5ee38c2f2bc1e9d8f04df975b4bd93f9955dc69fabb5d91270045c9"
+checksum = "9252e5725dbed82865af151df558e754e4a3c2c30818359eb17465f1346a1b49"
 dependencies = [
- "windows-core",
- "windows-targets 0.48.5",
+ "windows-core 0.54.0",
+ "windows-targets 0.52.4",
 ]
 
 [[package]]
 name = "windows-core"
-version = "0.51.1"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1f8cf84f35d2db49a46868f947758c7a1138116f7fac3bc844f43ade1292e64"
+checksum = "33ab640c8d7e35bf8ba19b884ba838ceb4fba93a4e8c65a9059d08afcfc683d9"
 dependencies = [
- "windows-targets 0.48.5",
+ "windows-targets 0.52.4",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.54.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12661b9c89351d684a50a8a643ce5f608e20243b9fb84687800163429f161d65"
+dependencies = [
+ "windows-result",
+ "windows-targets 0.52.4",
 ]
 
 [[package]]
@@ -6185,6 +5471,15 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "windows-result"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cd19df78e5168dfb0aedc343d1d1b8d422ab2db6756d2dc3fef75035402a3f64"
+dependencies = [
+ "windows-targets 0.52.4",
+]
+
 [[package]]
 name = "windows-sys"
 version = "0.45.0"
@@ -6203,6 +5498,15 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.4",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.42.2"
@@ -6233,6 +5537,21 @@ dependencies = [
  "windows_x86_64_msvc 0.48.5",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd37b7e5ab9018759f893a1952c9420d060016fc19a472b4bb20d1bdd694d1b"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.4",
+ "windows_aarch64_msvc 0.52.4",
+ "windows_i686_gnu 0.52.4",
+ "windows_i686_msvc 0.52.4",
+ "windows_x86_64_gnu 0.52.4",
+ "windows_x86_64_gnullvm 0.52.4",
+ "windows_x86_64_msvc 0.52.4",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -6245,6 +5564,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bcf46cf4c365c6f2d1cc93ce535f2c8b244591df96ceee75d8e83deb70a9cac9"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -6257,6 +5582,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da9f259dd3bcf6990b55bffd094c4f7235817ba4ceebde8e6d11cd0c5633b675"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -6269,6 +5600,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b474d8268f99e0995f25b9f095bc7434632601028cf86590aea5c8a5cb7801d3"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -6281,6 +5618,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1515e9a29e5bed743cb4415a9ecf5dfca648ce85ee42e15873c3cd8610ff8e02"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -6293,6 +5636,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5eee091590e89cc02ad514ffe3ead9eb6b660aedca2183455434b93546371a03"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.42.2"
@@ -6305,6 +5654,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77ca79f2451b49fa9e2af39f0747fe999fcda4f5e241b2898624dca97a1f2177"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -6317,6 +5672,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32b752e52a2da0ddfbdbcc6fceadfeede4c939ed16d13e648833a61dfb611ed8"
+
 [[package]]
 name = "winit"
 version = "0.28.7"
@@ -6327,13 +5688,13 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg_aliases",
  "core-foundation",
- "core-graphics",
+ "core-graphics 0.22.3",
  "dispatch",
  "instant",
  "libc",
  "log",
  "mio",
- "ndk",
+ "ndk 0.7.0",
  "objc2",
  "once_cell",
  "orbclient",
@@ -6349,9 +5710,18 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.5.19"
+version = "0.5.40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "winnow"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "829846f3e3db426d4cee4510841b71a8e58aa2a76b1132579487ae430ccd9c7b"
+checksum = "dffa400e67ed5a4dd237983829e66475f0a4a26938c4b04c21baede6262215b8"
 dependencies = [
  "memchr",
 ]
@@ -6369,25 +5739,20 @@ dependencies = [
 
 [[package]]
 name = "x11rb"
-version = "0.10.1"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "592b4883219f345e712b3209c62654ebda0bb50887f330cbd018d0f654bfd507"
+checksum = "f8f25ead8c7e4cba123243a6367da5d3990e0d3affa708ea19dce96356bd9f1a"
 dependencies = [
  "gethostname",
- "nix 0.24.3",
- "winapi",
- "winapi-wsapoll",
+ "rustix",
  "x11rb-protocol",
 ]
 
 [[package]]
 name = "x11rb-protocol"
-version = "0.10.0"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56b245751c0ac9db0e006dc812031482784e434630205a93c73cfefcaabeac67"
-dependencies = [
- "nix 0.24.3",
-]
+checksum = "e63e71c4b8bd9ffec2c963173a4dc4cbde9ee96961d4fcb4429db9929b606c34"
 
 [[package]]
 name = "xi-unicode"
@@ -6445,20 +5810,26 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.25"
+version = "0.7.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cd369a67c0edfef15010f980c3cbe45d7f651deac2cd67ce097cd801de16557"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.25"
+version = "0.7.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2f140bda219a26ccc0cdb03dba58af72590c53b22642577d88a927bc5c87d6b"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.52",
 ]
+
+[[package]]
+name = "zeroize"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "525b4ec142c6b68a2d10f01f7bbf6755599ca3f81ea53b8431b7dd348f5fdb2d"
diff --git a/README.md b/README.md
index 8ba9dc34..34cb49f3 100644
--- a/README.md
+++ b/README.md
@@ -56,7 +56,7 @@ Make sure you install rust from the main rust website. Cargo should take care of
 These are only needed if you're going to build a WebAssembly binary:
 ```bash
 $ sudo apt install binaryen
-$ cargo install wasm-bindgen-cli@0.2.84 basic-http-server
+$ cargo install wasm-bindgen-cli basic-http-server
 $ rustup target add wasm32-unknown-unknown
 ```
 
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index cc64be29..ce8112d4 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -16,22 +16,21 @@ name = "extending_site_editor"
 path = "examples/extending_menu.rs"
 
 [dependencies]
-bevy_egui = "0.21"
-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_egui = "0.23"
+bevy_mod_raycast = "0.16"
+bevy_mod_outline = "0.6"
+# PR merged after 0.10 but not released yet, bump to 0.10.1 once merged
+bevy_infinite_grid = { git = "https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid", rev = "86018dd" }
+bevy_polyline = "0.8.1"
+bevy_stl = "0.12"
+bevy_obj = { version = "0.12.1", features = ["scene"] }
 smallvec = "*"
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.8.23"
 serde_json = "1.0"
-# wasm-bindgen 0.2.85 introduces a compile error in stdweb
-wasm-bindgen = "=0.2.84"
+wasm-bindgen = "0.2.87"
 futures-lite = "1.12.0"
-bevy = { version = "0.11", features = ["pnm", "jpeg", "tga"] }
-bevy_utils = "0.11"
+bevy = { version = "0.12", features = ["pnm", "jpeg", "tga"] }
 dirs = "5.0"
 thread_local = "*"
 geo = "0.27"
@@ -46,14 +45,13 @@ rfd = "0.12"
 urdf-rs = "0.7"
 utm = "0.1.6"
 sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "a5daef0"}
-gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "first_implementation" }
+gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "luca/ehttp" }
 pathdiff = "*"
 tera = "1.19.1"
+ehttp = { version = "0.4", features = ["native-async"] }
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
-surf = { version = "2.3" }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-surf = { version = "2.3", default-features = false, features = ["wasm-client", "encoding"] }
 console_error_panic_hook = "0.1.7"
diff --git a/rmf_site_editor/examples/extending_menu.rs b/rmf_site_editor/examples/extending_menu.rs
index 1454bb1f..6f3f6442 100644
--- a/rmf_site_editor/examples/extending_menu.rs
+++ b/rmf_site_editor/examples/extending_menu.rs
@@ -78,15 +78,11 @@ fn watch_submenu_click(mut reader: EventReader<MenuEvent>, menu_handle: Res<MyMe
 impl Plugin for MyMenuPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<MyMenuHandler>()
-            .add_system(watch_unique_export_click)
-            .add_system(watch_submenu_click);
+            .add_systems(Update, (watch_unique_export_click, watch_submenu_click));
     }
 }
 
 /// Lets embed site editor in our application with our own plugin
 fn main() {
-    App::new()
-        .add_plugin(SiteEditor)
-        .add_plugin(MyMenuPlugin)
-        .run();
+    App::new().add_plugins((SiteEditor, MyMenuPlugin)).run();
 }
diff --git a/rmf_site_editor/src/aabb.rs b/rmf_site_editor/src/aabb.rs
index 3686cf32..1a42323d 100644
--- a/rmf_site_editor/src/aabb.rs
+++ b/rmf_site_editor/src/aabb.rs
@@ -23,8 +23,8 @@ use smallvec::SmallVec;
 /// have that mesh.
 #[derive(Debug, Default, Clone, Resource)]
 pub struct EntityMeshMap {
-    entities_with_mesh: HashMap<Handle<Mesh>, SmallVec<[Entity; 1]>>,
-    mesh_for_entity: HashMap<Entity, Handle<Mesh>>,
+    entities_with_mesh: HashMap<AssetId<Mesh>, SmallVec<[Entity; 1]>>,
+    mesh_for_entity: HashMap<Entity, AssetId<Mesh>>,
 }
 
 impl EntityMeshMap {
@@ -34,11 +34,10 @@ impl EntityMeshMap {
         // times. This should be rare and only cause an additional `Aabb.clone()` in
         // `update_bounds` so it is preferable to a `HashSet` for now.
         self.entities_with_mesh
-            .entry(mesh_handle.clone_weak())
+            .entry(mesh_handle.into())
             .or_default()
             .push(entity);
-        self.mesh_for_entity
-            .insert(entity, mesh_handle.clone_weak());
+        self.mesh_for_entity.insert(entity, mesh_handle.into());
     }
 
     /// Deregisters the mapping between an `Entity` and `Mesh`. Used so [`update_bounds`] can
@@ -70,7 +69,7 @@ pub fn register_bounds(
     mut entity_mesh_map: ResMut<EntityMeshMap>,
 ) {
     for (e, mesh) in &new_aabb {
-        entity_mesh_map.register(e, mesh);
+        entity_mesh_map.register(e, mesh.into());
     }
 }
 
@@ -91,7 +90,7 @@ pub fn update_bounds(
     mut mesh_events: EventReader<AssetEvent<Mesh>>,
     mut entities_lost_mesh: RemovedComponents<Handle<Mesh>>,
 ) {
-    for entity in entities_lost_mesh.iter() {
+    for entity in entities_lost_mesh.read() {
         entity_mesh_map.deregister(entity);
     }
 
@@ -99,23 +98,23 @@ pub fn update_bounds(
         entity_mesh_map.deregister(entity);
         if let Some(mesh) = meshes.get(mesh_handle) {
             if let Some(new_aabb) = mesh.compute_aabb() {
-                entity_mesh_map.register(entity, mesh_handle);
+                entity_mesh_map.register(entity, mesh_handle.into());
                 *aabb = new_aabb;
             }
         }
     }
 
     let to_update = |event: &AssetEvent<Mesh>| {
-        let handle = match event {
-            AssetEvent::Modified { handle } => handle,
+        let id = match event {
+            AssetEvent::Modified { id } => id,
             _ => return None,
         };
-        let mesh = meshes.get(handle)?;
-        let entities_with_handle = entity_mesh_map.entities_with_mesh.get(handle)?;
+        let mesh = meshes.get(*id)?;
+        let entities_with_handle = entity_mesh_map.entities_with_mesh.get(id)?;
         let aabb = mesh.compute_aabb()?;
         Some((aabb, entities_with_handle))
     };
-    for (aabb, entities_with_handle) in mesh_events.iter().filter_map(to_update) {
+    for (aabb, entities_with_handle) in mesh_events.read().filter_map(to_update) {
         for entity in entities_with_handle {
             commands.entity(*entity).insert(aabb.clone());
         }
diff --git a/rmf_site_editor/src/animate.rs b/rmf_site_editor/src/animate.rs
index 87f0dea5..74cb1392 100644
--- a/rmf_site_editor/src/animate.rs
+++ b/rmf_site_editor/src/animate.rs
@@ -81,11 +81,11 @@ pub fn set_bobbing(
 }
 
 pub fn update_spinning_animations(
-    mut spinners: Query<(&mut Transform, &Spinning, &ComputedVisibility)>,
+    mut spinners: Query<(&mut Transform, &Spinning, &ViewVisibility)>,
     now: Res<Time>,
 ) {
     for (mut tf, spin, visibility) in &mut spinners {
-        if visibility.is_visible_in_view() {
+        if **visibility {
             let angle = 2. * std::f32::consts::PI * now.elapsed_seconds() / spin.period;
             tf.as_mut().rotation = Quat::from_rotation_z(angle);
         }
@@ -93,11 +93,11 @@ pub fn update_spinning_animations(
 }
 
 pub fn update_bobbing_animations(
-    mut bobbers: Query<(&mut Transform, &Bobbing, &ComputedVisibility)>,
+    mut bobbers: Query<(&mut Transform, &Bobbing, &ViewVisibility)>,
     now: Res<Time>,
 ) {
     for (mut tf, bob, visibility) in &mut bobbers {
-        if visibility.is_visible_in_view() {
+        if **visibility {
             let theta = 2. * std::f32::consts::PI * now.elapsed_seconds() / bob.period;
             let dh = bob.heights.1 - bob.heights.0;
             tf.as_mut().translation[2] = dh * (1. - theta.cos()) / 2.0 + bob.heights.0;
diff --git a/rmf_site_editor/src/asset_loaders.rs b/rmf_site_editor/src/asset_loaders.rs
new file mode 100644
index 00000000..f2f93d01
--- /dev/null
+++ b/rmf_site_editor/src/asset_loaders.rs
@@ -0,0 +1,10 @@
+use crate::SdfPlugin;
+use bevy::prelude::*;
+/// A plugin used to consolidate asset loaders for types supported in the Gazebo / ROS ecosystem.
+pub struct AssetLoadersPlugin;
+
+impl Plugin for AssetLoadersPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((bevy_stl::StlPlugin, bevy_obj::ObjPlugin, SdfPlugin));
+    }
+}
diff --git a/rmf_site_editor/src/interaction/anchor.rs b/rmf_site_editor/src/interaction/anchor.rs
index a5bda7fd..5a9f2ca0 100644
--- a/rmf_site_editor/src/interaction/anchor.rs
+++ b/rmf_site_editor/src/interaction/anchor.rs
@@ -16,7 +16,6 @@
 */
 
 use crate::{
-    animate::*,
     interaction::IntersectGroundPlaneParams,
     interaction::*,
     keyboard::DebugMode,
@@ -94,7 +93,7 @@ pub fn move_anchor(
     mut anchors: Query<&mut Anchor, Without<Subordinate>>,
     mut move_to: EventReader<MoveTo>,
 ) {
-    for move_to in move_to.iter() {
+    for move_to in move_to.read() {
         if let Ok(mut anchor) = anchors.get_mut(move_to.entity) {
             anchor.move_to(&move_to.transform);
         }
@@ -311,7 +310,7 @@ pub fn remove_deleted_supports_from_visual_cues(
     mut selected: Query<&mut Selected, With<AnchorVisualization>>,
     mut deleted_elements: EventReader<Delete>,
 ) {
-    for deletion in deleted_elements.iter() {
+    for deletion in deleted_elements.read() {
         for mut h in &mut hovered {
             h.support_hovering.remove(&deletion.element);
         }
diff --git a/rmf_site_editor/src/interaction/assets.rs b/rmf_site_editor/src/interaction/assets.rs
index 534a062b..432599d2 100644
--- a/rmf_site_editor/src/interaction/assets.rs
+++ b/rmf_site_editor/src/interaction/assets.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{interaction::*, shapes::*};
-use bevy::{math::Affine3A, prelude::*, render::view::visibility::RenderLayers};
+use bevy::{math::Affine3A, prelude::*};
 use bevy_polyline::{
     material::PolylineMaterial,
     polyline::{Polyline, PolylineBundle},
diff --git a/rmf_site_editor/src/interaction/camera_controls.rs b/rmf_site_editor/src/interaction/camera_controls.rs
index 3db16646..7562a50c 100644
--- a/rmf_site_editor/src/interaction/camera_controls.rs
+++ b/rmf_site_editor/src/interaction/camera_controls.rs
@@ -255,8 +255,10 @@ impl FromWorld for CameraControls {
                     tonemapping: Tonemapping::ReinhardLuminance,
                     ..default()
                 })
-                .insert(Visibility::Inherited)
-                .insert(ComputedVisibility::default())
+                .insert(VisibilityBundle {
+                    visibility: Visibility::Inherited,
+                    ..default()
+                })
                 .insert(RenderLayers::layer(layer))
                 .id()
         });
@@ -268,8 +270,10 @@ impl FromWorld for CameraControls {
                 tonemapping: Tonemapping::ReinhardLuminance,
                 ..default()
             })
-            .insert(Visibility::Inherited)
-            .insert(ComputedVisibility::default())
+            .insert(VisibilityBundle {
+                visibility: Visibility::Inherited,
+                ..default()
+            })
             .insert(RenderLayers::from_layers(&[
                 GENERAL_RENDER_LAYER,
                 VISUAL_CUE_RENDER_LAYER,
@@ -321,9 +325,11 @@ impl FromWorld for CameraControls {
                     tonemapping: Tonemapping::ReinhardLuminance,
                     ..default()
                 })
-                .insert(Visibility::Inherited)
-                .insert(ComputedVisibility::default())
-                .insert(RenderLayers::layer(XRAY_RENDER_LAYER))
+                .insert(VisibilityBundle {
+                    visibility: Visibility::Inherited,
+                    ..default()
+                })
+                .insert(RenderLayers::layer(layer))
                 .id()
         });
 
@@ -338,8 +344,10 @@ impl FromWorld for CameraControls {
                 tonemapping: Tonemapping::ReinhardLuminance,
                 ..default()
             })
-            .insert(Visibility::Inherited)
-            .insert(ComputedVisibility::default())
+            .insert(VisibilityBundle {
+                visibility: Visibility::Inherited,
+                ..default()
+            })
             .insert(RenderLayers::from_layers(&[
                 GENERAL_RENDER_LAYER,
                 VISUAL_CUE_RENDER_LAYER,
@@ -387,7 +395,7 @@ fn camera_controls(
     picking_blockers: Res<PickingBlockers>,
     mut change_mode: EventReader<ChangeProjectionMode>,
 ) {
-    if let Some(mode) = change_mode.iter().last() {
+    if let Some(mode) = change_mode.read().last() {
         controls.use_mode(
             mode.0,
             &mut bevy_cameras,
@@ -417,7 +425,7 @@ fn camera_controls(
 
     // spin through all mouse cursor-moved events to find the last one
     let mut last_pos = previous_mouse_location.previous;
-    if let Some(ev) = ev_cursor_moved.iter().last() {
+    if let Some(ev) = ev_cursor_moved.read().last() {
         last_pos.x = ev.position.x;
         last_pos.y = ev.position.y;
     }
@@ -431,7 +439,7 @@ fn camera_controls(
     previous_mouse_location.previous = last_pos;
 
     let mut scroll = 0.0;
-    for ev in ev_scroll.iter() {
+    for ev in ev_scroll.read() {
         #[cfg(not(target_arch = "wasm32"))]
         {
             scroll += ev.y;
@@ -467,7 +475,7 @@ fn camera_controls(
         }
 
         let proj = ortho_proj.clone();
-        let mut children = cameras
+        let children = cameras
             .get_many_mut(controls.orthographic_camera_entities)
             .unwrap();
         for (mut child_proj, _) in children {
diff --git a/rmf_site_editor/src/interaction/category_visibility.rs b/rmf_site_editor/src/interaction/category_visibility.rs
index a0ac27a9..aa932c05 100644
--- a/rmf_site_editor/src/interaction/category_visibility.rs
+++ b/rmf_site_editor/src/interaction/category_visibility.rs
@@ -76,7 +76,7 @@ fn set_category_visibility<T: Component + Clone + Debug>(
     mut category_visibility: ResMut<CategoryVisibility<T>>,
     mut visibilities: Query<&mut Visibility, With<T>>,
 ) {
-    if let Some(visibility_event) = events.iter().last() {
+    if let Some(visibility_event) = events.read().last() {
         if visibility_event.0 != category_visibility.0 {
             for mut vis in &mut visibilities {
                 *vis = if visibility_event.0 {
diff --git a/rmf_site_editor/src/interaction/cursor.rs b/rmf_site_editor/src/interaction/cursor.rs
index bc4b1bca..375845fe 100644
--- a/rmf_site_editor/src/interaction/cursor.rs
+++ b/rmf_site_editor/src/interaction/cursor.rs
@@ -466,7 +466,7 @@ pub fn update_cursor_hover_visualization(
         }
     }
 
-    for e in removed.iter() {
+    for e in removed.read() {
         cursor.remove_dependent(e, &mut visibility);
     }
 }
diff --git a/rmf_site_editor/src/interaction/gizmo.rs b/rmf_site_editor/src/interaction/gizmo.rs
index 2c37a669..b3b60d55 100644
--- a/rmf_site_editor/src/interaction/gizmo.rs
+++ b/rmf_site_editor/src/interaction/gizmo.rs
@@ -250,11 +250,11 @@ pub fn update_gizmo_click_start(
     mut click: EventWriter<GizmoClicked>,
     mut removed_gizmos: RemovedComponents<Gizmo>,
 ) {
-    for e in removed_gizmos.iter() {
+    for e in removed_gizmos.read() {
         cursor.remove_blocker(e, &mut visibility);
     }
 
-    for pick in picks.iter() {
+    for pick in picks.read() {
         if let Some(previous_pick) = pick.from {
             cursor.remove_blocker(previous_pick, &mut visibility);
             if *gizmo_state == GizmoState::Hovering(previous_pick) {
@@ -366,7 +366,7 @@ pub fn update_drag_motions(
     primary_window: Query<&Window, With<PrimaryWindow>>,
 ) {
     if let GizmoState::Dragging(dragging) = *drag_state {
-        let cursor_position = match cursor_motion.iter().last() {
+        let cursor_position = match cursor_motion.read().last() {
             Some(m) => m.position,
             None => {
                 return;
@@ -467,7 +467,7 @@ pub fn update_drag_motions(
 }
 
 pub fn move_pose(mut poses: Query<&mut Pose>, mut move_to: EventReader<MoveTo>) {
-    for move_to in move_to.iter() {
+    for move_to in move_to.read() {
         if let Ok(mut pose) = poses.get_mut(move_to.entity) {
             pose.align_with(&move_to.transform);
         }
diff --git a/rmf_site_editor/src/interaction/lift.rs b/rmf_site_editor/src/interaction/lift.rs
index ed2a8ac2..efbf9457 100644
--- a/rmf_site_editor/src/interaction/lift.rs
+++ b/rmf_site_editor/src/interaction/lift.rs
@@ -54,7 +54,7 @@ pub fn handle_lift_doormat_clicks(
     mut toggle: EventWriter<ToggleLiftDoorAvailability>,
     mut select: EventWriter<Select>,
 ) {
-    for click in clicks.iter() {
+    for click in clicks.read() {
         if let Ok(doormat) = doormats.get(click.0) {
             toggle.send(doormat.toggle_availability());
             select.send(Select(Some(doormat.for_lift)));
diff --git a/rmf_site_editor/src/interaction/mod.rs b/rmf_site_editor/src/interaction/mod.rs
index 7debd4fd..ed8aa3ad 100644
--- a/rmf_site_editor/src/interaction/mod.rs
+++ b/rmf_site_editor/src/interaction/mod.rs
@@ -18,7 +18,7 @@
 use crate::site::{
     update_anchor_transforms, CollisionMeshMarker, ConstraintMarker, DoorMarker, FiducialMarker,
     FloorMarker, LaneMarker, LiftCabin, LiftCabinDoorMarker, LocationTags, MeasurementMarker,
-    ModelMarker, SiteUpdateSet, VisualMeshMarker, WallMarker,
+    SiteUpdateSet, VisualMeshMarker, WallMarker,
 };
 use crate::workcell::WorkcellVisualizationMarker;
 
diff --git a/rmf_site_editor/src/interaction/mode.rs b/rmf_site_editor/src/interaction/mode.rs
index 0e53bf20..6b25618d 100644
--- a/rmf_site_editor/src/interaction/mode.rs
+++ b/rmf_site_editor/src/interaction/mode.rs
@@ -121,7 +121,7 @@ pub fn update_interaction_mode(
     mut change_mode: EventReader<ChangeMode>,
     mut backout: BackoutParams,
 ) {
-    for request in change_mode.iter() {
+    for request in change_mode.read() {
         match request {
             ChangeMode::To(new_mode) => {
                 mode.cancel(&mut backout);
diff --git a/rmf_site_editor/src/interaction/model_preview.rs b/rmf_site_editor/src/interaction/model_preview.rs
index 07042b24..32e51f8f 100644
--- a/rmf_site_editor/src/interaction/model_preview.rs
+++ b/rmf_site_editor/src/interaction/model_preview.rs
@@ -23,7 +23,7 @@ use bevy::{
     core_pipeline::tonemapping::Tonemapping,
     ecs::system::SystemState,
     prelude::*,
-    render::{camera::RenderTarget, primitives::Aabb, view::RenderLayers},
+    render::{camera::RenderTarget, view::RenderLayers},
 };
 use bevy_egui::{egui::TextureId, EguiContexts};
 
@@ -62,7 +62,7 @@ impl FromWorld for ModelPreviewCamera {
         preview_image.resize(image_size);
         let mut images = world.get_resource_mut::<Assets<Image>>().unwrap();
         let preview_image = images.add(preview_image);
-        let mut system_state: SystemState<(EguiContexts)> = SystemState::new(&mut world);
+        let mut system_state: SystemState<EguiContexts> = SystemState::new(&mut world);
         let mut egui_context = system_state.get_mut(&mut world);
         // Attach the bevy image to the egui image
         let egui_handle = egui_context.add_image(preview_image.clone());
diff --git a/rmf_site_editor/src/interaction/outline.rs b/rmf_site_editor/src/interaction/outline.rs
index 61dd4ab5..ef1f010e 100644
--- a/rmf_site_editor/src/interaction/outline.rs
+++ b/rmf_site_editor/src/interaction/outline.rs
@@ -17,7 +17,7 @@
 
 use crate::{interaction::*, site::DrawingMarker};
 use bevy::render::view::RenderLayers;
-use bevy_mod_outline::{OutlineBundle, OutlineRenderLayers, OutlineVolume, SetOutlineDepth};
+use bevy_mod_outline::{OutlineBundle, OutlineMode, OutlineRenderLayers, OutlineVolume};
 use rmf_site_format::{
     ConstraintMarker, DoorType, FiducialMarker, FloorMarker, LiftCabin, LightKind, LocationTags,
     MeasurementMarker, ModelMarker, PhysicalCameraProperties, PrimitiveShape, WallMarker,
@@ -81,8 +81,8 @@ impl OutlineVisualization {
         }
     }
 
-    pub fn depth(&self) -> SetOutlineDepth {
-        SetOutlineDepth::Flat {
+    pub fn depth(&self) -> OutlineMode {
+        OutlineMode::FlatVertex {
             model_origin: Vec3::ZERO,
         }
     }
@@ -187,7 +187,7 @@ pub fn update_outline_visualization(
                     commands
                         .entity(top)
                         .remove::<OutlineBundle>()
-                        .remove::<SetOutlineDepth>();
+                        .remove::<OutlineMode>();
                 }
 
                 if let Some(children) = children {
diff --git a/rmf_site_editor/src/interaction/picking.rs b/rmf_site_editor/src/interaction/picking.rs
index 505d9c04..8a2903e3 100644
--- a/rmf_site_editor/src/interaction/picking.rs
+++ b/rmf_site_editor/src/interaction/picking.rs
@@ -17,9 +17,7 @@
 
 use crate::{interaction::*, site::Anchor, CurrentWorkspace};
 use bevy::prelude::*;
-use bevy_mod_raycast::{
-    deferred::RaycastMethod, deferred::RaycastSource, immediate::RaycastVisibility,
-};
+use bevy_mod_raycast::{deferred::RaycastSource, immediate::RaycastVisibility};
 
 /// A resource to track what kind of picking blockers are currently active
 #[derive(Resource)]
diff --git a/rmf_site_editor/src/interaction/preview.rs b/rmf_site_editor/src/interaction/preview.rs
index 11bfa8df..10e4c087 100644
--- a/rmf_site_editor/src/interaction/preview.rs
+++ b/rmf_site_editor/src/interaction/preview.rs
@@ -85,7 +85,7 @@ pub fn manage_previews(
     preview_windows: Query<&CameraPreviewWindow>,
     mut camera_children: Query<(Entity, &mut Projection), With<Camera>>,
 ) {
-    for event in preview_events.iter() {
+    for event in preview_events.read() {
         match event.entity {
             None => { // TODO clear all previews
             }
@@ -158,7 +158,7 @@ pub fn handle_preview_window_close(
     preview_windows: Query<(Entity, &CameraPreviewWindow)>,
     mut closed_windows: EventReader<WindowClosed>,
 ) {
-    for closed in closed_windows.iter() {
+    for closed in closed_windows.read() {
         for (e, window) in &preview_windows {
             if window.0 == closed.window {
                 commands.entity(e).remove::<CameraPreviewWindow>();
diff --git a/rmf_site_editor/src/interaction/select.rs b/rmf_site_editor/src/interaction/select.rs
index 80380e17..40849668 100644
--- a/rmf_site_editor/src/interaction/select.rs
+++ b/rmf_site_editor/src/interaction/select.rs
@@ -175,7 +175,7 @@ pub fn handle_selection_picking(
         return;
     }
 
-    for pick in picks.iter() {
+    for pick in picks.read() {
         hover.send(Hover(
             pick.to
                 .and_then(|change_pick_to| {
@@ -209,7 +209,7 @@ pub fn maintain_hovered_entities(
     mode: Res<InteractionMode>,
     blockers: Option<Res<PickingBlockers>>,
 ) {
-    if let Some(new_hovered) = hover.iter().last() {
+    if let Some(new_hovered) = hover.read().last() {
         if hovering.0 != new_hovered.0 {
             if let Some(previous_hovered) = hovering.0 {
                 if let Ok(mut hovering) = hovered.get_mut(previous_hovered) {
@@ -235,7 +235,7 @@ pub fn maintain_hovered_entities(
         if let Some(current_hovered) = hovering.0 {
             // TODO(luca) refactor to remove this hack
             // Skip if we are in SelectAnchor3D mode
-            if let InteractionMode::SelectAnchor3D(mode) = &*mode {
+            if let InteractionMode::SelectAnchor3D(_) = &*mode {
                 return;
             }
             select.send(Select(Some(current_hovered)));
@@ -257,7 +257,7 @@ pub fn maintain_selected_entities(
         return;
     }
 
-    if let Some(new_selection) = select.iter().last() {
+    if let Some(new_selection) = select.read().last() {
         if selection.0 != new_selection.0 {
             if let Some(previous_selection) = selection.0 {
                 if let Ok(mut selected) = selected.get_mut(previous_selection) {
diff --git a/rmf_site_editor/src/interaction/select_anchor.rs b/rmf_site_editor/src/interaction/select_anchor.rs
index 288c36e9..87a24776 100644
--- a/rmf_site_editor/src/interaction/select_anchor.rs
+++ b/rmf_site_editor/src/interaction/select_anchor.rs
@@ -26,8 +26,7 @@ use crate::{
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use rmf_site_format::{
-    Constraint, ConstraintDependents, Door, Edge, Fiducial, Floor, FrameMarker, Lane,
-    LiftProperties, Location, Measurement, MeshConstraint, MeshElement, Model, ModelMarker,
+    Door, Edge, Fiducial, Floor, FrameMarker, Lane, LiftProperties, Location, Measurement, Model,
     NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
 };
 use std::collections::HashSet;
@@ -1109,18 +1108,14 @@ pub struct SelectAnchorPlacementParams<'w, 's> {
     >,
     points: Query<'w, 's, &'static mut Point<Entity>>,
     anchors: Query<'w, 's, (Entity, &'static mut Anchor)>,
-    models: Query<'w, 's, Entity, With<ModelMarker>>,
     parents: Query<'w, 's, &'static mut Parent>,
-    children: Query<'w, 's, &'static mut Children>,
     paths: Query<'w, 's, (&'static mut Path<Entity>, &'static PathBehavior)>,
     dependents: Query<'w, 's, &'static mut Dependents>,
-    constraint_dependents: Query<'w, 's, &'static mut ConstraintDependents>,
     commands: Commands<'w, 's>,
     cursor: ResMut<'w, Cursor>,
     visibility: Query<'w, 's, &'static mut Visibility>,
     drawings: Query<'w, 's, (Entity, &'static PixelsPerMeter), With<DrawingMarker>>,
     hidden_entities: ResMut<'w, HiddenSelectAnchorEntities>,
-    fiducials: Query<'w, 's, (), With<FiducialMarker>>,
 }
 
 impl<'w, 's> SelectAnchorPlacementParams<'w, 's> {
@@ -1450,7 +1445,7 @@ impl SelectAnchor {
 
     /// Move an existing location to a new anchor.
     // TODO(MXG): Make this accessible from the UI
-    pub fn replace_point(location: Entity, original_anchor: Entity) -> SelectAnchorPointBuilder {
+    pub fn replace_point(location: Entity, _original_anchor: Entity) -> SelectAnchorPointBuilder {
         SelectAnchorPointBuilder {
             for_element: Some(location),
             continuity: SelectAnchorContinuity::ReplaceAnchor {
@@ -1742,8 +1737,8 @@ impl SelectAnchor3D {
     /// return to Inspect mode.
     fn next<'w, 's>(
         &self,
-        anchor_selection: AnchorSelection,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
+        _anchor_selection: AnchorSelection,
+        _params: &mut SelectAnchorPlacementParams<'w, 's>,
     ) -> Option<Self> {
         None
     }
@@ -1751,7 +1746,7 @@ impl SelectAnchor3D {
     /// Used for updating parents on parent assignment
     fn update_parent<'w, 's>(
         &mut self,
-        mut anchor_selection: AnchorSelection,
+        anchor_selection: AnchorSelection,
         params: &mut SelectAnchorPlacementParams<'w, 's>,
     ) -> Result<(), ()> {
         if let Some(target) = self.target {
@@ -1775,7 +1770,7 @@ impl SelectAnchor3D {
 
             if self.parent != Some(anchor_selection.entity()) {
                 match self.parent {
-                    Some(new_parent) => {
+                    Some(_new_parent) => {
                         if anchor_selection.entity() != target {
                             self.parent = Some(anchor_selection.entity());
                         }
@@ -1800,7 +1795,7 @@ impl SelectAnchor3D {
         params: &mut SelectAnchorPlacementParams<'w, 's>,
     ) -> PreviewResult {
         // The only live update we need to do is on parent entity change
-        if let SelectAnchorContinuity::ReplaceAnchor { original_anchor } = self.continuity {
+        if let SelectAnchorContinuity::ReplaceAnchor { original_anchor: _ } = self.continuity {
             match self.update_parent(AnchorSelection::Existing(anchor_selection), params) {
                 Ok(()) => {
                     return PreviewResult::Updated3D(Self {
@@ -2074,7 +2069,7 @@ pub fn handle_select_anchor_mode(
         }
     } else {
         for new_selection in select
-            .iter()
+            .read()
             .filter_map(|s| s.0)
             .filter(|s| anchors.contains(*s))
         {
@@ -2285,7 +2280,7 @@ pub fn handle_select_anchor_3d_mode(
                 // anchor is not the one currently assigned. Otherwise we
                 // are wasting query+command effort.
                 match request.preview(hovered, &mut params) {
-                    PreviewResult::Updated(next) => {
+                    PreviewResult::Updated(_next) => {
                         // We should never get here
                         unreachable!();
                     }
@@ -2306,7 +2301,7 @@ pub fn handle_select_anchor_3d_mode(
         }
     } else {
         for new_selection in select
-            .iter()
+            .read()
             .filter_map(|s| s.0)
             .filter(|s| anchors.contains(*s))
         {
diff --git a/rmf_site_editor/src/issue.rs b/rmf_site_editor/src/issue.rs
index 1b5ca22d..eeab0ef9 100644
--- a/rmf_site_editor/src/issue.rs
+++ b/rmf_site_editor/src/issue.rs
@@ -92,7 +92,7 @@ fn handle_diagnostic_window_visibility(
     issue_menu: Res<IssueMenu>,
     mut diagnostic_window: ResMut<DiagnosticWindowState>,
 ) {
-    for event in menu_events.iter() {
+    for event in menu_events.read() {
         if event.clicked() && event.source() == issue_menu.diagnostic_tool {
             diagnostic_window.show = true;
         }
@@ -118,7 +118,7 @@ pub fn clear_old_issues_on_new_validate_event(
     children: Query<&Children>,
     issues: Query<Entity, With<Issue>>,
 ) {
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         let Ok(children) = children.get(**root) else {
             return;
         };
diff --git a/rmf_site_editor/src/keyboard.rs b/rmf_site_editor/src/keyboard.rs
index b6e1a7c8..27c88166 100644
--- a/rmf_site_editor/src/keyboard.rs
+++ b/rmf_site_editor/src/keyboard.rs
@@ -16,14 +16,11 @@
 */
 
 use crate::{
-    interaction::{
-        camera_controls::{CameraControls, HeadlightToggle},
-        ChangeMode, ChangeProjectionMode, InteractionMode, Selection,
-    },
-    site::{AlignSiteDrawings, CurrentLevel, Delete},
+    interaction::{ChangeMode, ChangeProjectionMode, InteractionMode, Selection},
+    site::{AlignSiteDrawings, Delete},
     CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
 };
-use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy::prelude::*;
 use bevy_egui::EguiContexts;
 
 #[derive(Debug, Clone, Copy, Resource)]
@@ -55,7 +52,6 @@ fn handle_keyboard_input(
     mut new_workspace: EventWriter<CreateNewWorkspace>,
     mut load_workspace: EventWriter<LoadWorkspace>,
     mut change_camera_mode: EventWriter<ChangeProjectionMode>,
-    current_level: Res<CurrentLevel>,
     mut debug_mode: ResMut<DebugMode>,
     mut align_site: EventWriter<AlignSiteDrawings>,
     current_workspace: Res<CurrentWorkspace>,
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index 00717a9b..ffc25c81 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -1,6 +1,4 @@
-use bevy::{
-    log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*, render::renderer::RenderAdapterInfo,
-};
+use bevy::{log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
 use bevy_egui::EguiPlugin;
 use main_menu::MainMenuPlugin;
 // use warehouse_generator::WarehouseGeneratorPlugin;
@@ -12,11 +10,14 @@ use wasm_bindgen::prelude::*;
 pub mod aabb;
 pub mod animate;
 
+pub mod asset_loaders;
+use asset_loaders::*;
+
 pub mod keyboard;
 use keyboard::*;
 
 pub mod widgets;
-use widgets::{menu_bar::MenuPluginManager, *};
+use widgets::*;
 pub mod occupancy;
 use occupancy::OccupancyPlugin;
 pub mod issue;
@@ -43,7 +44,7 @@ use workspace::*;
 pub mod sdf_loader;
 
 pub mod site_asset_io;
-pub mod urdf_loader;
+//pub mod urdf_loader;
 use sdf_loader::*;
 
 pub mod view_menu;
@@ -136,73 +137,51 @@ pub struct SiteEditor;
 
 impl Plugin for SiteEditor {
     fn build(&self, app: &mut App) {
-        #[cfg(target_arch = "wasm32")]
-        {
-            app.add_plugins(
-                DefaultPlugins
-                    .build()
-                    .disable::<LogPlugin>()
-                    .set(WindowPlugin {
-                        primary_window: Some(Window {
-                            title: "RMF Site Editor".to_owned(),
-                            canvas: Some(String::from("#rmf_site_editor_canvas")),
-                            fit_canvas_to_parent: true,
-                            ..default()
-                        }),
-                        ..default()
-                    })
-                    .set(ImagePlugin {
-                        default_sampler: SamplerDescriptor {
-                            address_mode_u: AddressMode::Repeat,
-                            address_mode_v: AddressMode::Repeat,
-                            address_mode_w: AddressMode::Repeat,
-                            ..Default::default()
-                        },
-                    })
-                    .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
-            );
-        }
-
-        #[cfg(not(target_arch = "wasm32"))]
-        {
-            app.add_plugins(
-                DefaultPlugins
-                    .build()
-                    .disable::<LogPlugin>()
-                    .set(WindowPlugin {
-                        primary_window: Some(Window {
-                            title: "RMF Site Editor".to_owned(),
-                            resolution: (1600., 900.).into(),
-                            ..default()
-                        }),
+        app.add_plugins((
+            SiteAssetIoPlugin,
+            DefaultPlugins
+                .build()
+                .disable::<LogPlugin>()
+                .set(WindowPlugin {
+                    primary_window: Some(Window {
+                        title: "RMF Site Editor".to_owned(),
+                        #[cfg(not(target_arch = "wasm32"))]
+                        resolution: (1600., 900.).into(),
+                        #[cfg(target_arch = "wasm32")]
+                        canvas: Some(String::from("#rmf_site_editor_canvas")),
+                        #[cfg(target_arch = "wasm32")]
+                        fit_canvas_to_parent: true,
                         ..default()
-                    })
-                    .set(ImagePlugin {
-                        default_sampler: SamplerDescriptor {
-                            address_mode_u: AddressMode::Repeat,
-                            address_mode_v: AddressMode::Repeat,
-                            address_mode_w: AddressMode::Repeat,
-                            ..Default::default()
-                        },
-                    })
-                    .set(RenderPlugin {
-                        wgpu_settings: WgpuSettings {
-                            features: WgpuFeatures::POLYGON_MODE_LINE,
-                            ..default()
-                        },
+                    }),
+                    ..default()
+                })
+                .set(ImagePlugin {
+                    default_sampler: SamplerDescriptor {
+                        address_mode_u: AddressMode::Repeat,
+                        address_mode_v: AddressMode::Repeat,
+                        address_mode_w: AddressMode::Repeat,
+                        ..Default::default()
+                    }
+                    .into(),
+                })
+                .set(RenderPlugin {
+                    render_creation: WgpuSettings {
+                        #[cfg(not(target_arch = "wasm32"))]
+                        features: WgpuFeatures::POLYGON_MODE_LINE,
                         ..default()
-                    })
-                    .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
-            );
-        }
+                    }
+                    .into(),
+                    ..default()
+                }),
+        ));
         app.insert_resource(DirectionalLightShadowMap { size: 2048 })
             .add_state::<AppState>()
             .add_plugins((
+                AssetLoadersPlugin,
                 LogHistoryPlugin,
                 AabbUpdatePlugin,
                 EguiPlugin,
                 KeyboardInputPlugin,
-                SdfPlugin,
                 MainMenuPlugin,
                 WorkcellEditorPlugin,
                 SitePlugin,
@@ -219,5 +198,9 @@ impl Plugin for SiteEditor {
                 OSMViewPlugin,
                 SiteWireframePlugin,
             ));
+        // Ref https://github.com/bevyengine/bevy/issues/10877. The default behavior causes issues
+        // with events being accumulated when not read (i.e. scrolling mouse wheel on a UI widget).
+        app.world
+            .remove_resource::<bevy::ecs::event::EventUpdateSignal>();
     }
 }
diff --git a/rmf_site_editor/src/log.rs b/rmf_site_editor/src/log.rs
index 5070bf2c..7caa143d 100644
--- a/rmf_site_editor/src/log.rs
+++ b/rmf_site_editor/src/log.rs
@@ -15,12 +15,12 @@
  *
 */
 
-use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_utils::tracing::{field::Field, span::Record, Event, Id, Level, Subscriber};
-use crossbeam_channel::{unbounded, Receiver, SendError, Sender, TryRecvError};
+use bevy::prelude::*;
+use bevy::utils::tracing::{field::Field, Level};
+use crossbeam_channel::{unbounded, Receiver, SendError, Sender};
 use std::collections::HashMap;
 use std::fmt::{self, Debug, Write};
-use tracing_subscriber::{field::Visit, layer::Context, prelude::*, EnvFilter, Layer};
+use tracing_subscriber::{field::Visit, prelude::*, EnvFilter, Layer};
 
 #[derive(Debug, Clone, Copy, Eq, Hash, PartialEq)]
 pub enum LogCategory {
@@ -129,7 +129,7 @@ impl Default for LogHistory {
         let rx_2 = rx.clone();
 
         let level_name = Level::INFO;
-        let filter_name = "bevy_asset=error,wgpu=error".to_string();
+        let filter_name = "bevy_asset=off,wgpu=error".to_string();
         let default_filter = { format!("{},{}", level_name, filter_name) };
         let filter_layer = EnvFilter::try_from_default_env()
             .or_else(|_| EnvFilter::try_new(&default_filter))
@@ -298,20 +298,19 @@ where
         event.record(&mut recorder);
 
         // Default category
-        let mut category = LogCategory::Status;
         let message = format!("{}", recorder);
 
         // Check if this is a Bevy or RMF Site log
-        if event.metadata().target().contains("bevy") {
-            category = LogCategory::Bevy;
+        let category = if event.metadata().target().contains("bevy") {
+            LogCategory::Bevy
         } else {
-            category = match *event.metadata().level() {
+            match *event.metadata().level() {
                 Level::INFO => LogCategory::Status,
                 Level::WARN => LogCategory::Warning,
                 Level::ERROR => LogCategory::Error,
                 _ => LogCategory::Error,
-            };
-        }
+            }
+        };
 
         let log = Log { category, message };
         let send_message = self.sender.send(log);
@@ -324,7 +323,7 @@ where
 
 fn receive_logs(mut log_history: ResMut<LogHistory>, mut log_events: EventReader<Log>) {
     log_history.receive_logs();
-    for log in log_events.iter() {
+    for log in log_events.read() {
         log_history.push(log.clone());
     }
 }
diff --git a/rmf_site_editor/src/occupancy.rs b/rmf_site_editor/src/occupancy.rs
index 5646dce1..7dea7f08 100644
--- a/rmf_site_editor/src/occupancy.rs
+++ b/rmf_site_editor/src/occupancy.rs
@@ -164,7 +164,7 @@ fn calculate_grid(
     assets: Res<SiteAssets>,
     grids: Query<Entity, With<Grid>>,
 ) {
-    if let Some(request) = request.iter().last() {
+    if let Some(request) = request.read().last() {
         let start_time = Instant::now();
         // let mut occupied: HashSet<Cell> = HashSet::new();
         let mut occupied: HashMap<Entity, HashSet<Cell>> = HashMap::new();
diff --git a/rmf_site_editor/src/osm_slippy_map.rs b/rmf_site_editor/src/osm_slippy_map.rs
index 9157807e..4ef808f1 100644
--- a/rmf_site_editor/src/osm_slippy_map.rs
+++ b/rmf_site_editor/src/osm_slippy_map.rs
@@ -18,9 +18,14 @@
 use std::{f32::consts::PI, io::Write, path::PathBuf};
 
 use bevy::{
+    asset::{
+        io::{AssetReaderError, Reader, VecReader},
+        AssetPath,
+    },
     prelude::{Mesh, Vec2},
     render::{mesh::Indices, render_resource::PrimitiveTopology},
 };
+use itertools::Itertools;
 use utm::{lat_lon_to_zone_number, to_utm_wgs84};
 
 use crate::site_asset_io::cache_path;
@@ -33,18 +38,14 @@ fn haversine_distance(lat1: f32, lon1: f32, lat2: f32, lon2: f32) -> f32 {
     let lat2 = lat2.to_radians();
     let lon2 = lon2.to_radians();
 
-    let dLat = lat2 - lat1;
-    let dLon = lon2 - lon1;
+    let d_lan = lat2 - lat1;
+    let d_lon = lon2 - lon1;
 
-    let a = (dLat / 2.0).sin().powi(2) + lat1.cos() * lat2.cos() * (dLon / 2.0).sin().powi(2);
+    let a = (d_lan / 2.0).sin().powi(2) + lat1.cos() * lat2.cos() * (d_lon / 2.0).sin().powi(2);
     let c = 2.0 * a.sqrt().atan2((1.0 - a).sqrt());
     return c * EARTH_RADIUS;
 }
 
-enum DistanceError {
-    DifferentZones,
-}
-
 #[test]
 fn test_haversine() {
     // Distance from Singapore to Kolkata (about 2891KM)
@@ -73,6 +74,38 @@ pub struct OSMTile {
     zoom: i32,
 }
 
+impl TryFrom<PathBuf> for OSMTile {
+    type Error = String;
+
+    fn try_from(p: PathBuf) -> Result<Self, Self::Error> {
+        let (zoom, xtile, ytile) = p
+            .components()
+            .map(|c| c.as_os_str().to_string_lossy())
+            .collect_tuple()
+            .ok_or(
+                "Invalid path when converting to OSMTile, three elements are required".to_owned(),
+            )?;
+        let ytile = ytile.strip_suffix(".png").ok_or("Suffix not found")?;
+        dbg!(&zoom, &xtile, &ytile);
+        Ok(OSMTile {
+            xtile: xtile.parse::<i32>().map_err(|e| e.to_string())?,
+            ytile: ytile.parse::<i32>().map_err(|e| e.to_string())?,
+            zoom: zoom.parse::<i32>().map_err(|e| e.to_string())?,
+        })
+    }
+}
+
+impl From<&OSMTile> for AssetPath<'_> {
+    fn from(t: &OSMTile) -> Self {
+        let mut path: PathBuf = [t.zoom, t.xtile, t.ytile]
+            .iter()
+            .map(|v| v.to_string())
+            .collect();
+        path.set_extension("png");
+        AssetPath::from(path).with_source("osm-tile")
+    }
+}
+
 impl OSMTile {
     pub fn zoom(&self) -> i32 {
         self.zoom
@@ -233,9 +266,9 @@ impl OSMTile {
         Self { xtile, ytile, zoom }
     }
 
-    pub async fn get_map_image(&self) -> Result<Vec<u8>, surf::Error> {
-        let mut cache_ok = false;
-        let mut cache_full_path = PathBuf::new();
+    pub async fn get_map_image<'a, 'b>(&'b self) -> Result<Box<Reader<'a>>, AssetReaderError> {
+        let cache_ok: bool;
+        let mut cache_full_path: PathBuf;
         #[cfg(not(target_arch = "wasm32"))]
         {
             let cache_file_name =
@@ -245,8 +278,11 @@ impl OSMTile {
             let err = std::fs::create_dir_all(cache_full_path.clone());
             cache_ok = err.is_ok();
             cache_full_path.push(cache_file_name);
+            // TODO(luca) check if we can have an async file read here instead?
             if std::path::Path::new(&cache_full_path).exists() && cache_ok {
-                return Ok(std::fs::read(&cache_full_path)?);
+                return Ok(Box::new(VecReader::new(
+                    std::fs::read(&cache_full_path).map_err(std::io::Error::other)?,
+                )));
             }
         }
 
@@ -256,9 +292,11 @@ impl OSMTile {
             self.zoom, self.xtile, self.ytile
         );
 
-        let mut result = surf::get(uri).await?;
-
-        let bytes = result.body_bytes().await?;
+        let request = ehttp::Request::get(uri);
+        let bytes = ehttp::fetch_async(request)
+            .await
+            .map_err(std::io::Error::other)?
+            .bytes;
 
         #[cfg(not(target_arch = "wasm32"))]
         {
@@ -272,7 +310,7 @@ impl OSMTile {
             }
         }
 
-        Ok(bytes)
+        Ok(Box::new(VecReader::new(bytes)))
     }
 }
 
diff --git a/rmf_site_editor/src/recency.rs b/rmf_site_editor/src/recency.rs
index f086c1b1..99fbc986 100644
--- a/rmf_site_editor/src/recency.rs
+++ b/rmf_site_editor/src/recency.rs
@@ -210,7 +210,7 @@ fn update_recency_rankings<T: Component>(
     parents: Query<&Parent>,
     mut rank_changes: EventReader<ChangeRank<T>>,
 ) {
-    for e in new_entities.iter().chain(unsuppressed_entities.iter()) {
+    for e in new_entities.iter().chain(unsuppressed_entities.read()) {
         let mut next = Some(e);
         while let Some(in_scope) = next {
             if let Ok((_, mut ranking)) = rankings.get_mut(in_scope) {
@@ -262,14 +262,14 @@ fn update_recency_rankings<T: Component>(
 
     for e in newly_suppressed_entities
         .iter()
-        .chain(no_longer_relevant.iter())
+        .chain(no_longer_relevant.read())
     {
         for (_, mut ranking) in &mut rankings {
             ranking.entities.retain(|check| *check != e);
         }
     }
 
-    for ChangeRank { of, by, .. } in rank_changes.iter() {
+    for ChangeRank { of, by, .. } in rank_changes.read() {
         let mut next = Some(*of);
         while let Some(in_scope) = next {
             if let Ok((_, mut ranking)) = rankings.get_mut(in_scope) {
diff --git a/rmf_site_editor/src/sdf_loader.rs b/rmf_site_editor/src/sdf_loader.rs
index 9acc8775..68aef36c 100644
--- a/rmf_site_editor/src/sdf_loader.rs
+++ b/rmf_site_editor/src/sdf_loader.rs
@@ -15,41 +15,49 @@
  *
 */
 
-use bevy::asset::{AssetLoader, LoadContext, LoadedAsset};
+use bevy::asset::{io::Reader, AssetLoader, LoadContext};
 use bevy::prelude::*;
-use bevy::reflect::{TypePath, TypeUuid};
+
 use bevy::utils::BoxedFuture;
+use futures_lite::AsyncReadExt;
 
 use thiserror::Error;
 
-use sdformat_rs::SdfModel;
+use sdformat_rs::{SdfGeometry, SdfPose, Vector3d};
+
+use crate::site::{CollisionMeshMarker, VisualMeshMarker};
+use rmf_site_format::{
+    Angle, AssetSource, Category, IsStatic, Model, ModelMarker, NameInSite, Pose, PrimitiveShape,
+    Rotation, Scale,
+};
 
 pub struct SdfPlugin;
 
 impl Plugin for SdfPlugin {
     fn build(&self, app: &mut App) {
-        app.init_asset_loader::<SdfLoader>().add_asset::<SdfRoot>();
+        app.init_asset_loader::<SdfLoader>();
     }
 }
 
-#[derive(Component, Default, Debug, TypeUuid, TypePath, Clone)]
-#[uuid = "fe707f9e-c6f3-11ed-afa2-0242ac120002"]
-pub struct SdfRoot {
-    pub model: SdfModel,
-    // TODO(make this a AssetSource)
-    pub path: String,
-}
-
 #[derive(Default)]
 struct SdfLoader;
 
 impl AssetLoader for SdfLoader {
+    type Asset = bevy::scene::Scene;
+    type Settings = ();
+    type Error = SdfError;
     fn load<'a>(
         &'a self,
-        bytes: &'a [u8],
+        reader: &'a mut Reader,
+        _settings: &'a (),
         load_context: &'a mut LoadContext,
-    ) -> BoxedFuture<'a, Result<(), bevy::asset::Error>> {
-        Box::pin(async move { Ok(load_model(bytes, load_context).await?) })
+    ) -> BoxedFuture<'a, Result<Self::Asset, Self::Error>> {
+        Box::pin(async move {
+            let mut bytes = Vec::new();
+            // TODO(luca) remove unwrap
+            reader.read_to_end(&mut bytes).await.unwrap();
+            Ok(load_model(bytes, load_context).await?)
+        })
     }
 
     fn extensions(&self) -> &[&str] {
@@ -60,25 +68,240 @@ impl AssetLoader for SdfLoader {
 
 #[derive(Error, Debug)]
 pub enum SdfError {
+    #[error("Couldn't read SDF file: {0}")]
+    Io(#[from] std::io::Error),
     #[error("Yaserde loading error: {0}")]
     YaserdeError(String),
     #[error("No <model> tag found in model.sdf file")]
     MissingModelTag,
+    #[error("Failed parsing asset source: {0}")]
+    UnsupportedAssetSource(String),
+}
+
+/// Combines the path from the SDF that is currently being processed with the path of a mesh
+/// referenced in the SDF to generate an AssetSource that can be loaded by the AssetServer.
+fn compute_model_source<'a, 'b>(
+    load_context: &'a mut LoadContext<'b>,
+    subasset_uri: &'a str,
+) -> Result<AssetSource, SdfError> {
+    // SDF can reference models with the model:// syntax, which specifies a path relative to a certain
+    // model, in the shape of model://ModelName/path_to_file.ext
+    let asset_source = if let Some(stripped) = subasset_uri.strip_prefix("model://") {
+        let mut asset_source =
+            AssetSource::try_from(load_context.asset_path().to_string().as_str())
+                .map_err(SdfError::UnsupportedAssetSource)?;
+        match asset_source {
+            AssetSource::Remote(ref mut p) | AssetSource::Search(ref mut p) => {
+                // When working with AssetSource::Remote and AssetSource::Search types, the form is
+                // `Organization/ModelName/path_to_file.ext`, hence we substitute the part after `Organization/`
+                // with the content of the model:// path.
+                // For example: A OpenRobotics/Model1/model.sdf that references to a
+                // model://Model2/mesh.obj would be parsed to OpenRobotics/Model2/mesh.obj
+                // TODO(luca) Should remote and search `AssetSource` objects have a clear split for
+                // organization name and asset name instead of relying on an implicit
+                // Organization/Model syntax?
+                *p = if let Some(org_name) = p.split("/").next() {
+                    org_name.to_owned() + "/" + stripped
+                } else {
+                    return Err(SdfError::UnsupportedAssetSource(format!(
+                        "Unable to extract organization name from asset source [{}]",
+                        subasset_uri
+                    )));
+                }
+            }
+            AssetSource::Local(ref mut p) | AssetSource::Package(ref mut p) => {
+                // Search for a model with the requested name in the same folder as the sdf file by
+                // navigating the path up by two levels (removing file name and model folder).
+                // For example, if an SDF in /home/user/Model1/model.sdf refers to
+                // model://Model2/meshes/mesh.obj, this function will try to load
+                // /home/user/Model2/meshes/mesh.obj.
+                // Note that this will not play well if the requested model shares files with other
+                // models that are placed in different folders or are in fuel, but should work for
+                // most local, self contained, models.
+                *p = if let Some(model_folder) = p.rsplitn(3, "/").skip(2).next() {
+                    model_folder.to_owned() + "/" + stripped
+                } else {
+                    return Err(SdfError::UnsupportedAssetSource(format!(
+                        "Unable to extract model folder from asset source [{}]",
+                        subasset_uri
+                    )));
+                }
+            }
+        }
+        Ok(asset_source)
+    } else {
+        // It's a path relative to this model, concatenate it to the current context path.
+        let path = load_context
+            .asset_path()
+            .resolve(subasset_uri)
+            .or_else(|e| Err(SdfError::UnsupportedAssetSource(e.to_string())))?;
+        AssetSource::try_from(path.to_string().as_str()).map_err(SdfError::UnsupportedAssetSource)
+    }?;
+    Ok(asset_source)
+}
+
+fn parse_scale(scale: &Option<Vector3d>) -> Scale {
+    match scale {
+        Some(v) => Scale(Vec3::new(v.0.x as f32, v.0.y as f32, v.0.z as f32)),
+        None => Scale::default(),
+    }
+}
+
+fn parse_pose(pose: &Option<SdfPose>) -> Pose {
+    if let Some(pose) = pose.clone().and_then(|p| p.get_pose().ok()) {
+        let rot = pose.rotation.euler_angles();
+        Pose {
+            trans: [
+                pose.translation.x as f32,
+                pose.translation.y as f32,
+                pose.translation.z as f32,
+            ],
+            rot: Rotation::EulerExtrinsicXYZ([
+                Angle::Rad(rot.0 as f32),
+                Angle::Rad(rot.1 as f32),
+                Angle::Rad(rot.2 as f32),
+            ]),
+        }
+    } else {
+        Pose::default()
+    }
+}
+
+fn spawn_geometry<'a, 'b>(
+    world: &'a mut World,
+    geometry: &'a SdfGeometry,
+    geometry_name: &'a str,
+    pose: &'a Option<SdfPose>,
+    load_context: &'a mut LoadContext<'b>,
+    is_static: bool,
+) -> Result<Option<Entity>, SdfError> {
+    let pose = parse_pose(pose);
+    let geometry = match geometry {
+        SdfGeometry::Mesh(mesh) => Some(
+            world
+                .spawn(Model {
+                    name: NameInSite(geometry_name.to_owned()),
+                    source: compute_model_source(load_context, &mesh.uri)?,
+                    pose,
+                    is_static: IsStatic(is_static),
+                    scale: parse_scale(&mesh.scale),
+                    marker: ModelMarker,
+                })
+                .id(),
+        ),
+        SdfGeometry::Box(b) => {
+            let s = &b.size.0;
+            Some(
+                world
+                    .spawn(PrimitiveShape::Box {
+                        size: [s.x as f32, s.y as f32, s.z as f32],
+                    })
+                    .insert(pose)
+                    .insert(NameInSite(geometry_name.to_owned()))
+                    .insert(SpatialBundle::INHERITED_IDENTITY)
+                    .id(),
+            )
+        }
+        SdfGeometry::Capsule(c) => Some(
+            world
+                .spawn(PrimitiveShape::Capsule {
+                    radius: c.radius as f32,
+                    length: c.length as f32,
+                })
+                .insert(pose)
+                .insert(NameInSite(geometry_name.to_owned()))
+                .insert(SpatialBundle::INHERITED_IDENTITY)
+                .id(),
+        ),
+        SdfGeometry::Cylinder(c) => Some(
+            world
+                .spawn(PrimitiveShape::Cylinder {
+                    radius: c.radius as f32,
+                    length: c.length as f32,
+                })
+                .insert(pose)
+                .insert(NameInSite(geometry_name.to_owned()))
+                .insert(SpatialBundle::INHERITED_IDENTITY)
+                .id(),
+        ),
+        SdfGeometry::Sphere(s) => Some(
+            world
+                .spawn(PrimitiveShape::Sphere {
+                    radius: s.radius as f32,
+                })
+                .insert(pose)
+                .insert(NameInSite(geometry_name.to_owned()))
+                .insert(SpatialBundle::INHERITED_IDENTITY)
+                .id(),
+        ),
+        _ => None,
+    };
+    Ok(geometry)
 }
 
 async fn load_model<'a, 'b>(
-    bytes: &'a [u8],
+    bytes: Vec<u8>,
     load_context: &'a mut LoadContext<'b>,
-) -> Result<(), SdfError> {
-    let sdf_str = std::str::from_utf8(bytes).unwrap();
+) -> Result<bevy::scene::Scene, SdfError> {
+    let sdf_str = std::str::from_utf8(&bytes).unwrap();
     let root = sdformat_rs::from_str::<sdformat_rs::SdfRoot>(sdf_str);
     match root {
         Ok(root) => {
             if let Some(model) = root.model {
-                let path = load_context.path().to_str().unwrap().to_string();
-                let sdf_root = SdfRoot { model, path };
-                load_context.set_default_asset(LoadedAsset::new(sdf_root));
-                Ok(())
+                let mut world = World::default();
+                let e = world.spawn(SpatialBundle::INHERITED_IDENTITY).id();
+                // TODO(luca) hierarchies and joints, rather than flat link importing
+                // All Open-RMF assets have no hierarchy, for now.
+                for link in &model.link {
+                    let link_pose = parse_pose(&link.pose);
+                    let link_id = world
+                        .spawn(SpatialBundle::from_transform(link_pose.transform()))
+                        .id();
+                    world.entity_mut(e).add_child(link_id);
+                    for visual in &link.visual {
+                        let id = spawn_geometry(
+                            &mut world,
+                            &visual.geometry,
+                            &visual.name,
+                            &visual.pose,
+                            load_context,
+                            model.r#static.unwrap_or(false),
+                        )?;
+                        match id {
+                            Some(id) => {
+                                world
+                                    .entity_mut(id)
+                                    .insert(VisualMeshMarker)
+                                    .insert(Category::Visual)
+                                    .set_parent(link_id);
+                            }
+                            None => warn!("Found unhandled geometry type {:?}", &visual.geometry),
+                        }
+                    }
+                    for collision in &link.collision {
+                        let id = spawn_geometry(
+                            &mut world,
+                            &collision.geometry,
+                            &collision.name,
+                            &collision.pose,
+                            load_context,
+                            model.r#static.unwrap_or(false),
+                        )?;
+                        match id {
+                            Some(id) => {
+                                world
+                                    .entity_mut(id)
+                                    .insert(CollisionMeshMarker)
+                                    .insert(Category::Collision)
+                                    .set_parent(link_id);
+                            }
+                            None => {
+                                warn!("Found unhandled geometry type {:?}", &collision.geometry)
+                            }
+                        }
+                    }
+                }
+                Ok(bevy::scene::Scene::new(world))
             } else {
                 Err(SdfError::MissingModelTag)
             }
diff --git a/rmf_site_editor/src/shapes.rs b/rmf_site_editor/src/shapes.rs
index c9862ed3..1d173766 100644
--- a/rmf_site_editor/src/shapes.rs
+++ b/rmf_site_editor/src/shapes.rs
@@ -23,7 +23,7 @@ use bevy::{
         primitives::Aabb,
     },
 };
-use bevy_infinite_grid::{InfiniteGrid, InfiniteGridBundle};
+use bevy_infinite_grid::{InfiniteGridBundle, InfiniteGridSettings};
 use bevy_mod_outline::ATTRIBUTE_OUTLINE_NORMAL;
 use bevy_mod_outline::{GenerateOutlineNormalsError, OutlineMeshExt};
 use bevy_polyline::{material::PolylineMaterial, polyline::Polyline};
@@ -1246,18 +1246,18 @@ pub(crate) fn make_infinite_grid(
     fadeout_distance: f32,
     shadow_color: Option<Color>,
 ) -> InfiniteGridBundle {
-    let mut grid = InfiniteGrid::default();
+    let mut settings = InfiniteGridSettings::default();
     // The upstream bevy_infinite_grid developers use an x-z plane grid but we
     // use an x-y plane grid, so we need to make some tweaks.
-    grid.x_axis_color = X_AXIS_COLOR;
-    grid.z_axis_color = Y_AXIS_COLOR;
-    grid.fadeout_distance = fadeout_distance;
-    grid.shadow_color = shadow_color;
+    settings.x_axis_color = X_AXIS_COLOR;
+    settings.z_axis_color = Y_AXIS_COLOR;
+    settings.fadeout_distance = fadeout_distance;
+    settings.shadow_color = shadow_color;
     let transform = Transform::from_rotation(Quat::from_rotation_x(90_f32.to_radians()))
         .with_scale(Vec3::splat(scale));
 
     InfiniteGridBundle {
-        grid,
+        settings,
         transform,
         ..Default::default()
     }
diff --git a/rmf_site_editor/src/site/anchor.rs b/rmf_site_editor/src/site/anchor.rs
index 9e189cc9..1ce7d971 100644
--- a/rmf_site_editor/src/site/anchor.rs
+++ b/rmf_site_editor/src/site/anchor.rs
@@ -28,7 +28,8 @@ pub struct AnchorBundle {
     global_transform: GlobalTransform,
     dependents: Dependents,
     visibility: Visibility,
-    computed: ComputedVisibility,
+    view: ViewVisibility,
+    inherited: InheritedVisibility,
     category: Category,
 }
 
@@ -41,7 +42,8 @@ impl AnchorBundle {
             global_transform: transform.into(),
             dependents: Default::default(),
             visibility: Default::default(),
-            computed: Default::default(),
+            view: Default::default(),
+            inherited: Default::default(),
             category: Category::Anchor,
         }
     }
@@ -140,7 +142,7 @@ pub fn assign_orphan_anchors_to_parent(
                 center: p_anchor.into(),
                 radius: 0.0,
             };
-            if sphere.intersects_obb(&cabin_aabb, &global_lift_tf.compute_matrix()) {
+            if sphere.intersects_obb(&cabin_aabb, &global_lift_tf.affine()) {
                 if let Ok(anchor_group_tf) = lift_anchor_groups.get(anchor_group.0) {
                     // The anchor is inside the lift cabin, so we should
                     // make it the anchor's parent.
@@ -204,7 +206,7 @@ pub fn check_for_close_unconnected_anchors(
                         review if this is intended and, if it is, suppress the issue";
     // TODO(luca) make this configurable
     const DISTANCE_THRESHOLD: f32 = 0.2;
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         // Key is level id, value is vector of (Entity, Global tf's position)
         let mut anchor_poses: HashMap<Entity, Vec<(Entity, Vec3)>> = HashMap::new();
         for e in &anchor_entities {
diff --git a/rmf_site_editor/src/site/assets.rs b/rmf_site_editor/src/site/assets.rs
index 560e12c9..9197e9fc 100644
--- a/rmf_site_editor/src/site/assets.rs
+++ b/rmf_site_editor/src/site/assets.rs
@@ -16,7 +16,13 @@
 */
 
 use crate::{shapes::*, site::*};
-use bevy::{math::Affine3A, prelude::*};
+use bevy::{asset::embedded_asset, math::Affine3A, prelude::*};
+
+pub(crate) fn add_site_icons(app: &mut App) {
+    embedded_asset!(app, "icons/battery.png");
+    embedded_asset!(app, "icons/parking.png");
+    embedded_asset!(app, "icons/stopwatch.png");
+}
 
 #[derive(Resource)]
 pub struct SiteAssets {
@@ -80,15 +86,12 @@ pub fn old_default_material_t(base_color_texture: Handle<Image>) -> StandardMate
 impl FromWorld for SiteAssets {
     fn from_world(world: &mut World) -> Self {
         let asset_server = world.get_resource::<AssetServer>().unwrap();
-        let charger_texture = asset_server.load(&String::from(&AssetSource::Bundled(
-            "textures/battery.png".to_string(),
-        )));
-        let holding_point_texture = asset_server.load(&String::from(&AssetSource::Bundled(
-            "textures/stopwatch.png".to_string(),
-        )));
-        let parking_texture = asset_server.load(&String::from(&AssetSource::Bundled(
-            "textures/parking.png".to_string(),
-        )));
+        let charger_texture =
+            asset_server.load("embedded://librmf_site_editor/site/icons/battery.png");
+        let holding_point_texture =
+            asset_server.load("embedded://librmf_site_editor/site/icons/stopwatch.png");
+        let parking_texture =
+            asset_server.load("embedded://librmf_site_editor/site/icons/parking.png");
 
         let mut materials = world
             .get_resource_mut::<Assets<StandardMaterial>>()
diff --git a/rmf_site_editor/src/site/change_plugin.rs b/rmf_site_editor/src/site/change_plugin.rs
index 81b577c6..46cf2f47 100644
--- a/rmf_site_editor/src/site/change_plugin.rs
+++ b/rmf_site_editor/src/site/change_plugin.rs
@@ -75,7 +75,7 @@ fn update_changed_values<T: Component + Clone + Debug>(
     mut values: Query<&mut T>,
     mut changes: EventReader<Change<T>>,
 ) {
-    for change in changes.iter() {
+    for change in changes.read() {
         if let Ok(mut new_value) = values.get_mut(change.for_element) {
             *new_value = change.to_value.clone();
         } else {
diff --git a/rmf_site_editor/src/site/deletion.rs b/rmf_site_editor/src/site/deletion.rs
index 91deaa98..d57f9af2 100644
--- a/rmf_site_editor/src/site/deletion.rs
+++ b/rmf_site_editor/src/site/deletion.rs
@@ -115,7 +115,7 @@ impl Plugin for DeletionPlugin {
 }
 
 fn handle_deletion_requests(mut deletions: EventReader<Delete>, mut params: DeletionParams) {
-    for delete in deletions.iter() {
+    for delete in deletions.read() {
         if delete.and_dependents {
             recursive_dependent_delete(delete.element, &mut params);
         } else {
diff --git a/rmf_site_editor/src/site/door.rs b/rmf_site_editor/src/site/door.rs
index af904e1c..e6a9895b 100644
--- a/rmf_site_editor/src/site/door.rs
+++ b/rmf_site_editor/src/site/door.rs
@@ -450,7 +450,7 @@ pub fn update_door_for_moved_anchors(
 ) {
     for dependents in &changed_anchors {
         for dependent in dependents.iter() {
-            if let Some((entity, edge, kind, mut segments)) = doors.get_mut(*dependent).ok() {
+            if let Some((entity, edge, kind, segments)) = doors.get_mut(*dependent).ok() {
                 update_door_visuals(
                     &mut commands,
                     entity,
@@ -480,7 +480,7 @@ pub fn check_for_duplicated_door_names(
     parents: Query<&Parent>,
     door_names: Query<(Entity, &NameInSite), With<DoorMarker>>,
 ) {
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         let mut names: HashMap<String, BTreeSet<Entity>> = HashMap::new();
         for (e, name) in &door_names {
             if AncestorIter::new(&parents, e).any(|p| p == **root) {
diff --git a/rmf_site_editor/src/site/drawing.rs b/rmf_site_editor/src/site/drawing.rs
index f67010f3..c95ea80e 100644
--- a/rmf_site_editor/src/site/drawing.rs
+++ b/rmf_site_editor/src/site/drawing.rs
@@ -26,7 +26,7 @@ use crate::{
     CurrentWorkspace,
 };
 use bevy::{asset::LoadState, math::Affine3A, prelude::*};
-use rmf_site_format::{AssetSource, Category, DrawingProperties, NameInSite, PixelsPerMeter, Pose};
+use rmf_site_format::{AssetSource, Category, DrawingProperties, PixelsPerMeter, Pose};
 use std::path::PathBuf;
 
 #[derive(Bundle, Debug, Clone)]
@@ -36,7 +36,8 @@ pub struct DrawingBundle {
     pub transform: Transform,
     pub global_transform: GlobalTransform,
     pub visibility: Visibility,
-    pub computed: ComputedVisibility,
+    pub inherited: InheritedVisibility,
+    pub view: ViewVisibility,
     pub marker: DrawingMarker,
 }
 
@@ -48,7 +49,8 @@ impl DrawingBundle {
             transform: default(),
             global_transform: default(),
             visibility: default(),
-            computed: default(),
+            inherited: default(),
+            view: default(),
             marker: default(),
         }
     }
@@ -66,7 +68,7 @@ pub struct DrawingSegments {
 
 // We need to keep track of the drawing data until the image is loaded
 // since we will need to scale the mesh according to the size of the image
-#[derive(Component)]
+#[derive(Component, Deref, DerefMut)]
 pub struct LoadingDrawing(Handle<Image>);
 
 fn drawing_layer_height(rank: Option<&RecencyRank<DrawingMarker>>) -> f32 {
@@ -80,7 +82,6 @@ pub fn add_drawing_visuals(
     asset_server: Res<AssetServer>,
     current_workspace: Res<CurrentWorkspace>,
     site_files: Query<&DefaultFile>,
-    default_drawing_vis: Query<&GlobalDrawingVisibility>,
 ) {
     if changed_drawings.is_empty() {
         return;
@@ -130,7 +131,11 @@ pub fn handle_loaded_drawing(
     for (entity, source, pose, pixels_per_meter, handle, vis, parent, rank) in
         loading_drawings.iter()
     {
-        match asset_server.get_load_state(&handle.0) {
+        let Some(load_state) = asset_server.get_load_state(handle.id()) else {
+            warn!("Handle for drawing with source {:?} not found", source);
+            continue;
+        };
+        match load_state {
             LoadState::Loaded => {
                 let img = assets.get(&handle.0).unwrap();
                 let width = img.texture_descriptor.size.width as f32;
@@ -353,7 +358,7 @@ pub fn update_drawing_visibility(
     );
 
     iter_update_drawing_visibility(
-        removed_vis.iter().filter_map(|e| all_drawings.get(e).ok()),
+        removed_vis.read().filter_map(|e| all_drawings.get(e).ok()),
         &material_handles,
         &mut material_assets,
         &default_drawing_vis,
diff --git a/rmf_site_editor/src/site/drawing_editor/alignment.rs b/rmf_site_editor/src/site/drawing_editor/alignment.rs
index cc6e98cb..afcc80ac 100644
--- a/rmf_site_editor/src/site/drawing_editor/alignment.rs
+++ b/rmf_site_editor/src/site/drawing_editor/alignment.rs
@@ -22,15 +22,14 @@ use bevy::{
 };
 
 use crate::site::{
-    Affiliation, AlignSiteDrawings, Anchor, Angle, Category, Change, ConstraintMarker, Distance,
-    DrawingMarker, Edge, FiducialMarker, LevelElevation, MeasurementMarker, NameOfSite,
-    PixelsPerMeter, Point, Pose, Rotation, SiteProperties,
+    Affiliation, AlignSiteDrawings, Anchor, Angle, Category, Distance, DrawingMarker, Edge,
+    FiducialMarker, LevelElevation, MeasurementMarker, NameOfSite, PixelsPerMeter, Point, Pose,
+    Rotation,
 };
-use itertools::{Either, Itertools};
+
 use rmf_site_format::alignment::{
     align_site, DrawingVariables, FiducialVariables, MeasurementVariables, SiteVariables,
 };
-use std::collections::HashSet;
 
 #[derive(SystemParam)]
 pub struct OptimizationParams<'w, 's> {
@@ -57,7 +56,7 @@ pub fn align_site_drawings(
     mut events: EventReader<AlignSiteDrawings>,
     mut params: OptimizationParams,
 ) {
-    for AlignSiteDrawings(site) in events.iter() {
+    for AlignSiteDrawings(site) in events.read() {
         let mut site_variables = SiteVariables::<Entity>::default();
         let Ok(children) = sites.get(*site) else {
             continue;
diff --git a/rmf_site_editor/src/site/drawing_editor/mod.rs b/rmf_site_editor/src/site/drawing_editor/mod.rs
index ee709d74..f96d9090 100644
--- a/rmf_site_editor/src/site/drawing_editor/mod.rs
+++ b/rmf_site_editor/src/site/drawing_editor/mod.rs
@@ -15,23 +15,21 @@
  *
 */
 
-use bevy::{prelude::*, render::view::visibility::RenderLayers};
+use bevy::prelude::*;
 
 pub mod alignment;
 pub use alignment::*;
 
 use crate::AppState;
 use crate::{
-    interaction::{ChangeProjectionMode, Selection, SuppressHighlight, SuppressOutline},
+    interaction::{ChangeProjectionMode, Selection, SuppressHighlight},
     site::{
-        Anchor, DrawingMarker, Edge, FiducialMarker, MeasurementMarker, NameOfSite, NameOfWorkcell,
-        Pending, PixelsPerMeter, Point, PreventDeletion, SiteProperties,
+        DrawingMarker, Edge, MeasurementMarker, NameOfSite, NameOfWorkcell, Pending,
+        PreventDeletion,
     },
     CurrentWorkspace, WorkspaceMarker,
 };
 
-use std::collections::HashSet;
-
 #[derive(Clone, Copy, Event)]
 pub struct BeginEditDrawing(pub Entity);
 
@@ -97,7 +95,7 @@ fn switch_edit_drawing_mode(
     // We should also consider using an edit mode stack instead of simply
     // CurrentWorkspace and AppState.
     'handle_begin: {
-        if let Some(BeginEditDrawing(e)) = begin.iter().last() {
+        if let Some(BeginEditDrawing(e)) = begin.read().last() {
             if current.target().is_some_and(|c| c.drawing == *e) {
                 break 'handle_begin;
             }
@@ -120,8 +118,10 @@ fn switch_edit_drawing_mode(
             commands
                 .entity(*e)
                 .set_parent(current.editor)
-                .insert(Visibility::Inherited)
-                .insert(ComputedVisibility::default())
+                .insert(VisibilityBundle {
+                    visibility: Visibility::Inherited,
+                    ..default()
+                })
                 .insert(PreventDeletion::because(
                     "Cannot delete a drawing that is currently being edited".to_owned(),
                 ))
@@ -132,7 +132,7 @@ fn switch_edit_drawing_mode(
             change_camera_mode.send(ChangeProjectionMode::to_orthographic());
 
             if let Ok(mut editor_tf) = local_tf.get_mut(current.editor) {
-                if let Ok(mut level_tf) = global_tf.get(level) {
+                if let Ok(level_tf) = global_tf.get(level) {
                     *editor_tf = level_tf.compute_transform();
                 } else {
                     error!("Cannot get transform of current level");
@@ -149,7 +149,7 @@ fn switch_edit_drawing_mode(
         }
     }
 
-    for FinishEditDrawing(finish) in finish.iter() {
+    for FinishEditDrawing(finish) in finish.read() {
         let c = if let Some(c) = current.target() {
             if finish.is_some_and(|e| e != c.drawing) {
                 continue;
diff --git a/rmf_site_editor/src/site/fiducial.rs b/rmf_site_editor/src/site/fiducial.rs
index c78e7410..a480addd 100644
--- a/rmf_site_editor/src/site/fiducial.rs
+++ b/rmf_site_editor/src/site/fiducial.rs
@@ -72,10 +72,7 @@ pub fn update_fiducial_usage_tracker(
     parent: Query<&Parent>,
     children: Query<&Children>,
     fiducials: Query<&Affiliation<Entity>, With<FiducialMarker>>,
-    changed_fiducials: Query<
-        (Entity, &Parent),
-        (Changed<Affiliation<Entity>>, With<FiducialMarker>),
-    >,
+    changed_fiducials: Query<&Parent, (Changed<Affiliation<Entity>>, With<FiducialMarker>)>,
     fiducial_groups: Query<(Entity, &NameInSite, &Parent), (With<Group>, With<FiducialMarker>)>,
     changed_fiducial_groups: Query<
         Entity,
@@ -140,14 +137,14 @@ pub fn update_fiducial_usage_tracker(
         }
     }
 
-    for (changed_fiducial, parent) in &changed_fiducials {
+    for parent in &changed_fiducials {
         let Ok((e, mut tracker)) = unused_fiducial_trackers.get_mut(parent.get()) else {
             continue;
         };
         reset_fiducial_usage(e, &mut tracker, &fiducials, &fiducial_groups, &children);
     }
 
-    for removed_group in removed_fiducial_groups.iter() {
+    for removed_group in removed_fiducial_groups.read() {
         for (_, mut tracker) in &mut unused_fiducial_trackers {
             tracker.used.remove(&removed_group);
             tracker.unused.remove(&removed_group);
@@ -224,8 +221,7 @@ pub fn add_fiducial_visuals(
             .entity(e)
             .insert(assets.fiducial_mesh.clone())
             .insert(assets.fiducial_material.clone())
-            .insert(Visibility::default())
-            .insert(ComputedVisibility::default())
+            .insert(VisibilityBundle::default())
             .insert(Category::Fiducial)
             .insert(VisualCue::outline());
     }
@@ -242,7 +238,6 @@ pub fn assign_orphan_fiducials_to_parent(
         (With<FiducialMarker>, Without<Parent>, Without<Pending>),
     >,
     anchors: Query<&Parent, With<Anchor>>,
-    site_id: Query<&SiteID>,
 ) {
     for (e, point) in &orphans {
         if let Ok(parent) = anchors.get(point.0) {
@@ -307,7 +302,7 @@ pub fn check_for_fiducials_without_affiliation(
     const ISSUE_HINT: &str = "Fiducial affiliations are used by the site editor to map matching \
                             fiducials between different floors or drawings and calculate their \
                             relative transform, fiducials without affiliation are ignored";
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         for (e, affiliation) in &fiducial_affiliations {
             if AncestorIter::new(&parents, e).any(|p| p == **root) {
                 if affiliation.0.is_none() {
diff --git a/rmf_site_editor/src/site/floor.rs b/rmf_site_editor/src/site/floor.rs
index 37931e85..e985b7a9 100644
--- a/rmf_site_editor/src/site/floor.rs
+++ b/rmf_site_editor/src/site/floor.rs
@@ -16,11 +16,7 @@
 */
 
 use crate::{interaction::Selectable, shapes::*, site::*, RecencyRanking};
-use bevy::{
-    math::Affine3A,
-    prelude::*,
-    render::mesh::{Indices, PrimitiveTopology},
-};
+use bevy::{math::Affine3A, prelude::*, render::mesh::PrimitiveTopology};
 use geo::{
     geometry::{LineString, MultiPolygon, Polygon},
     BooleanOps, CoordsIter, TriangulateSpade,
@@ -358,7 +354,7 @@ pub fn update_floors(
         if let Ok(mut mesh) = mesh_handles.get_mut(segment.mesh) {
             if let Ok(material) = material_handles.get(segment.mesh) {
                 *mesh = meshes.add(make_floor_mesh(e, path, &texture, &anchors, &lifts));
-                if let Some(mut material) = materials.get_mut(material) {
+                if let Some(material) = materials.get_mut(material) {
                     material.base_color_texture = base_color_texture;
                 }
             }
@@ -444,7 +440,7 @@ pub fn update_floor_visibility(
     );
 
     iter_update_floor_visibility(
-        removed_vis.iter().filter_map(|e| all_floors.get(e).ok()),
+        removed_vis.read().filter_map(|e| all_floors.get(e).ok()),
         &material_handles,
         &mut material_assets,
         &default_floor_vis,
diff --git a/rmf_site_editor/src/site/fuel_cache.rs b/rmf_site_editor/src/site/fuel_cache.rs
index 7894384b..51aeea9d 100644
--- a/rmf_site_editor/src/site/fuel_cache.rs
+++ b/rmf_site_editor/src/site/fuel_cache.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use crate::site::{AssetSource, ModelMarker, ModelSceneRoot, TentativeModelFormat};
+use crate::site::{ModelMarker, ModelSceneRoot, TentativeModelFormat};
 use crate::site_asset_io::FUEL_API_KEY;
 use crate::widgets::AssetGalleryStatus;
 use bevy::prelude::*;
@@ -58,7 +58,7 @@ pub fn handle_update_fuel_cache_requests(
     fuel_client: Res<FuelClient>,
     channels: Res<UpdateFuelCacheChannels>,
 ) {
-    if events.iter().last().is_some() {
+    if events.read().last().is_some() {
         info!("Updating fuel cache, this might take a few minutes");
         gallery_status.fetching_cache = true;
         let mut fuel_client = fuel_client.clone();
@@ -99,7 +99,7 @@ pub fn reload_failed_models_with_new_api_key(
     mut api_key_events: EventReader<SetFuelApiKey>,
     failed_models: Query<Entity, (With<ModelMarker>, Without<ModelSceneRoot>)>,
 ) {
-    if let Some(key) = api_key_events.iter().last() {
+    if let Some(key) = api_key_events.read().last() {
         info!("New API Key set, attempting to re-download failed models");
         let mut key_guard = match FUEL_API_KEY.lock() {
             Ok(key) => key,
diff --git a/rmf_site_editor/src/site/georeference.rs b/rmf_site_editor/src/site/georeference.rs
index 74280e27..3f741a94 100644
--- a/rmf_site_editor/src/site/georeference.rs
+++ b/rmf_site_editor/src/site/georeference.rs
@@ -1,17 +1,14 @@
-use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
-use bevy_egui::{
-    egui::{self, Slider},
-    EguiContexts,
-};
+use bevy::{asset::AssetPath, prelude::*, window::PrimaryWindow};
+use bevy_egui::{egui, EguiContexts};
 use bevy_mod_raycast::primitives::rays::Ray3d;
 use camera_controls::{CameraControls, ProjectionMode};
-use rmf_site_format::{Anchor, AssetSource, GeographicComponent, GeographicOffset};
+use rmf_site_format::{GeographicComponent, GeographicOffset};
 use std::collections::HashSet;
 use utm::*;
 
 use crate::{
     generate_map_tiles,
-    interaction::{camera_controls, MoveTo, Selected},
+    interaction::camera_controls,
     widgets::menu_bar::{
         Menu, MenuDisabled, MenuEvent, MenuItem, MenuVisualizationStates, ToolMenu, ViewMenu,
     },
@@ -41,7 +38,7 @@ fn set_reference(
     mut site_properties: Query<(Entity, &mut GeographicComponent)>,
     mut window: Local<ReferenceWindow>,
 ) {
-    for event in geo_events.iter() {
+    for event in geo_events.read() {
         if event.clicked() && event.source() == osm_menu.set_reference {
             window.visible = true;
         }
@@ -177,7 +174,7 @@ pub fn handle_visibility_change(
         return;
     };
 
-    for event in geo_events.iter() {
+    for event in geo_events.read() {
         if event.clicked() && event.source() == osm_menu.satellite_map_check_button {
             let Ok(item) = checkbox_state.get(osm_menu.satellite_map_check_button) else {
                 continue;
@@ -198,7 +195,7 @@ pub fn view_reference(
     site_properties: Query<(Entity, &GeographicComponent)>,
     mut window: Local<UTMReferenceWindow>,
 ) {
-    for event in geo_events.iter() {
+    for event in geo_events.read() {
         if event.clicked() && event.source() == osm_menu.view_reference {
             window.visible = true;
         }
@@ -250,7 +247,7 @@ fn settings(
     mut egui_context: EguiContexts,
     mut settings_window: Local<SettingsWindow>,
 ) {
-    for event in geo_events.iter() {
+    for event in geo_events.read() {
         if event.clicked() && event.source() == osm_menu.settings_panel {
             settings_window.visible = true;
         }
@@ -283,10 +280,10 @@ fn settings(
 }
 
 fn spawn_tile(
-    mut meshes: &mut ResMut<Assets<Mesh>>,
-    mut materials: &mut ResMut<Assets<StandardMaterial>>,
+    meshes: &mut ResMut<Assets<Mesh>>,
+    materials: &mut ResMut<Assets<StandardMaterial>>,
     asset_server: &Res<AssetServer>,
-    mut commands: &mut Commands,
+    commands: &mut Commands,
     coordinates: (f32, f32),
     reference: (f32, f32),
     zoom: i32,
@@ -299,11 +296,7 @@ fn spawn_tile(
     };
     let quad_handle = meshes.add(mesh);
 
-    let texture_handle: Handle<Image> = asset_server.load(String::from(&AssetSource::OSMTile {
-        zoom: tile.zoom(),
-        latitude: coordinates.0,
-        longitude: coordinates.1,
-    }));
+    let texture_handle: Handle<Image> = asset_server.load(AssetPath::from(&tile));
     let material_handle = materials.add(StandardMaterial {
         base_color_texture: Some(texture_handle.clone()),
         alpha_mode: AlphaMode::Blend,
diff --git a/rmf_site_editor/src/site/group.rs b/rmf_site_editor/src/site/group.rs
index 949f1347..6d28d026 100644
--- a/rmf_site_editor/src/site/group.rs
+++ b/rmf_site_editor/src/site/group.rs
@@ -44,7 +44,7 @@ pub fn update_affiliations(
     mut merge_groups: EventReader<MergeGroups>,
     mut deleted_groups: RemovedComponents<Group>,
 ) {
-    for merge in merge_groups.iter() {
+    for merge in merge_groups.read() {
         for mut affiliation in &mut affiliations {
             if affiliation.0.is_some_and(|a| a == merge.from_group) {
                 affiliation.0 = Some(merge.into_group);
@@ -52,7 +52,7 @@ pub fn update_affiliations(
         }
     }
 
-    for deleted in deleted_groups.iter() {
+    for deleted in deleted_groups.read() {
         for mut affiliation in &mut affiliations {
             if affiliation.0.is_some_and(|a| a == deleted) {
                 affiliation.0 = None;
diff --git a/assets/textures/battery.png b/rmf_site_editor/src/site/icons/battery.png
similarity index 100%
rename from assets/textures/battery.png
rename to rmf_site_editor/src/site/icons/battery.png
diff --git a/assets/textures/battery.svg b/rmf_site_editor/src/site/icons/battery.svg
similarity index 100%
rename from assets/textures/battery.svg
rename to rmf_site_editor/src/site/icons/battery.svg
diff --git a/assets/textures/parking.png b/rmf_site_editor/src/site/icons/parking.png
similarity index 100%
rename from assets/textures/parking.png
rename to rmf_site_editor/src/site/icons/parking.png
diff --git a/assets/textures/parking.svg b/rmf_site_editor/src/site/icons/parking.svg
similarity index 100%
rename from assets/textures/parking.svg
rename to rmf_site_editor/src/site/icons/parking.svg
diff --git a/assets/textures/stopwatch.png b/rmf_site_editor/src/site/icons/stopwatch.png
similarity index 100%
rename from assets/textures/stopwatch.png
rename to rmf_site_editor/src/site/icons/stopwatch.png
diff --git a/assets/textures/stopwatch.svg b/rmf_site_editor/src/site/icons/stopwatch.svg
similarity index 100%
rename from assets/textures/stopwatch.svg
rename to rmf_site_editor/src/site/icons/stopwatch.svg
diff --git a/rmf_site_editor/src/site/lane.rs b/rmf_site_editor/src/site/lane.rs
index 5780978e..989efe1b 100644
--- a/rmf_site_editor/src/site/lane.rs
+++ b/rmf_site_editor/src/site/lane.rs
@@ -277,7 +277,7 @@ pub fn remove_association_for_deleted_graphs(
     mut associaged_graphs: Query<&mut AssociatedGraphs<Entity>>,
     mut removed: RemovedComponents<NavGraphMarker>,
 ) {
-    for e in removed.iter() {
+    for e in removed.read() {
         for mut associated in &mut associaged_graphs {
             match associated.as_mut() {
                 AssociatedGraphs::All => {}
@@ -322,7 +322,7 @@ pub fn update_visibility_for_lanes(
     >,
     mut removed: RemovedComponents<NavGraphMarker>,
 ) {
-    let graph_change = !graph_changed_visibility.is_empty() || removed.iter().next().is_some();
+    let graph_change = !graph_changed_visibility.is_empty() || removed.read().next().is_some();
     let update_all = current_level.is_changed() || graph_change;
     if update_all {
         for (edge, associated, _, mut visibility) in &mut lanes {
@@ -409,7 +409,7 @@ pub fn handle_consider_associated_graph(
     mut recalls: Query<&mut RecallAssociatedGraphs<Entity>>,
     mut considerations: EventReader<ConsiderAssociatedGraph>,
 ) {
-    for consider in considerations.iter() {
+    for consider in considerations.read() {
         if let Ok(mut recall) = recalls.get_mut(consider.for_element) {
             recall.consider = consider.graph;
         }
@@ -432,7 +432,7 @@ pub fn check_for_duplicated_dock_names(
                         the robots. Duplicated dock names would make such behavior ambiguous as \
                         it would be triggered in different parts of the map, rename the docks to \
                         be unique";
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         let mut names: HashMap<String, BTreeSet<Entity>> = HashMap::new();
         for (e, motion, reverse) in &lane_properties {
             if AncestorIter::new(&parents, e).any(|p| p == **root) {
diff --git a/rmf_site_editor/src/site/lift.rs b/rmf_site_editor/src/site/lift.rs
index 1eb8ac93..a2643d83 100644
--- a/rmf_site_editor/src/site/lift.rs
+++ b/rmf_site_editor/src/site/lift.rs
@@ -364,7 +364,7 @@ pub fn update_lift_door_availability(
     mut removed_levels: RemovedComponents<LevelElevation>,
     parents: Query<&Parent>,
 ) {
-    for toggle in toggles.iter() {
+    for toggle in toggles.read() {
         let (mut cabin, recall_cabin, anchor_group) = match lifts.get_mut(toggle.for_lift) {
             Ok(lift) => lift,
             Err(_) => continue,
@@ -530,7 +530,7 @@ pub fn update_lift_door_availability(
         }
     }
 
-    for removed_level in removed_levels.iter() {
+    for removed_level in removed_levels.read() {
         // When a level is removed, we should clear it from all visitation
         // information and redo the cabin rendering.
         let mut doors_to_remove = Vec::new();
@@ -630,7 +630,7 @@ pub fn check_for_duplicated_lift_names(
 ) {
     const ISSUE_HINT: &str = "Lifts use their names as identifiers with RMF and each lift should \
                               have a unique name, rename the affected lifts";
-    for root in validate_events.iter() {
+    for root in validate_events.read() {
         let mut names: HashMap<String, BTreeSet<Entity>> = HashMap::new();
         for (e, name) in &lift_names {
             if AncestorIter::new(&parents, e).any(|p| p == **root) {
diff --git a/rmf_site_editor/src/site/light.rs b/rmf_site_editor/src/site/light.rs
index 6cd59eb0..8861b431 100644
--- a/rmf_site_editor/src/site/light.rs
+++ b/rmf_site_editor/src/site/light.rs
@@ -27,7 +27,7 @@ use bevy::{
         view::VisibleEntities,
     },
 };
-use rmf_site_format::{Category, LevelElevation, Light, LightKind, NameInSite, Pose};
+use rmf_site_format::{Category, Light, LightKind, NameInSite, Pose};
 use std::collections::{BTreeMap, HashMap};
 
 /// True/false for whether the physical lights of an environment should be
@@ -58,7 +58,8 @@ pub fn add_physical_lights(
             } else {
                 Visibility::Hidden
             })
-            .insert(ComputedVisibility::default())
+            .insert(ViewVisibility::default())
+            .insert(InheritedVisibility::default())
             .insert(Frustum::default())
             .insert(VisibleEntities::default())
             .insert(CubemapFrusta::default())
@@ -151,7 +152,7 @@ pub fn export_lights(
     lights: Query<(&Pose, &LightKind, &Parent)>,
     levels: Query<&NameInSite>,
 ) {
-    for export in exports.iter() {
+    for export in exports.read() {
         let mut lights_per_level: BTreeMap<String, Vec<Light>> = BTreeMap::new();
         for (pose, kind, parent) in &lights {
             if let Ok(name) = levels.get(parent.get()) {
diff --git a/rmf_site_editor/src/site/load.rs b/rmf_site_editor/src/site/load.rs
index 7521d9eb..cacd0f57 100644
--- a/rmf_site_editor/src/site/load.rs
+++ b/rmf_site_editor/src/site/load.rs
@@ -360,7 +360,7 @@ pub fn load_site(
     mut load_sites: EventReader<LoadSite>,
     mut change_current_site: EventWriter<ChangeCurrentSite>,
 ) {
-    for cmd in load_sites.iter() {
+    for cmd in load_sites.read() {
         let site = match generate_site_entities(&mut commands, &cmd.site) {
             Ok(site) => site,
             Err(err) => {
@@ -615,7 +615,7 @@ pub fn import_nav_graph(
     mut params: ImportNavGraphParams,
     mut import_requests: EventReader<ImportNavGraphs>,
 ) {
-    for r in import_requests.iter() {
+    for r in import_requests.read() {
         if let Err(err) = generate_imported_nav_graphs(&mut params, r.into_site, &r.from_site) {
             error!("Failed to import nav graph: {err}");
         }
diff --git a/rmf_site_editor/src/site/location.rs b/rmf_site_editor/src/site/location.rs
index a7114cb7..932a78ee 100644
--- a/rmf_site_editor/src/site/location.rs
+++ b/rmf_site_editor/src/site/location.rs
@@ -313,7 +313,7 @@ pub fn update_visibility_for_locations(
     >,
     mut removed: RemovedComponents<NavGraphMarker>,
 ) {
-    let graph_change = !graph_changed_visibility.is_empty() || removed.iter().next().is_some();
+    let graph_change = !graph_changed_visibility.is_empty() || removed.read().next().is_some();
     let update_all = current_level.is_changed() || graph_change;
     if update_all {
         for (point, associated, mut visibility, _) in &mut locations {
@@ -385,7 +385,7 @@ pub fn handle_consider_location_tag(
     mut recalls: Query<&mut RecallLocationTags>,
     mut considerations: EventReader<ConsiderLocationTag>,
 ) {
-    for consider in considerations.iter() {
+    for consider in considerations.read() {
         if let Ok(mut recall) = recalls.get_mut(consider.for_element) {
             recall.consider_tag = consider.tag.clone();
             let r = recall.as_mut();
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index 03852f55..3faa751a 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -148,6 +148,7 @@ pub struct SitePlugin;
 
 impl Plugin for SitePlugin {
     fn build(&self, app: &mut App) {
+        add_site_icons(app);
         app.configure_sets(
             PreUpdate,
             (
@@ -187,6 +188,16 @@ impl Plugin for SitePlugin {
         .init_resource::<PhysicalLightToggle>()
         .init_resource::<UpdateFuelCacheChannels>()
         .init_resource::<ModelTrashcan>()
+        .register_type::<NameInSite>()
+        .register_type::<AssetSource>()
+        .register_type::<Pose>()
+        .register_type::<IsStatic>()
+        .register_type::<Scale>()
+        .register_type::<ModelMarker>()
+        .register_type::<VisualMeshMarker>()
+        .register_type::<CollisionMeshMarker>()
+        .register_type::<Category>()
+        .register_type::<PrimitiveShape>()
         .add_event::<LoadSite>()
         .add_event::<ImportNavGraphs>()
         .add_event::<ChangeCurrentSite>()
@@ -384,7 +395,6 @@ impl Plugin for SitePlugin {
                 update_model_scenes,
                 update_affiliations,
                 update_members_of_groups.after(update_affiliations),
-                handle_new_sdf_roots,
                 update_model_scales,
                 make_models_selectable,
                 propagate_model_render_layers,
diff --git a/rmf_site_editor/src/site/model.rs b/rmf_site_editor/src/site/model.rs
index e287eb85..ab26b6c1 100644
--- a/rmf_site_editor/src/site/model.rs
+++ b/rmf_site_editor/src/site/model.rs
@@ -19,12 +19,17 @@ use crate::{
     interaction::{DragPlaneBundle, Selectable, MODEL_PREVIEW_LAYER},
     site::{Category, PreventDeletion, SiteAssets},
     site_asset_io::MODEL_ENVIRONMENT_VARIABLE,
-    SdfRoot,
 };
-use bevy::{asset::LoadState, gltf::Gltf, prelude::*, render::view::RenderLayers};
+use bevy::{
+    asset::{LoadState, LoadedUntypedAsset},
+    gltf::Gltf,
+    prelude::*,
+    render::view::RenderLayers,
+};
 use bevy_mod_outline::OutlineMeshExt;
-use rmf_site_format::{AssetSource, ModelMarker, Pending, Pose, Scale, UrdfRoot};
+use rmf_site_format::{AssetSource, ModelMarker, Pending, Pose, Scale};
 use smallvec::SmallVec;
+use std::any::TypeId;
 
 #[derive(Component, Debug, Clone)]
 pub struct ModelScene {
@@ -74,8 +79,8 @@ impl TentativeModelFormat {
     }
 }
 
-#[derive(Component, Deref, DerefMut)]
-pub struct PendingSpawning(HandleUntyped);
+#[derive(Debug, Component, Deref, DerefMut)]
+pub struct PendingSpawning(Handle<LoadedUntypedAsset>);
 
 /// A unit component to mark where a scene begins
 #[derive(Component, Debug, Clone, Copy)]
@@ -90,18 +95,25 @@ pub fn handle_model_loaded_events(
     mut current_scenes: Query<&mut ModelScene>,
     asset_server: Res<AssetServer>,
     site_assets: Res<SiteAssets>,
-    meshes: Res<Assets<Mesh>>,
-    scenes: Res<Assets<Scene>>,
     gltfs: Res<Assets<Gltf>>,
-    urdfs: Res<Assets<UrdfRoot>>,
-    sdfs: Res<Assets<SdfRoot>>,
+    untyped_assets: Res<Assets<LoadedUntypedAsset>>,
 ) {
     // For each model that is loading, check if its scene has finished loading
     // yet. If the scene has finished loading, then insert it as a child of the
     // model entity and make it selectable.
     for (e, h, scale, render_layer) in loading_models.iter() {
-        if asset_server.get_load_state(&h.0) == LoadState::Loaded {
-            let model_id = if let Some(gltf) = gltfs.get(&h.typed_weak::<Gltf>()) {
+        if asset_server.is_loaded_with_dependencies(h.id()) {
+            let Some(h) = untyped_assets.get(&**h) else {
+                warn!("Broken reference to untyped asset, this should not happen!");
+                continue;
+            };
+            let h = &h.handle;
+            let type_id = h.type_id();
+            let model_id = if type_id == TypeId::of::<Gltf>() {
+                // Guaranteed to be safe in this scope
+                // Note we can't do an `if let Some()` because get(Handle) panics if the type is
+                // not the stored type
+                let gltf = gltfs.get(&*h).unwrap();
                 // Get default scene if present, otherwise index 0
                 let scene = gltf
                     .default_scene
@@ -115,49 +127,29 @@ pub fn handle_model_loaded_events(
                             transform: Transform::from_scale(**scale),
                             ..default()
                         })
-                        .set_parent(e)
                         .id(),
                 )
-            } else if scenes.contains(&h.typed_weak::<Scene>()) {
-                let h_typed = h.0.clone().typed::<Scene>();
+            } else if type_id == TypeId::of::<Scene>() {
+                let scene = h.clone().typed::<Scene>();
                 Some(
                     commands
                         .spawn(SceneBundle {
-                            scene: h_typed,
+                            scene,
                             transform: Transform::from_scale(**scale),
                             ..default()
                         })
-                        .set_parent(e)
                         .id(),
                 )
-            } else if meshes.contains(&h.typed_weak::<Mesh>()) {
-                let h_typed = h.0.clone().typed::<Mesh>();
+            } else if type_id == TypeId::of::<Mesh>() {
+                let mesh = h.clone().typed::<Mesh>();
                 Some(
                     commands
                         .spawn(PbrBundle {
-                            mesh: h_typed,
+                            mesh,
                             material: site_assets.default_mesh_grey_material.clone(),
                             transform: Transform::from_scale(**scale),
                             ..default()
                         })
-                        .set_parent(e)
-                        .id(),
-                )
-            } else if let Some(urdf) = urdfs.get(&h.typed_weak::<UrdfRoot>()) {
-                Some(
-                    commands
-                        .spawn(SpatialBundle::INHERITED_IDENTITY)
-                        .insert(urdf.clone())
-                        .insert(Category::Workcell)
-                        .set_parent(e)
-                        .id(),
-                )
-            } else if let Some(sdf) = sdfs.get(&h.typed_weak::<SdfRoot>()) {
-                Some(
-                    commands
-                        .spawn(SpatialBundle::INHERITED_IDENTITY)
-                        .insert(sdf.clone())
-                        .set_parent(e)
                         .id(),
                 )
             } else {
@@ -166,7 +158,7 @@ pub fn handle_model_loaded_events(
 
             if let Some(id) = model_id {
                 let mut cmd = commands.entity(e);
-                cmd.insert(ModelSceneRoot);
+                cmd.insert(ModelSceneRoot).add_child(id);
                 if !render_layer.is_some_and(|l| l.iter().all(|l| l == MODEL_PREVIEW_LAYER)) {
                     cmd.insert(Selectable::new(e));
                 }
@@ -302,7 +294,7 @@ pub fn update_model_tentative_formats(
     }
     // Check from the asset server if any format failed, if it did try the next
     for (e, mut tentative_format, h, source) in loading_models.iter_mut() {
-        if matches!(asset_server.get_load_state(&h.0), LoadState::Failed) {
+        if matches!(asset_server.get_load_state(h.id()), Some(LoadState::Failed)) {
             let mut cmd = commands.entity(e);
             cmd.remove::<PreventDeletion>();
             // We want to iterate only for search asset types, for others just print an error
diff --git a/rmf_site_editor/src/site/sdf.rs b/rmf_site_editor/src/site/sdf.rs
index af66681c..16eb2110 100644
--- a/rmf_site_editor/src/site/sdf.rs
+++ b/rmf_site_editor/src/site/sdf.rs
@@ -17,253 +17,30 @@
 
 use bevy::prelude::*;
 use bevy::render::mesh::shape::{Capsule, UVSphere};
+use bevy::render::view::RenderLayers;
 
-use crate::interaction::Selectable;
+use crate::interaction::{DragPlaneBundle, Selectable, MODEL_PREVIEW_LAYER};
 use crate::shapes::make_cylinder;
 use crate::site::SiteAssets;
-use crate::SdfRoot;
-use sdformat_rs::{SdfGeometry, SdfPose, Vector3d};
 
-use rmf_site_format::{
-    Angle, AssetSource, Category, ConstraintDependents, Geometry, IsStatic, Model, ModelMarker,
-    NameInSite, Pose, PrimitiveShape, Rotation, Scale,
-};
+use rmf_site_format::PrimitiveShape;
 
 /// An empty component to mark this entity as a visual mesh
-#[derive(Component, Debug, Clone, Default)]
+#[derive(Component, Debug, Clone, Default, Reflect)]
+#[reflect(Component)]
 pub struct VisualMeshMarker;
 
 /// An empty component to mark this entity as a collision mesh
-#[derive(Component, Debug, Clone, Default)]
+#[derive(Component, Debug, Clone, Default, Reflect)]
+#[reflect(Component)]
 pub struct CollisionMeshMarker;
 
-// TODO(luca) cleanup this, there are many ways models are referenced and have to be resolved in
-// SDF between local, fuel and cached paths so the logic becomes quite complicated.
-fn compute_model_source(path: &str, uri: &str) -> AssetSource {
-    let mut asset_source = AssetSource::from(path);
-    match asset_source {
-        AssetSource::Remote(ref mut p) | AssetSource::Search(ref mut p) => {
-            let binding = p.clone();
-            *p = if let Some(stripped) = uri.strip_prefix("model://") {
-                // Get the org name from context, model name from this and combine
-                if let Some(org_name) = binding.split("/").next() {
-                    org_name.to_owned() + "/" + stripped
-                } else {
-                    error!(
-                        "Unable to extract organization name from asset source [{}]",
-                        uri
-                    );
-                    "".into()
-                }
-            } else if let Some(path_idx) = binding.rfind("/") {
-                // It's a path relative to this model, remove file and append uri
-                let (model_path, _model_name) = binding.split_at(path_idx);
-                model_path.to_owned() + "/" + uri
-            } else {
-                error!(
-                    "Invalid SDF model path, Path is [{}] and model uri is [{}]",
-                    path, uri
-                );
-                "".into()
-            };
-        }
-        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
-                // Note that this will not play well if the requested model shares files with other
-                // models that are placed in different folders or are in fuel, but should work for
-                // most local, self contained, models.
-                // Get the org name from context, model name from this and combine
-                if let Some(model_folder) = binding.rsplitn(3, "/").skip(2).next() {
-                    model_folder.to_owned() + "/" + stripped
-                } else {
-                    error!("Unable to extract model folder from asset source [{}]", uri);
-                    "".into()
-                }
-            } else if let Some(path_idx) = binding.rfind("/") {
-                // It's a path relative to this model, remove file and append uri
-                let (model_path, _model_name) = binding.split_at(path_idx);
-                model_path.to_owned() + "/" + uri
-            } else {
-                error!(
-                    "Invalid SDF model path, Path is [{}] and model uri is [{}]",
-                    path, uri
-                );
-                "".into()
-            };
-        }
-        AssetSource::Bundled(_) | AssetSource::OSMTile { .. } => {
-            warn!("Requested asset source {:?} type not supported for SDFs, might behave unexpectedly", asset_source);
-        }
-    }
-    asset_source
-}
-
-fn parse_scale(scale: &Option<Vector3d>) -> Scale {
-    match scale {
-        Some(v) => Scale(Vec3::new(v.0.x as f32, v.0.y as f32, v.0.z as f32)),
-        None => Scale::default(),
-    }
-}
-
-fn parse_pose(pose: &Option<SdfPose>) -> Pose {
-    if let Some(pose) = pose.clone().and_then(|p| p.get_pose().ok()) {
-        let rot = pose.rotation.euler_angles();
-        Pose {
-            trans: [
-                pose.translation.x as f32,
-                pose.translation.y as f32,
-                pose.translation.z as f32,
-            ],
-            rot: Rotation::EulerExtrinsicXYZ([
-                Angle::Rad(rot.0 as f32),
-                Angle::Rad(rot.1 as f32),
-                Angle::Rad(rot.2 as f32),
-            ]),
-        }
-    } else {
-        Pose::default()
-    }
-}
-
-fn spawn_geometry(
-    commands: &mut Commands,
-    geometry: &SdfGeometry,
-    visual_name: &str,
-    pose: &Option<SdfPose>,
-    sdf_path: &str,
-    is_static: bool,
-) -> Option<Entity> {
-    let pose = parse_pose(pose);
-    match geometry {
-        SdfGeometry::Mesh(mesh) => Some(
-            commands
-                .spawn(Model {
-                    name: NameInSite(visual_name.to_owned()),
-                    source: compute_model_source(sdf_path, &mesh.uri),
-                    pose,
-                    is_static: IsStatic(is_static),
-                    scale: parse_scale(&mesh.scale),
-                    marker: ModelMarker,
-                })
-                .id(),
-        ),
-        SdfGeometry::Box(b) => {
-            let s = &b.size.0;
-            Some(
-                commands
-                    .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(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(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(PrimitiveShape::Sphere {
-                    radius: s.radius as f32,
-                })
-                .insert(pose)
-                .insert(NameInSite(visual_name.to_owned()))
-                .insert(SpatialBundle::INHERITED_IDENTITY)
-                .id(),
-        ),
-        _ => None,
-    }
-}
-
-// 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 {
-            let link_pose = parse_pose(&link.pose);
-            let link_id = commands
-                .spawn(SpatialBundle::from_transform(link_pose.transform()))
-                .id();
-            commands.entity(e).add_child(link_id);
-            for visual in &link.visual {
-                let id = spawn_geometry(
-                    &mut commands,
-                    &visual.geometry,
-                    &visual.name,
-                    &visual.pose,
-                    &sdf.path,
-                    sdf.model.r#static.unwrap_or(false),
-                );
-                match id {
-                    Some(id) => {
-                        commands
-                            .entity(id)
-                            .insert(VisualMeshMarker)
-                            .insert(Category::Visual)
-                            .set_parent(link_id);
-                    }
-                    None => warn!("Found unhandled geometry type {:?}", &visual.geometry),
-                }
-            }
-            for collision in &link.collision {
-                let id = spawn_geometry(
-                    &mut commands,
-                    &collision.geometry,
-                    &collision.name,
-                    &collision.pose,
-                    &sdf.path,
-                    sdf.model.r#static.unwrap_or(false),
-                );
-                match id {
-                    Some(id) => {
-                        commands
-                            .entity(id)
-                            .insert(CollisionMeshMarker)
-                            .insert(Category::Collision)
-                            .set_parent(link_id);
-                    }
-                    None => warn!("Found unhandled geometry type {:?}", &collision.geometry),
-                }
-            }
-        }
-        commands.entity(e).remove::<SdfRoot>();
-    }
-}
-
 pub fn handle_new_primitive_shapes(
     mut commands: Commands,
     primitives: Query<(Entity, &PrimitiveShape), Added<PrimitiveShape>>,
     parents: Query<&Parent>,
-    selectables: Query<
-        &Selectable,
-        Or<(
-            With<ModelMarker>,
-            With<VisualMeshMarker>,
-            With<CollisionMeshMarker>,
-        )>,
-    >,
+    selectables: Query<&Selectable>,
+    render_layers: Query<&RenderLayers>,
     mut meshes: ResMut<Assets<Mesh>>,
     site_assets: Res<SiteAssets>,
 ) {
@@ -285,21 +62,34 @@ pub fn handle_new_primitive_shapes(
         };
         // 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
+        let id = commands
             .spawn(PbrBundle {
                 mesh: meshes.add(mesh),
                 material: site_assets.default_mesh_grey_material.clone(),
                 ..default()
             })
-            .insert(selectable)
-            .set_parent(e);
+            .set_parent(e)
+            .id();
+
+        if let Some(render_layer) = AncestorIter::new(&parents, e)
+            .filter_map(|p| render_layers.get(p).ok())
+            .last()
+        {
+            commands.entity(id).insert(render_layer.clone());
+            if !render_layer.iter().all(|l| l == MODEL_PREVIEW_LAYER) {
+                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.entity(id).insert((
+                    selectable,
+                    DragPlaneBundle::new(selectable.element, Vec3::Z),
+                ));
+            }
+        }
     }
 }
diff --git a/rmf_site_editor/src/site/site.rs b/rmf_site_editor/src/site/site.rs
index a9a21ad1..ce9586e7 100644
--- a/rmf_site_editor/src/site/site.rs
+++ b/rmf_site_editor/src/site/site.rs
@@ -60,7 +60,7 @@ pub fn change_site(
         }
     };
 
-    if let Some(cmd) = change_current_site.iter().last() {
+    if let Some(cmd) = change_current_site.read().last() {
         if open_sites.get(cmd.site).is_err() {
             warn!(
                 "Requested workspace change to an entity that is not an open site: {:?}",
diff --git a/rmf_site_editor/src/site/site_visualizer/mod.rs b/rmf_site_editor/src/site/site_visualizer/mod.rs
index b0039d85..5df6c5c2 100644
--- a/rmf_site_editor/src/site/site_visualizer/mod.rs
+++ b/rmf_site_editor/src/site/site_visualizer/mod.rs
@@ -18,7 +18,7 @@
 use bevy::prelude::*;
 
 use crate::interaction::{InteractionState, SetCategoryVisibility};
-use crate::site::{CurrentLevel, LaneMarker, LevelElevation, NameOfSite, SiteProperties};
+use crate::site::{CurrentLevel, LaneMarker, LevelElevation, NameOfSite};
 use crate::{AppState, CurrentWorkspace};
 
 #[derive(Default)]
diff --git a/rmf_site_editor/src/site/texture.rs b/rmf_site_editor/src/site/texture.rs
index a0480133..d4326e79 100644
--- a/rmf_site_editor/src/site/texture.rs
+++ b/rmf_site_editor/src/site/texture.rs
@@ -62,7 +62,7 @@ pub fn detect_last_selected_texture<T: Component>(
         }
     }
 
-    for group in removed_groups.iter() {
+    for group in removed_groups.read() {
         for mut last in &mut last_selected {
             if last.selection.is_some_and(|l| l == group) {
                 last.selection = None;
diff --git a/rmf_site_editor/src/site/wall.rs b/rmf_site_editor/src/site/wall.rs
index 39b5a141..b2ef4bcf 100644
--- a/rmf_site_editor/src/site/wall.rs
+++ b/rmf_site_editor/src/site/wall.rs
@@ -164,7 +164,7 @@ pub fn update_walls(
         };
         let (base_color_texture, texture) = from_texture_source(texture_source, &textures);
         *mesh = meshes.add(make_wall(e, edge, &texture, &anchors));
-        if let Some(mut material) = materials.get_mut(material) {
+        if let Some(material) = materials.get_mut(material) {
             let (base_color, alpha_mode) = if let Some(alpha) = texture.alpha.filter(|a| a < &1.0) {
                 (*Color::default().set_a(alpha), AlphaMode::Blend)
             } else {
diff --git a/rmf_site_editor/src/site_asset_io.rs b/rmf_site_editor/src/site_asset_io.rs
index a468a19c..5315ed9b 100644
--- a/rmf_site_editor/src/site_asset_io.rs
+++ b/rmf_site_editor/src/site_asset_io.rs
@@ -1,22 +1,21 @@
+use bevy::asset::io::AssetSource as BevyAssetSource;
 use bevy::{
-    asset::{AssetIo, AssetIoError, AssetPlugin, ChangeWatcher, FileType, Metadata},
+    asset::io::{AssetReader, AssetReaderError, AssetSourceBuilder, PathStream, Reader, VecReader},
     prelude::*,
-    utils::{BoxedFuture, HashMap},
+    utils::BoxedFuture,
 };
 use dirs;
 use serde::Deserialize;
 use std::env;
 use std::fs;
 use std::io;
-use std::io::prelude::*;
+use std::marker::Sync;
 use std::path::{Path, PathBuf};
 use std::sync::Mutex;
 
-use crate::{urdf_loader::UrdfPlugin, OSMTile};
+use crate::OSMTile;
 use urdf_rs::utils::expand_package_path;
 
-use rmf_site_format::AssetSource;
-
 pub fn cache_path() -> PathBuf {
     let mut p = dirs::cache_dir().unwrap();
     p.push("open-robotics");
@@ -24,11 +23,6 @@ pub fn cache_path() -> PathBuf {
     return p;
 }
 
-struct SiteAssetIo {
-    pub default_io: Box<dyn AssetIo>,
-    pub bundled_assets: HashMap<String, Vec<u8>>,
-}
-
 const FUEL_BASE_URI: &str = "https://fuel.gazebosim.org/1.0";
 pub const MODEL_ENVIRONMENT_VARIABLE: &str = "GZ_SIM_RESOURCE_PATH";
 
@@ -40,375 +34,184 @@ struct FuelErrorMsg {
     msg: String,
 }
 
-impl SiteAssetIo {
-    fn load_from_file(&self, path: PathBuf) -> Result<Vec<u8>, AssetIoError> {
-        let mut bytes = Vec::new();
-        match fs::File::open(&path) {
-            Ok(mut file) => {
-                file.read_to_end(&mut bytes)?;
-            }
-            Err(e) => {
-                return if e.kind() == std::io::ErrorKind::NotFound {
-                    Err(AssetIoError::NotFound(path))
-                } else {
-                    Err(e.into())
-                }
+fn load_from_file<'a>(path: PathBuf) -> Result<Box<Reader<'a>>, AssetReaderError> {
+    match fs::read(&path) {
+        Ok(bytes) => Ok(Box::new(VecReader::new(bytes))),
+        Err(e) => {
+            if e.kind() == std::io::ErrorKind::NotFound {
+                Err(AssetReaderError::NotFound(path))
+            } else {
+                Err(e.into())
             }
         }
-        Ok(bytes)
-    }
-
-    fn fetch_asset<'a>(
-        &'a self,
-        remote_url: String,
-        asset_name: String,
-    ) -> BoxedFuture<'a, Result<Vec<u8>, AssetIoError>> {
-        Box::pin(async move {
-            let mut req = surf::get(remote_url.clone());
-            match FUEL_API_KEY.lock() {
-                Ok(key) => {
-                    if let Some(key) = key.clone() {
-                        req = req.header("Private-token", key);
-                    }
-                }
-                Err(poisoned_key) => {
-                    // Reset the key to None
-                    *poisoned_key.into_inner() = None;
-                    return Err(AssetIoError::Io(io::Error::new(
-                        io::ErrorKind::Other,
-                        format!("Lock poisoning detected when reading fuel API key, please set it again."),
-                    )));
-                }
-            }
-            let bytes = req.recv_bytes().await.map_err(|e| {
-                AssetIoError::Io(io::Error::new(io::ErrorKind::Other, e.to_string()))
-            })?;
-
-            match serde_json::from_slice::<FuelErrorMsg>(&bytes) {
-                Ok(error) => {
-                    return Err(AssetIoError::Io(io::Error::new(
-                        io::ErrorKind::NotFound,
-                        format!(
-                            "Failed to fetch asset from fuel {} [errcode {}]: {}",
-                            remote_url, error.errcode, error.msg,
-                        ),
-                    )));
-                }
-                Err(_) => {
-                    // This is actually the happy path. When a GET from fuel was
-                    // successful, it will not return a JSON that can be
-                    // interpreted as a FuelErrorMsg, so our attempt to parse an
-                    // error message will fail.
-                }
-            }
-
-            #[cfg(not(target_arch = "wasm32"))]
-            {
-                self.save_to_cache(&asset_name, &bytes);
-            }
-            Ok(bytes)
-        })
     }
+}
 
-    fn get_path_from_env(&self) -> Result<PathBuf, env::VarError> {
-        let var = env::var(MODEL_ENVIRONMENT_VARIABLE)?;
-        let path = PathBuf::from(var);
-        // TODO wrap error to be more explicative
-        match path.exists() {
-            true => Ok(path),
-            false => Err(env::VarError::NotPresent),
+fn generate_remote_asset_url(name: &str) -> Result<String, AssetReaderError> {
+    // Expected format: OrgName/ModelName/FileName.ext
+    // We may need to be a bit magical here because some assets
+    // are found in Fuel and others are not.
+    let binding = name.to_owned();
+    let mut tokens = binding.split("/");
+    let org_name = match tokens.next() {
+        Some(token) => token,
+        None => {
+            return Err(AssetReaderError::Io(io::Error::new(
+                io::ErrorKind::Other,
+                format!("Unable to parse into org/model names: {name}"),
+            )));
         }
-    }
-
-    fn save_to_cache(&self, name: &String, bytes: &[u8]) {
-        let mut asset_path = cache_path();
-        asset_path.push(PathBuf::from(&name));
-        fs::create_dir_all(asset_path.parent().unwrap()).unwrap();
-        if bytes.len() > 0 {
-            fs::write(asset_path, bytes).expect("unable to write to file");
+    };
+    let model_name = match tokens.next() {
+        Some(token) => token,
+        None => {
+            return Err(AssetReaderError::Io(io::Error::new(
+                io::ErrorKind::Other,
+                format!("Unable to parse into org/model names: {name}"),
+            )));
         }
+    };
+    // TODO(luca) migrate to split.remainder once
+    // https://github.com/rust-lang/rust/issues/77998 is stabilized
+    let binding = tokens.fold(String::new(), |prefix, path| prefix + "/" + path);
+    if binding.len() < 2 {
+        return Err(AssetReaderError::Io(io::Error::new(
+            io::ErrorKind::Other,
+            format!("File name not found for: {name}"),
+        )));
     }
+    let filename = binding.split_at(1).1;
+    let uri = format!(
+        "{0}/{1}/models/{2}/tip/files/{3}",
+        FUEL_BASE_URI, org_name, model_name, filename
+    );
+    return Ok(uri);
+}
 
-    fn generate_remote_asset_url(&self, name: &String) -> Result<String, AssetIoError> {
-        // Expected format: OrgName/ModelName/FileName.ext
-        // We may need to be a bit magical here because some assets
-        // are found in Fuel and others are not.
-        let binding = name.clone();
-        let mut tokens = binding.split("/");
-        let org_name = match tokens.next() {
-            Some(token) => token,
-            None => {
-                return Err(AssetIoError::Io(io::Error::new(
-                    io::ErrorKind::Other,
-                    format!("Unable to parse into org/model names: {name}"),
-                )));
-            }
-        };
-        let model_name = match tokens.next() {
-            Some(token) => token,
-            None => {
-                return Err(AssetIoError::Io(io::Error::new(
-                    io::ErrorKind::Other,
-                    format!("Unable to parse into org/model names: {name}"),
-                )));
+async fn fetch_asset<'a>(
+    remote_url: String,
+    asset_name: String,
+) -> Result<Box<Reader<'a>>, AssetReaderError> {
+    let mut req = ehttp::Request::get(remote_url.clone());
+    match FUEL_API_KEY.lock() {
+        Ok(key) => {
+            if let Some(key) = key.clone() {
+                req.headers.headers.push(("Private-token".to_owned(), key));
             }
-        };
-        // TODO(luca) migrate to split.remainder once
-        // https://github.com/rust-lang/rust/issues/77998 is stabilized
-        let binding = tokens.fold(String::new(), |prefix, path| prefix + "/" + path);
-        if binding.len() < 2 {
-            return Err(AssetIoError::Io(io::Error::new(
+        }
+        Err(poisoned_key) => {
+            // Reset the key to None
+            *poisoned_key.into_inner() = None;
+            return Err(AssetReaderError::Io(io::Error::new(
                 io::ErrorKind::Other,
-                format!("File name not found for: {name}"),
+                format!("Lock poisoning detected when reading fuel API key, please set it again."),
             )));
         }
-        let filename = binding.split_at(1).1;
-        let uri = format!(
-            "{0}/{1}/models/{2}/tip/files/{3}",
-            FUEL_BASE_URI, org_name, model_name, filename
-        );
-        return Ok(uri);
+    }
+    let bytes = ehttp::fetch_async(req)
+        .await
+        .map_err(|e| AssetReaderError::Io(io::Error::new(io::ErrorKind::Other, e.to_string())))?
+        .bytes;
+
+    match serde_json::from_slice::<FuelErrorMsg>(&bytes) {
+        Ok(error) => {
+            return Err(AssetReaderError::Io(io::Error::new(
+                io::ErrorKind::NotFound,
+                format!(
+                    "Failed to fetch asset from fuel {} [errcode {}]: {}",
+                    remote_url, error.errcode, error.msg,
+                ),
+            )));
+        }
+        Err(_) => {
+            // This is actually the happy path. When a GET from fuel was
+            // successful, it will not return a JSON that can be
+            // interpreted as a FuelErrorMsg, so our attempt to parse an
+            // error message will fail.
+        }
     }
 
-    fn add_bundled_assets(&mut self) {
-        self.bundled_assets.insert(
-            "textures/select.png".to_owned(),
-            include_bytes!("../../assets/textures/select.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/selected.png".to_owned(),
-            include_bytes!("../../assets/textures/selected.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/trash.png".to_owned(),
-            include_bytes!("../../assets/textures/trash.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/merge.png".to_owned(),
-            include_bytes!("../../assets/textures/merge.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/confirm.png".to_owned(),
-            include_bytes!("../../assets/textures/confirm.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/add.png".to_owned(),
-            include_bytes!("../../assets/textures/add.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/reject.png".to_owned(),
-            include_bytes!("../../assets/textures/reject.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/search.png".to_owned(),
-            include_bytes!("../../assets/textures/search.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/empty.png".to_owned(),
-            include_bytes!("../../assets/textures/empty.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/alignment.png".to_owned(),
-            include_bytes!("../../assets/textures/alignment.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/edit.png".to_owned(),
-            include_bytes!("../../assets/textures/edit.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/exit.png".to_owned(),
-            include_bytes!("../../assets/textures/exit.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/up.png".to_owned(),
-            include_bytes!("../../assets/textures/up.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/down.png".to_owned(),
-            include_bytes!("../../assets/textures/down.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/to_top.png".to_owned(),
-            include_bytes!("../../assets/textures/to_top.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/to_bottom.png".to_owned(),
-            include_bytes!("../../assets/textures/to_bottom.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/opaque.png".to_owned(),
-            include_bytes!("../../assets/textures/opaque.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/alpha.png".to_owned(),
-            include_bytes!("../../assets/textures/alpha.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/hidden.png".to_owned(),
-            include_bytes!("../../assets/textures/hidden.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/global.png".to_owned(),
-            include_bytes!("../../assets/textures/global.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/hide.png".to_owned(),
-            include_bytes!("../../assets/textures/hide.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/battery.png".to_owned(),
-            include_bytes!("../../assets/textures/battery.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/parking.png".to_owned(),
-            include_bytes!("../../assets/textures/parking.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/stopwatch.png".to_owned(),
-            include_bytes!("../../assets/textures/stopwatch.png").to_vec(),
-        );
+    #[cfg(not(target_arch = "wasm32"))]
+    {
+        save_to_cache(&asset_name, &bytes);
     }
+    Ok(Box::new(VecReader::new(bytes)))
 }
 
-impl AssetIo for SiteAssetIo {
-    fn load_path<'a>(&'a self, path: &'a Path) -> BoxedFuture<'a, Result<Vec<u8>, AssetIoError>> {
-        let asset_source = AssetSource::from(path);
-        match asset_source {
-            AssetSource::Remote(asset_name) => {
-                let remote_url: String = match self.generate_remote_asset_url(&asset_name) {
-                    Ok(uri) => uri,
-                    Err(e) => return Box::pin(async move { Err(e) }),
-                };
-
-                // Try local cache first
-                #[cfg(not(target_arch = "wasm32"))]
-                {
-                    let mut asset_path = cache_path();
-                    asset_path.push(PathBuf::from(&asset_name));
-                    if asset_path.exists() {
-                        return Box::pin(async move { self.load_from_file(asset_path) });
-                    }
-                }
-
-                // Get from remote server
-                self.fetch_asset(remote_url, asset_name)
-            }
-            AssetSource::Local(filename) => Box::pin(async move {
-                let full_path = PathBuf::from(filename);
-                self.load_from_file(full_path)
-            }),
-            AssetSource::Bundled(filename) => {
-                if self.bundled_assets.contains_key(&filename) {
-                    return Box::pin(async move { Ok(self.bundled_assets[&filename].clone()) });
-                } else {
-                    return Box::pin(async move {
-                        Err(AssetIoError::Io(io::Error::new(
-                            io::ErrorKind::Other,
-                            format!("Bundled asset not found: {filename}"),
-                        )))
-                    });
-                }
-            }
-            AssetSource::Package(_) => Box::pin(async move {
-                // Split into package and path
-                let path = (*expand_package_path(&String::from(&asset_source), None)).to_owned();
-                self.load_from_file(PathBuf::from(path))
-            }),
-            AssetSource::Search(asset_name) => {
-                // Order should be:
-                // Relative to the building.yaml location, TODO, relative paths are tricky
-                // Relative to some paths read from an environment variable (.. need to check what gz uses for models)
-                // Relative to a cache directory
-                // Attempt to fetch from the server and save it to the cache directory
-
-                // TODO checking whether it's an sdf folder or a obj file
-                if let Ok(mut path) = self.get_path_from_env() {
-                    // Check if file exists
-                    path.push(&asset_name);
-                    if path.exists() {
-                        return Box::pin(async move { self.load_from_file(path) });
-                    }
-                }
-
-                // Try local cache
-                #[cfg(not(target_arch = "wasm32"))]
-                {
-                    let mut asset_path = cache_path();
-                    asset_path.push(PathBuf::from(&asset_name));
-                    if asset_path.exists() {
-                        return Box::pin(async move { self.load_from_file(asset_path) });
-                    }
-                }
-
-                let remote_url = match self.generate_remote_asset_url(&asset_name) {
-                    Ok(uri) => uri,
-                    Err(e) => return Box::pin(async move { Err(e) }),
-                };
-
-                // It cannot be found locally, so let's try to fetch it from the
-                // remote server
-                self.fetch_asset(remote_url, asset_name)
-            }
+fn get_path_from_env() -> Result<PathBuf, env::VarError> {
+    let var = env::var(MODEL_ENVIRONMENT_VARIABLE)?;
+    let path = PathBuf::from(var);
+    // TODO wrap error to be more explicative
+    match path.exists() {
+        true => Ok(path),
+        false => Err(env::VarError::NotPresent),
+    }
+}
 
-            AssetSource::OSMTile {
-                zoom,
-                latitude,
-                longitude,
-            } => {
-                return Box::pin(async move {
-                    let tile = OSMTile::from_latlon(zoom, latitude, longitude);
-                    tile.get_map_image().await.map_err(|e| {
-                        AssetIoError::Io(io::Error::new(
-                            io::ErrorKind::Other,
-                            format!("Unable to load map: {e}"),
-                        ))
-                    })
-                });
-            }
-        }
+fn save_to_cache(name: &str, bytes: &[u8]) {
+    let mut asset_path = cache_path();
+    asset_path.push(PathBuf::from(name));
+    fs::create_dir_all(asset_path.parent().unwrap()).unwrap();
+    if bytes.len() > 0 {
+        fs::write(asset_path, bytes).expect("unable to write to file");
     }
+}
+
+pub struct SiteAssetReader<F>
+where
+    F: Fn(&Path) -> BoxedFuture<'_, Result<Box<Reader<'_>>, AssetReaderError>> + Sync + 'static,
+{
+    pub default_reader: Box<dyn AssetReader>,
+    pub reader: F,
+}
 
-    fn get_metadata(&self, path: &Path) -> Result<Metadata, AssetIoError> {
-        if path.starts_with("rmf-site://") {
-            return Ok(Metadata::new(FileType::File));
-        } else {
-            return self.default_io.get_metadata(path);
+impl<F> SiteAssetReader<F>
+where
+    F: Fn(&Path) -> BoxedFuture<'_, Result<Box<Reader<'_>>, AssetReaderError>> + Sync + 'static,
+{
+    pub fn new(reader: F) -> Self {
+        Self {
+            default_reader: (AssetSourceBuilder::platform_default("assets", None)
+                .reader
+                .unwrap())(),
+            reader,
         }
     }
+}
 
-    fn read_directory(
-        &self,
-        path: &Path,
-    ) -> Result<Box<dyn Iterator<Item = PathBuf>>, AssetIoError> {
-        self.default_io.read_directory(path)
+impl<F> AssetReader for SiteAssetReader<F>
+where
+    F: Fn(&Path) -> BoxedFuture<'_, Result<Box<Reader<'_>>, AssetReaderError>>
+        + Send
+        + Sync
+        + 'static,
+{
+    fn read<'a>(
+        &'a self,
+        path: &'a Path,
+    ) -> BoxedFuture<'a, Result<Box<Reader<'a>>, AssetReaderError>> {
+        (self.reader)(path)
     }
 
-    fn is_dir(&self, path: &Path) -> bool {
-        #[cfg(target_arch = "wasm32")]
-        return false;
-
-        #[cfg(not(target_arch = "wasm32"))]
-        self.default_io.is_dir(path)
+    fn read_meta<'a>(
+        &'a self,
+        path: &'a Path,
+    ) -> BoxedFuture<'a, Result<Box<Reader<'a>>, AssetReaderError>> {
+        self.default_reader.read_meta(path)
     }
 
-    fn watch_path_for_changes(
-        &self,
-        to_watch: &Path,
-        to_reload: Option<PathBuf>,
-    ) -> Result<(), AssetIoError> {
-        #[cfg(target_arch = "wasm32")]
-        return Ok(());
-
-        #[cfg(not(target_arch = "wasm32"))]
-        self.default_io.watch_path_for_changes(to_watch, to_reload)
+    fn read_directory<'a>(
+        &'a self,
+        path: &'a Path,
+    ) -> BoxedFuture<'a, Result<Box<PathStream>, AssetReaderError>> {
+        self.default_reader.read_directory(path)
     }
 
-    fn watch_for_changes(&self, configuration: &ChangeWatcher) -> Result<(), AssetIoError> {
-        #[cfg(target_arch = "wasm32")]
-        return Ok(());
-
-        #[cfg(not(target_arch = "wasm32"))]
-        self.default_io.watch_for_changes(configuration)
+    fn is_directory<'a>(
+        &'a self,
+        path: &'a Path,
+    ) -> BoxedFuture<'a, Result<bool, AssetReaderError>> {
+        self.default_reader.is_directory(path)
     }
 }
 
@@ -417,17 +220,98 @@ pub struct SiteAssetIoPlugin;
 
 impl Plugin for SiteAssetIoPlugin {
     fn build(&self, app: &mut App) {
-        let mut asset_io = {
-            let default_io = AssetPlugin::default().create_platform_default_asset_io();
-            SiteAssetIo {
-                default_io,
-                bundled_assets: HashMap::new(),
-            }
-        };
-        asset_io.add_bundled_assets();
-
         // the asset server is constructed and added the resource manager
-        app.insert_resource(AssetServer::new(asset_io))
-            .add_plugins((bevy_stl::StlPlugin, bevy_obj::ObjPlugin, UrdfPlugin));
+        app.register_asset_source(
+            "search",
+            BevyAssetSource::build().with_reader(|| {
+                Box::new(SiteAssetReader::new(|path: &Path| {
+                    // Order should be:
+                    // Relative to the building.yaml location
+                    // Relative to the MODEL_ENVIRONMENT_VARIABLE path
+                    // Relative to a cache directory
+                    // Attempt to fetch from the server and save it to the cache directory
+
+                    let asset_name = path.to_str().unwrap().to_owned();
+                    if let Ok(mut path) = get_path_from_env() {
+                        // Check if file exists
+                        path.push(&asset_name);
+                        if path.exists() {
+                            return Box::pin(async move { load_from_file(path) });
+                        }
+                    }
+
+                    // Try local cache
+                    #[cfg(not(target_arch = "wasm32"))]
+                    {
+                        let mut asset_path = cache_path();
+                        asset_path.push(PathBuf::from(&asset_name));
+                        if asset_path.exists() {
+                            return Box::pin(async move { load_from_file(asset_path) });
+                        }
+                    }
+
+                    let remote_url = match generate_remote_asset_url(&asset_name) {
+                        Ok(uri) => uri,
+                        Err(e) => return Box::pin(async move { Err(e) }),
+                    };
+
+                    // It cannot be found locally, so let's try to fetch it from the
+                    // remote server
+                    Box::pin(async move { fetch_asset(remote_url, asset_name).await })
+                }))
+            }),
+        )
+        .register_asset_source(
+            "rmf-server",
+            BevyAssetSource::build().with_reader(|| {
+                Box::new(SiteAssetReader::new(|path: &Path| {
+                    let asset_name = path.to_str().unwrap().to_owned();
+                    let remote_url: String = match generate_remote_asset_url(&asset_name) {
+                        Ok(uri) => uri,
+                        Err(e) => return Box::pin(async move { Err(e) }),
+                    };
+
+                    // Try local cache first
+                    #[cfg(not(target_arch = "wasm32"))]
+                    {
+                        let mut asset_path = cache_path();
+                        asset_path.push(path);
+                        if asset_path.exists() {
+                            return Box::pin(async move { load_from_file(asset_path) });
+                        }
+                    }
+                    Box::pin(async move { fetch_asset(remote_url, asset_name).await })
+                }))
+            }),
+        )
+        .register_asset_source(
+            "package",
+            BevyAssetSource::build().with_reader(|| {
+                Box::new(SiteAssetReader::new(|path: &Path| {
+                    let path = (*expand_package_path(path.to_str().unwrap(), None)).to_owned();
+                    Box::pin(async move { load_from_file(path.into()) })
+                }))
+            }),
+        )
+        .register_asset_source(
+            "file",
+            BevyAssetSource::build().with_reader(|| {
+                Box::new(SiteAssetReader::new(|path: &Path| {
+                    Box::pin(async move { load_from_file(path.into()) })
+                }))
+            }),
+        )
+        .register_asset_source(
+            "osm-tile",
+            BevyAssetSource::build().with_reader(|| {
+                Box::new(SiteAssetReader::new(|path: &Path| {
+                    Box::pin(async move {
+                        let tile =
+                            OSMTile::try_from(path.to_path_buf()).map_err(std::io::Error::other)?;
+                        tile.get_map_image().await
+                    })
+                }))
+            }),
+        );
     }
 }
diff --git a/rmf_site_editor/src/urdf_loader.rs b/rmf_site_editor/src/urdf_loader.rs
deleted file mode 100644
index e3e10ad0..00000000
--- a/rmf_site_editor/src/urdf_loader.rs
+++ /dev/null
@@ -1,73 +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::asset::{AssetLoader, LoadContext, LoadedAsset};
-use bevy::prelude::*;
-use bevy::utils::BoxedFuture;
-
-use rmf_site_format::UrdfRoot;
-
-use thiserror::Error;
-
-pub struct UrdfPlugin;
-
-impl Plugin for UrdfPlugin {
-    fn build(&self, app: &mut App) {
-        app.init_asset_loader::<UrdfLoader>()
-            .add_asset::<UrdfRoot>();
-    }
-}
-
-#[derive(Default)]
-struct UrdfLoader;
-
-impl AssetLoader for UrdfLoader {
-    fn load<'a>(
-        &'a self,
-        bytes: &'a [u8],
-        load_context: &'a mut LoadContext,
-    ) -> BoxedFuture<'a, Result<(), bevy::asset::Error>> {
-        Box::pin(async move { Ok(load_urdf(bytes, load_context).await?) })
-    }
-
-    fn extensions(&self) -> &[&str] {
-        static EXTENSIONS: &[&str] = &["urdf"];
-        EXTENSIONS
-    }
-}
-
-#[derive(Error, Debug)]
-pub enum UrdfError {
-    #[error("Failed to load Urdf")]
-    ParsingError,
-    //Io(#[from] std::io::Error),
-}
-
-async fn load_urdf<'a, 'b>(
-    bytes: &'a [u8],
-    load_context: &'a mut LoadContext<'b>,
-) -> Result<(), UrdfError> {
-    if let Some(res) = std::str::from_utf8(bytes)
-        .ok()
-        .and_then(|utf| urdf_rs::read_from_string(utf).ok())
-    {
-        load_context.set_default_asset(LoadedAsset::new(UrdfRoot(res)));
-        return Ok(());
-    } else {
-        return Err(UrdfError::ParsingError);
-    }
-}
diff --git a/rmf_site_editor/src/view_menu.rs b/rmf_site_editor/src/view_menu.rs
index fe74e136..a4586b16 100644
--- a/rmf_site_editor/src/view_menu.rs
+++ b/rmf_site_editor/src/view_menu.rs
@@ -201,7 +201,7 @@ fn handle_view_menu_events(
         *value = !*value;
         *value
     };
-    for event in menu_events.iter() {
+    for event in menu_events.read() {
         if event.clicked() && event.source() == view_menu.doors {
             events.doors.send(toggle(event.source()).into());
         } else if event.clicked() && event.source() == view_menu.floors {
diff --git a/rmf_site_editor/src/widgets/create.rs b/rmf_site_editor/src/widgets/create.rs
index ea124c48..4ab0d59e 100644
--- a/rmf_site_editor/src/widgets/create.rs
+++ b/rmf_site_editor/src/widgets/create.rs
@@ -18,16 +18,13 @@
 use crate::{
     inspector::{InspectAssetSource, InspectScale},
     interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
-    site::{Change, DefaultFile, DrawingBundle, DrawingMarker, Recall},
-    AppEvents, AppState, CurrentWorkspace, SuppressRecencyRank,
+    site::{DefaultFile, DrawingBundle, Recall},
+    AppEvents, AppState,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{CollapsingHeader, Ui};
 
-use rmf_site_format::{
-    AssetSource, DrawingProperties, Geometry, Model, ModelMarker, Pending, RecallAssetSource,
-    Scale, WorkcellModel,
-};
+use rmf_site_format::{DrawingProperties, Geometry, Model, WorkcellModel};
 
 #[derive(SystemParam)]
 pub struct CreateParams<'w, 's> {
diff --git a/rmf_site_editor/src/widgets/diagnostic_window.rs b/rmf_site_editor/src/widgets/diagnostic_window.rs
index 10e179ac..3a21c21b 100644
--- a/rmf_site_editor/src/widgets/diagnostic_window.rs
+++ b/rmf_site_editor/src/widgets/diagnostic_window.rs
@@ -21,7 +21,7 @@ use crate::{AppEvents, Icons, Issue};
 use crate::{IssueDictionary, ValidateWorkspace};
 use bevy::ecs::system::SystemParam;
 use bevy::prelude::*;
-use bevy_egui::egui::{Button, Checkbox, Context, Grid, ImageButton, ScrollArea, Ui};
+use bevy_egui::egui::{Button, Checkbox, Grid, ImageButton, ScrollArea, Ui};
 
 #[derive(Resource, Debug, Clone, Default)]
 pub struct DiagnosticWindowState {
@@ -87,7 +87,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                             .unwrap_or("Unknown Type".to_owned());
                         ui.label(issue_type);
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui(), [16., 16.]))
+                            .add(ImageButton::new(self.params.icons.trash.egui()))
                             .on_hover_text("Remove this suppression")
                             .clicked()
                         {
@@ -136,7 +136,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                         issue_still_exists |= sel;
                         ui.horizontal(|ui| {
                             if ui
-                                .add(ImageButton::new(self.params.icons.hide.egui(), [16., 16.]))
+                                .add(ImageButton::new(self.params.icons.hide.egui()))
                                 .on_hover_text("Suppress this issue")
                                 .clicked()
                             {
diff --git a/rmf_site_editor/src/widgets/icons.rs b/rmf_site_editor/src/widgets/icons.rs
index 501cd683..f55ededb 100644
--- a/rmf_site_editor/src/widgets/icons.rs
+++ b/rmf_site_editor/src/widgets/icons.rs
@@ -17,13 +17,12 @@
 
 use crate::{recency::RankAdjustment, site::LayerVisibility};
 use bevy::{ecs::system::SystemState, prelude::*};
-use bevy_egui::{egui::TextureId, EguiContexts};
-use rmf_site_format::AssetSource;
+use bevy_egui::{egui::ImageSource, egui::TextureId, EguiContexts};
 
 struct IconBuilder(Handle<Image>);
 impl IconBuilder {
     pub fn new(name: &str, asset_server: &AssetServer) -> Self {
-        Self(asset_server.load(&String::from(&AssetSource::Bundled(name.to_owned()))))
+        Self(asset_server.load("embedded://librmf_site_editor/".to_owned() + name))
     }
 
     pub fn build(self, egui_context: &mut EguiContexts) -> Icon {
@@ -42,8 +41,10 @@ pub struct Icon {
 }
 
 impl Icon {
-    pub fn egui(&self) -> TextureId {
-        self.egui_handle
+    // TODO(luca) consider exposing parameter for size, all occurences in the codebase currently
+    // use [18., 18.]
+    pub fn egui(&self) -> ImageSource {
+        ImageSource::Texture((self.egui_handle, [18., 18.].into()).into())
     }
 }
 
@@ -76,32 +77,32 @@ pub struct Icons {
 impl FromWorld for Icons {
     fn from_world(mut world: &mut World) -> Self {
         let asset_server = world.get_resource::<AssetServer>().unwrap();
-        let select = IconBuilder::new("textures/select.png", &asset_server);
-        let selected = IconBuilder::new("textures/selected.png", &asset_server);
-        let edit = IconBuilder::new("textures/edit.png", &asset_server);
-        let exit = IconBuilder::new("textures/exit.png", &asset_server);
-        let trash = IconBuilder::new("textures/trash.png", &asset_server);
-        let merge = IconBuilder::new("textures/merge.png", &asset_server);
-        let confirm = IconBuilder::new("textures/confirm.png", &asset_server);
-        let add = IconBuilder::new("textures/add.png", &asset_server);
-        let reject = IconBuilder::new("textures/reject.png", &asset_server);
-        let search = IconBuilder::new("textures/search.png", &asset_server);
-        let empty = IconBuilder::new("textures/empty.png", &asset_server);
-        let alignment = IconBuilder::new("textures/alignment.png", &asset_server);
-        let layer_up = IconBuilder::new("textures/up.png", &asset_server);
-        let layer_down = IconBuilder::new("textures/down.png", &asset_server);
-        let layer_to_top = IconBuilder::new("textures/to_top.png", &asset_server);
-        let layer_to_bottom = IconBuilder::new("textures/to_bottom.png", &asset_server);
-        let opaque = IconBuilder::new("textures/opaque.png", &asset_server);
-        let alpha = IconBuilder::new("textures/alpha.png", &asset_server);
-        let hidden = IconBuilder::new("textures/hidden.png", &asset_server);
-        let global = IconBuilder::new("textures/global.png", &asset_server);
-        let hide = IconBuilder::new("textures/hide.png", &asset_server);
+        let select = IconBuilder::new("widgets/icons/select.png", &asset_server);
+        let selected = IconBuilder::new("widgets/icons/selected.png", &asset_server);
+        let edit = IconBuilder::new("widgets/icons/edit.png", &asset_server);
+        let exit = IconBuilder::new("widgets/icons/exit.png", &asset_server);
+        let trash = IconBuilder::new("widgets/icons/trash.png", &asset_server);
+        let merge = IconBuilder::new("widgets/icons/merge.png", &asset_server);
+        let confirm = IconBuilder::new("widgets/icons/confirm.png", &asset_server);
+        let add = IconBuilder::new("widgets/icons/add.png", &asset_server);
+        let reject = IconBuilder::new("widgets/icons/reject.png", &asset_server);
+        let search = IconBuilder::new("widgets/icons/search.png", &asset_server);
+        let empty = IconBuilder::new("widgets/icons/empty.png", &asset_server);
+        let alignment = IconBuilder::new("widgets/icons/alignment.png", &asset_server);
+        let layer_up = IconBuilder::new("widgets/icons/up.png", &asset_server);
+        let layer_down = IconBuilder::new("widgets/icons/down.png", &asset_server);
+        let layer_to_top = IconBuilder::new("widgets/icons/to_top.png", &asset_server);
+        let layer_to_bottom = IconBuilder::new("widgets/icons/to_bottom.png", &asset_server);
+        let opaque = IconBuilder::new("widgets/icons/opaque.png", &asset_server);
+        let alpha = IconBuilder::new("widgets/icons/alpha.png", &asset_server);
+        let hidden = IconBuilder::new("widgets/icons/hidden.png", &asset_server);
+        let global = IconBuilder::new("widgets/icons/global.png", &asset_server);
+        let hide = IconBuilder::new("widgets/icons/hide.png", &asset_server);
 
         // Note: Building the icons is a two-stage process because we cannot
         // get the mutable EguiContext resource at the same time as the
         // immutable AssetServer resource.
-        let mut system_state: SystemState<(EguiContexts)> = SystemState::new(&mut world);
+        let mut system_state: SystemState<EguiContexts> = SystemState::new(&mut world);
         let mut egui_context = system_state.get_mut(&mut world);
         Self {
             select: select.build(&mut egui_context),
@@ -130,7 +131,7 @@ impl FromWorld for Icons {
 }
 
 impl Icons {
-    pub fn layer_visibility_of(&self, vis: Option<LayerVisibility>) -> TextureId {
+    pub fn layer_visibility_of(&self, vis: Option<LayerVisibility>) -> ImageSource {
         match vis {
             Some(v) => match v {
                 LayerVisibility::Opaque => self.opaque.egui(),
@@ -141,7 +142,7 @@ impl Icons {
         }
     }
 
-    pub fn move_rank(&self, adjustment: RankAdjustment) -> TextureId {
+    pub fn move_rank(&self, adjustment: RankAdjustment) -> ImageSource {
         match adjustment {
             RankAdjustment::Delta(delta) => {
                 if delta < 0 {
diff --git a/assets/textures/add.png b/rmf_site_editor/src/widgets/icons/add.png
similarity index 100%
rename from assets/textures/add.png
rename to rmf_site_editor/src/widgets/icons/add.png
diff --git a/assets/textures/alignment.png b/rmf_site_editor/src/widgets/icons/alignment.png
similarity index 100%
rename from assets/textures/alignment.png
rename to rmf_site_editor/src/widgets/icons/alignment.png
diff --git a/assets/textures/alignment.svg b/rmf_site_editor/src/widgets/icons/alignment.svg
similarity index 100%
rename from assets/textures/alignment.svg
rename to rmf_site_editor/src/widgets/icons/alignment.svg
diff --git a/assets/textures/alpha.png b/rmf_site_editor/src/widgets/icons/alpha.png
similarity index 100%
rename from assets/textures/alpha.png
rename to rmf_site_editor/src/widgets/icons/alpha.png
diff --git a/assets/textures/alpha.svg b/rmf_site_editor/src/widgets/icons/alpha.svg
similarity index 100%
rename from assets/textures/alpha.svg
rename to rmf_site_editor/src/widgets/icons/alpha.svg
diff --git a/assets/textures/attribution.md b/rmf_site_editor/src/widgets/icons/attribution.md
similarity index 100%
rename from assets/textures/attribution.md
rename to rmf_site_editor/src/widgets/icons/attribution.md
diff --git a/assets/textures/confirm.png b/rmf_site_editor/src/widgets/icons/confirm.png
similarity index 100%
rename from assets/textures/confirm.png
rename to rmf_site_editor/src/widgets/icons/confirm.png
diff --git a/assets/textures/down.png b/rmf_site_editor/src/widgets/icons/down.png
similarity index 100%
rename from assets/textures/down.png
rename to rmf_site_editor/src/widgets/icons/down.png
diff --git a/assets/textures/down.svg b/rmf_site_editor/src/widgets/icons/down.svg
similarity index 100%
rename from assets/textures/down.svg
rename to rmf_site_editor/src/widgets/icons/down.svg
diff --git a/assets/textures/edit.png b/rmf_site_editor/src/widgets/icons/edit.png
similarity index 100%
rename from assets/textures/edit.png
rename to rmf_site_editor/src/widgets/icons/edit.png
diff --git a/assets/textures/empty.png b/rmf_site_editor/src/widgets/icons/empty.png
similarity index 100%
rename from assets/textures/empty.png
rename to rmf_site_editor/src/widgets/icons/empty.png
diff --git a/assets/textures/exit.png b/rmf_site_editor/src/widgets/icons/exit.png
similarity index 100%
rename from assets/textures/exit.png
rename to rmf_site_editor/src/widgets/icons/exit.png
diff --git a/assets/textures/global.png b/rmf_site_editor/src/widgets/icons/global.png
similarity index 100%
rename from assets/textures/global.png
rename to rmf_site_editor/src/widgets/icons/global.png
diff --git a/assets/textures/global.svg b/rmf_site_editor/src/widgets/icons/global.svg
similarity index 100%
rename from assets/textures/global.svg
rename to rmf_site_editor/src/widgets/icons/global.svg
diff --git a/assets/textures/hidden.png b/rmf_site_editor/src/widgets/icons/hidden.png
similarity index 100%
rename from assets/textures/hidden.png
rename to rmf_site_editor/src/widgets/icons/hidden.png
diff --git a/assets/textures/hidden.svg b/rmf_site_editor/src/widgets/icons/hidden.svg
similarity index 100%
rename from assets/textures/hidden.svg
rename to rmf_site_editor/src/widgets/icons/hidden.svg
diff --git a/assets/textures/hide.png b/rmf_site_editor/src/widgets/icons/hide.png
similarity index 100%
rename from assets/textures/hide.png
rename to rmf_site_editor/src/widgets/icons/hide.png
diff --git a/assets/textures/hide.svg b/rmf_site_editor/src/widgets/icons/hide.svg
similarity index 100%
rename from assets/textures/hide.svg
rename to rmf_site_editor/src/widgets/icons/hide.svg
diff --git a/assets/textures/merge.png b/rmf_site_editor/src/widgets/icons/merge.png
similarity index 100%
rename from assets/textures/merge.png
rename to rmf_site_editor/src/widgets/icons/merge.png
diff --git a/assets/textures/opaque.png b/rmf_site_editor/src/widgets/icons/opaque.png
similarity index 100%
rename from assets/textures/opaque.png
rename to rmf_site_editor/src/widgets/icons/opaque.png
diff --git a/assets/textures/opaque.svg b/rmf_site_editor/src/widgets/icons/opaque.svg
similarity index 100%
rename from assets/textures/opaque.svg
rename to rmf_site_editor/src/widgets/icons/opaque.svg
diff --git a/assets/textures/reject.png b/rmf_site_editor/src/widgets/icons/reject.png
similarity index 100%
rename from assets/textures/reject.png
rename to rmf_site_editor/src/widgets/icons/reject.png
diff --git a/assets/textures/search.png b/rmf_site_editor/src/widgets/icons/search.png
similarity index 100%
rename from assets/textures/search.png
rename to rmf_site_editor/src/widgets/icons/search.png
diff --git a/assets/textures/select.png b/rmf_site_editor/src/widgets/icons/select.png
similarity index 100%
rename from assets/textures/select.png
rename to rmf_site_editor/src/widgets/icons/select.png
diff --git a/assets/textures/selected.png b/rmf_site_editor/src/widgets/icons/selected.png
similarity index 100%
rename from assets/textures/selected.png
rename to rmf_site_editor/src/widgets/icons/selected.png
diff --git a/assets/textures/selected.svg b/rmf_site_editor/src/widgets/icons/selected.svg
similarity index 100%
rename from assets/textures/selected.svg
rename to rmf_site_editor/src/widgets/icons/selected.svg
diff --git a/assets/textures/to_bottom.png b/rmf_site_editor/src/widgets/icons/to_bottom.png
similarity index 100%
rename from assets/textures/to_bottom.png
rename to rmf_site_editor/src/widgets/icons/to_bottom.png
diff --git a/assets/textures/to_bottom.svg b/rmf_site_editor/src/widgets/icons/to_bottom.svg
similarity index 100%
rename from assets/textures/to_bottom.svg
rename to rmf_site_editor/src/widgets/icons/to_bottom.svg
diff --git a/assets/textures/to_top.png b/rmf_site_editor/src/widgets/icons/to_top.png
similarity index 100%
rename from assets/textures/to_top.png
rename to rmf_site_editor/src/widgets/icons/to_top.png
diff --git a/assets/textures/to_top.svg b/rmf_site_editor/src/widgets/icons/to_top.svg
similarity index 100%
rename from assets/textures/to_top.svg
rename to rmf_site_editor/src/widgets/icons/to_top.svg
diff --git a/assets/textures/trash.png b/rmf_site_editor/src/widgets/icons/trash.png
similarity index 100%
rename from assets/textures/trash.png
rename to rmf_site_editor/src/widgets/icons/trash.png
diff --git a/assets/textures/trash.svg b/rmf_site_editor/src/widgets/icons/trash.svg
similarity index 100%
rename from assets/textures/trash.svg
rename to rmf_site_editor/src/widgets/icons/trash.svg
diff --git a/assets/textures/up.png b/rmf_site_editor/src/widgets/icons/up.png
similarity index 100%
rename from assets/textures/up.png
rename to rmf_site_editor/src/widgets/icons/up.png
diff --git a/assets/textures/up.svg b/rmf_site_editor/src/widgets/icons/up.svg
similarity index 100%
rename from assets/textures/up.svg
rename to rmf_site_editor/src/widgets/icons/up.svg
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
index 65dc05bf..27f5168e 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{
-    interaction::{ChangeMode, Hover, MoveTo, SelectAnchor3D},
+    interaction::{Hover, MoveTo},
     site::{
         latlon_to_world, world_to_latlon, Anchor, AssociatedGraphs, Category, Change, Dependents,
         GeographicComponent, JointProperties, LocationTags, MeshConstraint, SiteID, Subordinate,
@@ -86,8 +86,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
             )
             .show(ui);
 
-            let assign_response =
-                ui.add(ImageButton::new(self.params.icons.edit.egui(), [18., 18.]));
+            let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
 
             if assign_response.hovered() {
                 self.events.request.hover.send(Hover(Some(self.anchor)));
@@ -179,8 +178,8 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
                             }
                         });
                     }
-                    Anchor::CategorizedTranslate2D(anchor) => {
-                        todo!("Categorized translate inspector not implemented yet");
+                    Anchor::CategorizedTranslate2D(_) => {
+                        warn!("Categorized translate inspector not implemented yet");
                     }
                     Anchor::Pose3D(pose) => {
                         ui.vertical(|ui| {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
index e5728938..246777a0 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::site::DefaultFile;
-use bevy_egui::egui::{ComboBox, DragValue, Label, Ui};
+use bevy_egui::egui::{ComboBox, Ui};
 use pathdiff::diff_paths;
 use rmf_site_format::{AssetSource, RecallAssetSource};
 
@@ -45,19 +45,12 @@ impl<'a> InspectAssetSource<'a> {
     pub fn show(self, ui: &mut Ui) -> Option<AssetSource> {
         let mut new_source = self.source.clone();
 
-        let osm_string = "OpenStreetMaps".to_string();
         // TODO(luca) implement recall plugin
         let assumed_source = match self.source {
             AssetSource::Local(filename) => filename,
             AssetSource::Remote(uri) => uri,
             AssetSource::Search(name) => name,
-            AssetSource::Bundled(name) => name,
             AssetSource::Package(path) => path,
-            AssetSource::OSMTile {
-                zoom,
-                latitude,
-                longitude,
-            } => &osm_string,
         };
         ui.horizontal(|ui| {
             ui.label("Source");
@@ -68,7 +61,6 @@ impl<'a> InspectAssetSource<'a> {
                         AssetSource::Local(assumed_source.clone()),
                         AssetSource::Remote(assumed_source.clone()),
                         AssetSource::Search(assumed_source.clone()),
-                        AssetSource::Bundled(assumed_source.clone()),
                         AssetSource::Package(assumed_source.clone()),
                     ] {
                         ui.selectable_value(&mut new_source, variant.clone(), variant.label());
@@ -139,24 +131,9 @@ impl<'a> InspectAssetSource<'a> {
             AssetSource::Search(name) => {
                 ui.text_edit_singleline(name);
             }
-            AssetSource::Bundled(name) => {
-                ui.text_edit_singleline(name);
-            }
             AssetSource::Package(path) => {
                 ui.text_edit_singleline(path);
             }
-            AssetSource::OSMTile {
-                zoom,
-                latitude,
-                longitude,
-            } => {
-                ui.horizontal(|ui| {
-                    ui.add(Label::new("Latitude"));
-                    ui.add(DragValue::new(latitude).speed(1e-8));
-                    ui.add(Label::new("Longitude"));
-                    ui.add(DragValue::new(longitude).speed(1e-8));
-                });
-            }
         }
         if &new_source != self.source {
             Some(new_source)
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
index afb0d516..48450ece 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
@@ -93,7 +93,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
                     };
                     ui.horizontal(|ui| {
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui(), [18., 18.]))
+                            .add(ImageButton::new(self.params.icons.trash.egui()))
                             .clicked()
                         {
                             removed_graphs.push(*g);
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_door.rs b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
index de754ad0..2710ff67 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_door.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
@@ -48,7 +48,7 @@ impl<'a> InspectDoorType<'a> {
                 });
         });
 
-        fn left_right_ratio_ui(ui: &mut Ui, mut ratio: &mut f32) {
+        fn left_right_ratio_ui(ui: &mut Ui, ratio: &mut f32) {
             ui.horizontal(|ui| {
                 ui.label("Left : Right");
                 ui.add(
@@ -58,7 +58,7 @@ impl<'a> InspectDoorType<'a> {
                 )
                 .on_hover_text("(Left Door Length)/(Right Door Length)");
             });
-        };
+        }
 
         match &mut new_kind {
             DoorType::SingleSliding(door) => {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
index 7f0467db..4b6f262d 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
@@ -142,27 +142,21 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
 
             if any_partial_matches {
                 if ui
-                    .add(ImageButton::new(
-                        self.params.icons.search.egui(),
-                        [18., 18.],
-                    ))
+                    .add(ImageButton::new(self.params.icons.search.egui()))
                     .on_hover_text("Search results for this text can be found below")
                     .clicked()
                 {
                     info!("Use the drop-down box to choose a group for this fiducial");
                 }
             } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui(), [18., 18.]))
+                ui.add(ImageButton::new(self.params.icons.empty.egui()))
                     .on_hover_text("No search results can be found for this text");
             }
 
             match result {
                 SearchResult::Empty => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.hidden.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.hidden.egui()))
                         .on_hover_text("An empty string is not a good fiducial group name")
                         .clicked()
                     {
@@ -171,10 +165,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Current => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.selected.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.selected.egui()))
                         .on_hover_text("This is the name of the fiducial's current group")
                         .clicked()
                     {
@@ -183,7 +174,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::NoMatch => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.add.egui(), [18., 18.]))
+                        .add(ImageButton::new(self.params.icons.add.egui()))
                         .on_hover_text("Create a new group for this fiducial")
                         .clicked()
                     {
@@ -201,10 +192,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Match(group) => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.confirm.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.confirm.egui()))
                         .on_hover_text("Select this group")
                         .clicked()
                     {
@@ -216,10 +204,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Conflict(text) => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.reject.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.reject.egui()))
                         .on_hover_text(text)
                         .clicked()
                     {
@@ -235,7 +220,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
         let mut new_affiliation = affiliation.clone();
         ui.horizontal(|ui| {
             if ui
-                .add(ImageButton::new(self.params.icons.exit.egui(), [18., 18.]))
+                .add(ImageButton::new(self.params.icons.exit.egui()))
                 .on_hover_text("Remove this fiducial from its current group")
                 .clicked()
             {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_group.rs b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
index 63199fe1..23e25e81 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_group.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{
-    site::{Affiliation, Change, DefaultFile, Group, Members, NameInSite, SiteID, Texture},
+    site::{Affiliation, Change, DefaultFile, Group, Members, SiteID, Texture},
     widgets::{
         inspector::{InspectTexture, SelectionWidget},
         AppEvents,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
index ce253715..089b0dd8 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
@@ -16,12 +16,12 @@
 */
 
 use crate::{
-    site::{Change, Dependents, FrameMarker, JointProperties, SiteID},
+    site::{Dependents, FrameMarker, JointProperties, SiteID},
     widgets::{inspector::SelectionWidget, AppEvents},
     Icons,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{ComboBox, Ui};
+use bevy_egui::egui::Ui;
 
 #[derive(SystemParam)]
 pub struct InspectJointParams<'w, 's> {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
index 4d7474ce..5acc28c6 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
@@ -17,12 +17,11 @@
 
 use crate::{
     interaction::Hover,
-    recency::ChangeRank,
     site::{
         BeginEditDrawing, Change, LayerVisibility, PreferredSemiTransparency, SiteID,
         VisibilityCycle,
     },
-    widgets::{inspector::SelectionWidget, AppEvents, Icons, MoveLayerButton},
+    widgets::{inspector::SelectionWidget, AppEvents, Icons},
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
@@ -80,10 +79,7 @@ impl<'a, 'w, 's> InspectLayer<'a, 'w, 's> {
 
             if !self.is_floor {
                 let response = ui
-                    .add(ImageButton::new(
-                        self.events.layers.icons.edit.egui(),
-                        [18., 18.],
-                    ))
+                    .add(ImageButton::new(self.events.layers.icons.edit.egui()))
                     .on_hover_text("Edit Drawing");
 
                 if response.hovered() {
@@ -100,12 +96,10 @@ impl<'a, 'w, 's> InspectLayer<'a, 'w, 's> {
         }
 
         let icon = self.icons.layer_visibility_of(self.layer_vis);
-        let resp = ui
-            .add(ImageButton::new(icon, [18., 18.]))
-            .on_hover_text(format!(
-                "Change to {}",
-                self.layer_vis.next(self.default_alpha).label()
-            ));
+        let resp = ui.add(ImageButton::new(icon)).on_hover_text(format!(
+            "Change to {}",
+            self.layer_vis.next(self.default_alpha).label()
+        ));
         if resp.hovered() {
             self.events.request.hover.send(Hover(Some(self.entity)));
         }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_location.rs b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
index de64d7ea..aa21a3eb 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_location.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
@@ -59,10 +59,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
         let mut deleted_tag = None;
         for (i, tag) in self.tags.0.iter().enumerate() {
             ui.horizontal(|ui| {
-                if ui
-                    .add(ImageButton::new(self.icons.trash.egui(), [18., 18.]))
-                    .clicked()
-                {
+                if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
                     deleted_tag = Some(i);
                 }
                 ui.label(tag.label());
@@ -74,7 +71,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
 
         let added_tag = ui
             .collapsing("Add...", |ui| {
-                let (add, mut consider) = ui
+                let (add, consider) = ui
                     .horizontal(|ui| {
                         let add = ui.button("Confirm").clicked();
                         let mut consider = self.recall.assume_tag(self.tags);
@@ -144,6 +141,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
         }
     }
 
+    #[allow(dead_code)]
     fn inspect_model(
         &self,
         ui: &mut Ui,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
index 83c11686..919578ff 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use bevy_egui::egui::{ComboBox, DragValue, Ui};
+use bevy_egui::egui::Ui;
 use rmf_site_format::{PrimitiveShape, RecallPrimitiveShape};
 
 pub struct InspectPrimitiveShape<'a> {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
index 8d9c7e10..e38962fc 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
@@ -18,7 +18,6 @@
 use crate::{
     inspector::{InspectAssetSource, InspectValue, SearchResult},
     site::{Category, Change, DefaultFile},
-    widgets::egui::RichText,
     AppEvents, Icons, WorkspaceMarker,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
@@ -47,7 +46,6 @@ pub struct InspectTextureAffiliationParams<'w, 's> {
 
 pub struct InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
     entity: Entity,
-    default_file: Option<&'a DefaultFile>,
     params: &'a InspectTextureAffiliationParams<'w1, 's1>,
     events: &'a mut AppEvents<'w2, 's2>,
 }
@@ -55,13 +53,11 @@ pub struct InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
 impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
     pub fn new(
         entity: Entity,
-        default_file: Option<&'a DefaultFile>,
         params: &'a InspectTextureAffiliationParams<'w1, 's1>,
         events: &'a mut AppEvents<'w2, 's2>,
     ) -> Self {
         Self {
             entity,
-            default_file,
             params,
             events,
         }
@@ -118,27 +114,21 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         ui.horizontal(|ui| {
             if any_partial_matches {
                 if ui
-                    .add(ImageButton::new(
-                        self.params.icons.search.egui(),
-                        [18., 18.],
-                    ))
+                    .add(ImageButton::new(self.params.icons.search.egui()))
                     .on_hover_text("Search results for this text can be found below")
                     .clicked()
                 {
                     info!("Use the drop-down box to choose a texture");
                 }
             } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui(), [18., 18.]))
+                ui.add(ImageButton::new(self.params.icons.empty.egui()))
                     .on_hover_text("No search results can be found for this text");
             }
 
             match result {
                 SearchResult::Empty => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.hidden.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.hidden.egui()))
                         .on_hover_text("An empty string is not a good texture name")
                         .clicked()
                     {
@@ -147,10 +137,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Current => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.selected.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.selected.egui()))
                         .on_hover_text("This is the name of the currently selected texture")
                         .clicked()
                     {
@@ -159,7 +146,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::NoMatch => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.add.egui(), [18., 18.]))
+                        .add(ImageButton::new(self.params.icons.add.egui()))
                         .on_hover_text(if affiliation.0.is_some() {
                             "Create a new copy of the current texture"
                         } else {
@@ -195,10 +182,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Match(group) => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.confirm.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.confirm.egui()))
                         .on_hover_text("Select this texture")
                         .clicked()
                     {
@@ -210,10 +194,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Conflict(text) => {
                     if ui
-                        .add(ImageButton::new(
-                            self.params.icons.reject.egui(),
-                            [18., 18.],
-                        ))
+                        .add(ImageButton::new(self.params.icons.reject.egui()))
                         .on_hover_text(text)
                         .clicked()
                     {
@@ -226,7 +207,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 .on_hover_text("Search for or create a new texture");
         });
 
-        let (current_texture_name, current_texture) = if let Some(a) = affiliation.0 {
+        let (current_texture_name, _current_texture) = if let Some(a) = affiliation.0 {
             self.params
                 .texture_groups
                 .get(a)
@@ -240,7 +221,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         let mut new_affiliation = affiliation.clone();
         ui.horizontal(|ui| {
             if ui
-                .add(ImageButton::new(self.params.icons.exit.egui(), [18., 18.]))
+                .add(ImageButton::new(self.params.icons.exit.egui()))
                 .on_hover_text(format!("Remove this texture from the {}", category.label()))
                 .clicked()
             {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
index a3fcdd4d..74693344 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
@@ -88,8 +88,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2>
                 )
                 .show(ui);
 
-                let assign_response =
-                    ui.add(ImageButton::new(self.params.icons.edit.egui(), [18., 18.]));
+                let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
 
                 if assign_response.hovered() {
                     self.events.request.hover.send(Hover(Some(self.entity)));
diff --git a/rmf_site_editor/src/widgets/inspector/mod.rs b/rmf_site_editor/src/widgets/inspector/mod.rs
index 6f0026fc..74b0447e 100644
--- a/rmf_site_editor/src/widgets/inspector/mod.rs
+++ b/rmf_site_editor/src/widgets/inspector/mod.rs
@@ -105,13 +105,13 @@ use crate::{
     interaction::{Selection, SpawnPreview},
     site::{
         AlignSiteDrawings, BeginEditDrawing, Category, Change, DefaultFile, DrawingMarker,
-        EdgeLabels, LayerVisibility, Members, Original, SiteID,
+        EdgeLabels, LayerVisibility, Original, SiteID,
     },
     widgets::AppEvents,
     AppState,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, CollapsingHeader, RichText, Ui};
+use bevy_egui::egui::{Button, RichText, Ui};
 use rmf_site_format::*;
 
 // Bevy seems to have a limit of 16 fields in a SystemParam struct, so we split
@@ -346,7 +346,6 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                     if ui
                         .add(Button::image_and_text(
                             self.events.layers.icons.edit.egui(),
-                            [18., 18.],
                             "Edit Drawing",
                         ))
                         .clicked()
@@ -361,7 +360,6 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                 if ui
                     .add(Button::image_and_text(
                         self.events.layers.icons.alignment.egui(),
-                        [18., 18.],
                         "Align Drawings",
                     ))
                     .on_hover_text(
@@ -427,13 +425,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                 }
             }
 
-            InspectTextureAffiliation::new(
-                selection,
-                default_file,
-                &self.params.texture,
-                self.events,
-            )
-            .show(ui);
+            InspectTextureAffiliation::new(selection, &self.params.texture, self.events).show(ui);
 
             if let Ok((motion, recall)) = self.params.component.motions.get(selection) {
                 ui.label(RichText::new("Forward Motion").size(18.0));
diff --git a/rmf_site_editor/src/widgets/inspector/selection_widget.rs b/rmf_site_editor/src/widgets/inspector/selection_widget.rs
index 421c55b3..7d05c4aa 100644
--- a/rmf_site_editor/src/widgets/inspector/selection_widget.rs
+++ b/rmf_site_editor/src/widgets/inspector/selection_widget.rs
@@ -64,7 +64,7 @@ impl<'a, 'w, 's> SelectionWidget<'a, 'w, 's> {
             self.icons.select.egui()
         };
 
-        let response = ui.add(Button::image_and_text(icon, [18., 18.], text));
+        let response = ui.add(Button::image_and_text(icon, text));
 
         if response.clicked() {
             self.events.request.select.send(Select(Some(self.entity)));
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index 20128c92..70dd3ea8 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -23,17 +23,16 @@ use crate::{
     occupancy::CalculateGrid,
     recency::ChangeRank,
     site::{
-        AlignSiteDrawings, AssociatedGraphs, BeginEditDrawing, Change, CollisionMeshMarker,
-        ConsiderAssociatedGraph, ConsiderLocationTag, CurrentLevel, Delete, DrawingMarker,
-        ExportLights, FinishEditDrawing, GlobalDrawingVisibility, GlobalFloorVisibility,
-        JointProperties, LayerVisibility, MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture,
-        ToggleLiftDoorAvailability, VisualMeshMarker,
+        AlignSiteDrawings, AssociatedGraphs, BeginEditDrawing, Change, ConsiderAssociatedGraph,
+        ConsiderLocationTag, CurrentLevel, Delete, DrawingMarker, ExportLights, FinishEditDrawing,
+        GlobalDrawingVisibility, GlobalFloorVisibility, JointProperties, LayerVisibility,
+        MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture, ToggleLiftDoorAvailability,
     },
     workcell::CreateJoint,
     AppState, CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
     ValidateWorkspace,
 };
-use bevy::{ecs::query::Has, ecs::system::SystemParam, prelude::*};
+use bevy::{asset::embedded_asset, ecs::query::Has, ecs::system::SystemParam, prelude::*};
 use bevy_egui::{
     egui::{self, Button, CollapsingHeader},
     EguiContexts,
@@ -98,8 +97,33 @@ pub struct PendingModel {
 #[derive(Default)]
 pub struct StandardUiLayout;
 
+fn add_widgets_icons(app: &mut App) {
+    embedded_asset!(app, "icons/add.png");
+    embedded_asset!(app, "icons/alignment.png");
+    embedded_asset!(app, "icons/alpha.png");
+    embedded_asset!(app, "icons/confirm.png");
+    embedded_asset!(app, "icons/down.png");
+    embedded_asset!(app, "icons/edit.png");
+    embedded_asset!(app, "icons/empty.png");
+    embedded_asset!(app, "icons/exit.png");
+    embedded_asset!(app, "icons/global.png");
+    embedded_asset!(app, "icons/hidden.png");
+    embedded_asset!(app, "icons/hide.png");
+    embedded_asset!(app, "icons/merge.png");
+    embedded_asset!(app, "icons/opaque.png");
+    embedded_asset!(app, "icons/reject.png");
+    embedded_asset!(app, "icons/search.png");
+    embedded_asset!(app, "icons/select.png");
+    embedded_asset!(app, "icons/selected.png");
+    embedded_asset!(app, "icons/to_bottom.png");
+    embedded_asset!(app, "icons/to_top.png");
+    embedded_asset!(app, "icons/trash.png");
+    embedded_asset!(app, "icons/up.png");
+}
+
 impl Plugin for StandardUiLayout {
     fn build(&self, app: &mut App) {
+        add_widgets_icons(app);
         app.init_resource::<Icons>()
             .init_resource::<LevelDisplay>()
             .init_resource::<NavGraphDisplay>()
@@ -431,7 +455,6 @@ fn site_drawing_ui_layout(
                         if ui
                             .add(Button::image_and_text(
                                 events.layers.icons.exit.egui(),
-                                [18., 18.],
                                 "Return to site editor",
                             ))
                             .clicked()
@@ -507,7 +530,6 @@ fn site_visualizer_ui_layout(
                         ui.separator();
                         if ui.add(Button::image_and_text(
                             events.layers.icons.alignment.egui(),
-                            [18., 18.],
                             "Align Drawings",
                         ))
                             .on_hover_text("Align all drawings in the site based on their fiducials and measurements")
@@ -519,7 +541,6 @@ fn site_visualizer_ui_layout(
                         }
                         if ui.add(Button::image_and_text(
                             events.layers.icons.exit.egui(),
-                            [18., 18.],
                             "Return to site editor"
                         )).clicked() {
                             events.next_app_state.set(AppState::SiteEditor);
diff --git a/rmf_site_editor/src/widgets/move_layer.rs b/rmf_site_editor/src/widgets/move_layer.rs
index 8d3c6eb1..b8f018b2 100644
--- a/rmf_site_editor/src/widgets/move_layer.rs
+++ b/rmf_site_editor/src/widgets/move_layer.rs
@@ -16,7 +16,6 @@
 */
 
 use crate::{
-    interaction::Hover,
     recency::{ChangeRank, RankAdjustment},
     widgets::Icons,
 };
@@ -115,10 +114,7 @@ impl<'a, 'w, 's, T: Component> MoveLayerButton<'a, 'w, T> {
 
     pub fn show(self, ui: &mut Ui) {
         let resp = ui
-            .add(ImageButton::new(
-                self.icons.move_rank(self.adjustment),
-                [18., 18.],
-            ))
+            .add(ImageButton::new(self.icons.move_rank(self.adjustment)))
             .on_hover_text(self.adjustment.label());
 
         if resp.clicked() {
diff --git a/rmf_site_editor/src/widgets/new_model.rs b/rmf_site_editor/src/widgets/new_model.rs
index f1546581..5550542d 100644
--- a/rmf_site_editor/src/widgets/new_model.rs
+++ b/rmf_site_editor/src/widgets/new_model.rs
@@ -19,7 +19,7 @@ use crate::interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D};
 use crate::site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache};
 use crate::AppEvents;
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, ComboBox, RichText, ScrollArea, Ui, Window};
+use bevy_egui::egui::{Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
 use gz_fuel::FuelModel;
 
 /// Filters applied to models in the fuel list
@@ -211,10 +211,13 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                     });
                 ui.add_space(10.0);
 
-                ui.image(
-                    self.events.new_model.model_preview_camera.egui_handle,
-                    bevy_egui::egui::Vec2::new(320.0, 240.0),
-                );
+                ui.image(ImageSource::Texture(
+                    (
+                        self.events.new_model.model_preview_camera.egui_handle,
+                        [320.0, 240.0].into(),
+                    )
+                        .into(),
+                ));
                 ui.add_space(10.0);
 
                 if gallery_status.selected.as_ref() != new_selected {
diff --git a/rmf_site_editor/src/widgets/view_groups.rs b/rmf_site_editor/src/widgets/view_groups.rs
index 0fb92190..f6f0ceaf 100644
--- a/rmf_site_editor/src/widgets/view_groups.rs
+++ b/rmf_site_editor/src/widgets/view_groups.rs
@@ -16,12 +16,12 @@
 */
 
 use crate::{
-    site::{Change, FiducialMarker, Members, MergeGroups, NameInSite, SiteID, Texture},
+    site::{Change, FiducialMarker, MergeGroups, NameInSite, SiteID, Texture},
     widgets::{inspector::SelectionWidget, AppEvents},
     Icons,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, CollapsingHeader, ImageButton, Ui};
+use bevy_egui::egui::{Button, CollapsingHeader, Ui};
 
 #[derive(Default, Clone, Copy)]
 pub enum GroupViewMode {
@@ -109,11 +109,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
         ui.horizontal(|ui| match mode {
             GroupViewMode::View => {
                 if ui
-                    .add(Button::image_and_text(
-                        icons.merge.egui(),
-                        [18., 18.],
-                        "merge",
-                    ))
+                    .add(Button::image_and_text(icons.merge.egui(), "merge"))
                     .on_hover_text("Merge two groups")
                     .clicked()
                 {
@@ -121,11 +117,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                     *mode = GroupViewMode::SelectMergeFrom;
                 }
                 if ui
-                    .add(Button::image_and_text(
-                        icons.trash.egui(),
-                        [18., 18.],
-                        "delete",
-                    ))
+                    .add(Button::image_and_text(icons.trash.egui(), "delete"))
                     .on_hover_text("Delete a group")
                     .clicked()
                 {
@@ -135,11 +127,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
             }
             GroupViewMode::MergeFrom(_) | GroupViewMode::SelectMergeFrom => {
                 if ui
-                    .add(Button::image_and_text(
-                        icons.exit.egui(),
-                        [18., 18.],
-                        "cancel",
-                    ))
+                    .add(Button::image_and_text(icons.exit.egui(), "cancel"))
                     .on_hover_text("Cancel the merge")
                     .clicked()
                 {
@@ -148,11 +136,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
             }
             GroupViewMode::Delete => {
                 if ui
-                    .add(Button::image_and_text(
-                        icons.exit.egui(),
-                        [18., 18.],
-                        "cancel",
-                    ))
+                    .add(Button::image_and_text(icons.exit.egui(), "cancel"))
                     .on_hover_text("Cancel the delete")
                     .clicked()
                 {
@@ -175,11 +159,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                     }
                     GroupViewMode::SelectMergeFrom => {
                         if ui
-                            .add(Button::image_and_text(
-                                icons.merge.egui(),
-                                [18., 18.],
-                                &text,
-                            ))
+                            .add(Button::image_and_text(icons.merge.egui(), &text))
                             .on_hover_text("Merge the members of this group into another group")
                             .clicked()
                         {
@@ -189,7 +169,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                     GroupViewMode::MergeFrom(merge_from) => {
                         if merge_from == *child {
                             if ui
-                                .add(Button::image_and_text(icons.exit.egui(), [18., 18.], &text))
+                                .add(Button::image_and_text(icons.exit.egui(), &text))
                                 .on_hover_text("Cancel merge")
                                 .clicked()
                             {
@@ -197,11 +177,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                             }
                         } else {
                             if ui
-                                .add(Button::image_and_text(
-                                    icons.confirm.egui(),
-                                    [18., 18.],
-                                    &text,
-                                ))
+                                .add(Button::image_and_text(icons.confirm.egui(), &text))
                                 .on_hover_text("Merge into this group")
                                 .clicked()
                             {
@@ -215,11 +191,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                     }
                     GroupViewMode::Delete => {
                         if ui
-                            .add(Button::image_and_text(
-                                icons.trash.egui(),
-                                [18., 18.],
-                                &text,
-                            ))
+                            .add(Button::image_and_text(icons.trash.egui(), &text))
                             .on_hover_text("Delete this group")
                             .clicked()
                         {
diff --git a/rmf_site_editor/src/widgets/view_layers.rs b/rmf_site_editor/src/widgets/view_layers.rs
index 3a792a01..5ca14202 100644
--- a/rmf_site_editor/src/widgets/view_layers.rs
+++ b/rmf_site_editor/src/widgets/view_layers.rs
@@ -184,7 +184,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
     ) {
         let icon = self.params.icons.layer_visibility_of(Some(*vis));
         if ui
-            .add(Button::image_and_text(icon, [18., 18.], text))
+            .add(Button::image_and_text(icon, text))
             .on_hover_text(format!("Change to {}", vis.next(*default_alpha).label()))
             .clicked()
         {
diff --git a/rmf_site_editor/src/widgets/view_levels.rs b/rmf_site_editor/src/widgets/view_levels.rs
index bf26b494..003aceda 100644
--- a/rmf_site_editor/src/widgets/view_levels.rs
+++ b/rmf_site_editor/src/widgets/view_levels.rs
@@ -153,7 +153,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
                 ui.horizontal(|ui| {
                     if self.events.display.level.removing {
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui(), [18., 18.]))
+                            .add(ImageButton::new(self.params.icons.trash.egui()))
                             .on_hover_text("Remove this level")
                             .clicked()
                         {
diff --git a/rmf_site_editor/src/widgets/view_nav_graphs.rs b/rmf_site_editor/src/widgets/view_nav_graphs.rs
index 1532cf4a..7f4c76b6 100644
--- a/rmf_site_editor/src/widgets/view_nav_graphs.rs
+++ b/rmf_site_editor/src/widgets/view_nav_graphs.rs
@@ -163,7 +163,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
             ui.horizontal(|ui| {
                 if self.events.display.nav_graph.removing {
                     if ui
-                        .add(ImageButton::new(self.params.icons.trash.egui(), [18., 18.]))
+                        .add(ImageButton::new(self.params.icons.trash.egui()))
                         .clicked()
                     {
                         self.events.request.delete.send(Delete::new(e));
diff --git a/rmf_site_editor/src/wireframe.rs b/rmf_site_editor/src/wireframe.rs
index 90a7189b..0af9defc 100644
--- a/rmf_site_editor/src/wireframe.rs
+++ b/rmf_site_editor/src/wireframe.rs
@@ -55,7 +55,7 @@ fn handle_wireframe_menu_events(
     children: Query<&Children>,
     models: Query<Entity, Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
 ) {
-    for event in menu_events.iter() {
+    for event in menu_events.read() {
         if event.clicked() && event.source() == wireframe_menu.toggle_wireframe {
             let Ok(mut checkbox) = menu_items.get_mut(wireframe_menu.toggle_wireframe) else {
                 error!("Wireframe button not found");
@@ -89,7 +89,6 @@ fn add_wireframe_to_new_models(
     models: Query<Entity, Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
     wireframe_menu: Res<WireframeMenu>,
     menu_items: Query<&MenuItem>,
-    meshes: Query<Entity, With<Handle<Mesh>>>,
 ) {
     let Ok(checkbox) = menu_items.get(wireframe_menu.toggle_wireframe) else {
         error!("Wireframe button not found");
@@ -113,8 +112,10 @@ fn add_wireframe_to_new_models(
 impl Plugin for SiteWireframePlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<WireframeMenu>()
-            .add_plugin(WireframePlugin)
-            .add_system(handle_wireframe_menu_events)
-            .add_system(add_wireframe_to_new_models);
+            .add_plugins(WireframePlugin)
+            .add_systems(
+                Update,
+                (handle_wireframe_menu_events, add_wireframe_to_new_models),
+            );
     }
 }
diff --git a/rmf_site_editor/src/workcell/frame.rs b/rmf_site_editor/src/workcell/frame.rs
index 15bbb9da..f9de49a2 100644
--- a/rmf_site_editor/src/workcell/frame.rs
+++ b/rmf_site_editor/src/workcell/frame.rs
@@ -22,7 +22,6 @@ 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>,
 ) {
diff --git a/rmf_site_editor/src/workcell/joint.rs b/rmf_site_editor/src/workcell/joint.rs
index 47f7167e..e205b267 100644
--- a/rmf_site_editor/src/workcell/joint.rs
+++ b/rmf_site_editor/src/workcell/joint.rs
@@ -33,7 +33,7 @@ pub fn handle_create_joint_events(
     mut dependents: Query<&mut Dependents>,
     frames: Query<&NameInWorkcell, With<FrameMarker>>,
 ) {
-    for req in events.iter() {
+    for req in events.read() {
         let Ok(parent_name) = frames.get(req.parent) else {
             error!(
                 "Requested to create a joint with a parent that is not a frame, \
diff --git a/rmf_site_editor/src/workcell/load.rs b/rmf_site_editor/src/workcell/load.rs
index 218ee00b..5498ef11 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, FrameMarker, MeshConstraint, NameInWorkcell, SiteID, Workcell,
+    Category, ConstraintDependents, FrameMarker, MeshConstraint, SiteID, Workcell,
 };
 
 #[derive(Event)]
@@ -170,7 +170,7 @@ pub fn load_workcell(
     mut load_workcells: EventReader<LoadWorkcell>,
     mut change_current_workcell: EventWriter<ChangeCurrentWorkcell>,
 ) {
-    for cmd in load_workcells.iter() {
+    for cmd in load_workcells.read() {
         info!("Loading workcell");
         let root = generate_workcell_entities(&mut commands, &cmd.workcell);
         if let Some(path) = &cmd.default_file {
diff --git a/rmf_site_editor/src/workcell/menu.rs b/rmf_site_editor/src/workcell/menu.rs
index 89618948..cbf7370e 100644
--- a/rmf_site_editor/src/workcell/menu.rs
+++ b/rmf_site_editor/src/workcell/menu.rs
@@ -44,12 +44,11 @@ impl FromWorld for ExportUrdfMenu {
 }
 
 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() {
+    for event in menu_events.read() {
         if event.clicked() && event.source() == urdf_menu.export_urdf {
             save_events.send(SaveWorkspace {
                 destination: SaveWorkspaceDestination::Dialog,
diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
index 410dcc23..4992fbef 100644
--- a/rmf_site_editor/src/workcell/mod.rs
+++ b/rmf_site_editor/src/workcell/mod.rs
@@ -41,25 +41,21 @@ pub mod urdf_package_exporter;
 pub mod workcell;
 pub use workcell::*;
 
-use bevy::render::{render_resource::WgpuFeatures, settings::WgpuSettings};
-use bevy::{prelude::*, render::view::visibility::VisibilitySystems, transform::TransformSystem};
+use bevy::prelude::*;
 use bevy_infinite_grid::{InfiniteGrid, InfiniteGridPlugin};
 
-use crate::interaction::Gizmo;
 use crate::AppState;
 use crate::{
     shapes::make_infinite_grid,
     site::{
         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,
-        update_model_scenes, update_model_tentative_formats, update_transforms_for_changed_poses,
+        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, update_model_scenes,
+        update_model_tentative_formats, update_transforms_for_changed_poses,
     },
 };
 
-use rmf_site_format::ModelMarker;
-
 #[derive(Default)]
 pub struct WorkcellEditorPlugin;
 
@@ -75,7 +71,7 @@ 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)
+        app.add_plugins(InfiniteGridPlugin)
             .add_event::<CreateJoint>()
             .add_event::<SaveWorkcell>()
             .add_event::<LoadWorkcell>()
@@ -100,7 +96,6 @@ impl Plugin for WorkcellEditorPlugin {
                     reload_failed_models_with_new_api_key,
                     handle_workcell_keyboard_input,
                     change_workcell.before(load_workcell),
-                    handle_new_sdf_roots,
                     handle_export_urdf_menu_events,
                 )
                     .run_if(in_state(AppState::WorkcellEditor)),
diff --git a/rmf_site_editor/src/workcell/model.rs b/rmf_site_editor/src/workcell/model.rs
index cd4cabb5..4d4fb1e3 100644
--- a/rmf_site_editor/src/workcell/model.rs
+++ b/rmf_site_editor/src/workcell/model.rs
@@ -57,7 +57,7 @@ pub fn flatten_loaded_models_hierarchy(
             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()) {
+            for (t1, t2) in child_pose.trans.iter_mut().zip(parent_pose.trans.iter()) {
                 *t1 += t2;
             }
             // Now despawn the unnecessary model
diff --git a/rmf_site_editor/src/workcell/save.rs b/rmf_site_editor/src/workcell/save.rs
index 1b609186..d3f880f6 100644
--- a/rmf_site_editor/src/workcell/save.rs
+++ b/rmf_site_editor/src/workcell/save.rs
@@ -17,7 +17,7 @@
 
 use bevy::ecs::system::SystemState;
 use bevy::prelude::*;
-use std::path::{Path, PathBuf};
+use std::path::PathBuf;
 
 use crate::site::{CollisionMeshMarker, Pending, VisualMeshMarker};
 use crate::workcell::urdf_package_exporter::{generate_package, PackageContext, Person};
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
index a338175b..c62b9011 100644
--- a/rmf_site_editor/src/workcell/urdf_package_exporter/generate_package.rs
+++ b/rmf_site_editor/src/workcell/urdf_package_exporter/generate_package.rs
@@ -93,12 +93,10 @@ fn get_path_to_asset_file(asset_source: &AssetSource) -> Result<PathBuf, Box<dyn
             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",
-            ))?
-        }
+        AssetSource::Search(_) => Err(IoError::new(
+            IoErrorKind::Unsupported,
+            "Not a supported asset type for exporting a workcell to a package",
+        ))?,
     }
 }
 
diff --git a/rmf_site_editor/src/workcell/workcell.rs b/rmf_site_editor/src/workcell/workcell.rs
index 8a31d487..c03dac6f 100644
--- a/rmf_site_editor/src/workcell/workcell.rs
+++ b/rmf_site_editor/src/workcell/workcell.rs
@@ -37,7 +37,7 @@ pub fn change_workcell(
     mut change_current_workcell: EventReader<ChangeCurrentWorkcell>,
     open_workcells: Query<Entity, With<NameOfWorkcell>>,
 ) {
-    if let Some(cmd) = change_current_workcell.iter().last() {
+    if let Some(cmd) = change_current_workcell.read().last() {
         if open_workcells.get(cmd.root).is_err() {
             error!(
                 "Requested workspace change to an entity that is not an open workcell: {:?}",
diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
index adba2269..c26838f8 100644
--- a/rmf_site_editor/src/workspace.rs
+++ b/rmf_site_editor/src/workspace.rs
@@ -25,7 +25,7 @@ use crate::site::{DefaultFile, LoadSite, SaveSite};
 use crate::workcell::{LoadWorkcell, SaveWorkcell};
 use crate::AppState;
 use rmf_site_format::legacy::building_map::BuildingMap;
-use rmf_site_format::{Level, NameOfSite, Site, SiteProperties, Workcell};
+use rmf_site_format::{Level, NameOfSite, Site, Workcell};
 
 use crossbeam_channel::{Receiver, Sender};
 
@@ -229,7 +229,7 @@ pub fn dispatch_new_workspace_events(
     mut load_site: EventWriter<LoadSite>,
     mut load_workcell: EventWriter<LoadWorkcell>,
 ) {
-    if let Some(_cmd) = new_workspace.iter().last() {
+    if let Some(_cmd) = new_workspace.read().last() {
         match state.get() {
             AppState::MainMenu => {
                 error!("Sent generic new workspace while in main menu");
@@ -261,7 +261,7 @@ pub fn dispatch_load_workspace_events(
     load_channels: Res<LoadWorkspaceChannels>,
     mut load_workspace: EventReader<LoadWorkspace>,
 ) {
-    if let Some(cmd) = load_workspace.iter().last() {
+    if let Some(cmd) = load_workspace.read().last() {
         match cmd {
             LoadWorkspace::Dialog => {
                 let sender = load_channels.sender.clone();
@@ -433,7 +433,7 @@ fn dispatch_save_workspace_events(
             })
             .detach();
     };
-    for event in save_events.iter() {
+    for event in save_events.read() {
         if let Some(ws_root) = workspace.root {
             match &event.destination {
                 SaveWorkspaceDestination::DefaultFile => {
diff --git a/rmf_site_format/Cargo.toml b/rmf_site_format/Cargo.toml
index 67def6f4..775309fd 100644
--- a/rmf_site_format/Cargo.toml
+++ b/rmf_site_format/Cargo.toml
@@ -17,7 +17,7 @@ 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 }
+bevy = { version = "0.12", optional = true }
 urdf-rs = "0.7.3"
 pathdiff = "*"
 
diff --git a/rmf_site_format/src/asset_source.rs b/rmf_site_format/src/asset_source.rs
index 590faab5..a02df55a 100644
--- a/rmf_site_format/src/asset_source.rs
+++ b/rmf_site_format/src/asset_source.rs
@@ -17,24 +17,19 @@
 
 use crate::*;
 #[cfg(feature = "bevy")]
-use bevy::prelude::Component;
+use bevy::prelude::{Component, Reflect, ReflectComponent};
 use pathdiff::diff_paths;
 use serde::{Deserialize, Serialize};
 use std::path::{Path, PathBuf};
 
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[cfg_attr(feature = "bevy", derive(Component, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub enum AssetSource {
     Local(String),
     Remote(String),
     Search(String),
-    Bundled(String),
     Package(String),
-    OSMTile {
-        zoom: i32,
-        latitude: f32,
-        longitude: f32,
-    },
 }
 
 impl AssetSource {
@@ -43,13 +38,7 @@ impl AssetSource {
             Self::Local(_) => "Local",
             Self::Remote(_) => "Remote",
             Self::Search(_) => "Search",
-            Self::Bundled(_) => "Bundled",
             Self::Package(_) => "Package",
-            Self::OSMTile {
-                zoom: _,
-                latitude: _,
-                longitude: _,
-            } => "Map",
         }
     }
 
@@ -94,78 +83,31 @@ impl Default for AssetSource {
     }
 }
 
-// Utility functions to add / strip prefixes for using AssetSource in AssetIo objects
-impl From<&Path> for AssetSource {
-    fn from(path: &Path) -> Self {
-        if let Some(path) = path.to_str() {
-            AssetSource::from(path)
-        } else {
-            AssetSource::default()
-        }
-    }
-}
-
-// Utility functions to add / strip prefixes for using AssetSource in AssetIo objects
-impl From<&str> for AssetSource {
-    fn from(path: &str) -> Self {
-        // TODO(luca) pattern matching here would make sure unimplemented variants are a compile error
-        if let Some(path) = path.strip_prefix("rmf-server://").map(|p| p.to_string()) {
-            return AssetSource::Remote(path);
-        } else if let Some(path) = path.strip_prefix("file://").map(|p| p.to_string()) {
-            return AssetSource::Local(path);
-        } else if let Some(path) = path.strip_prefix("search://").map(|p| p.to_string()) {
-            return AssetSource::Search(path);
-        } else if let Some(path) = path.strip_prefix("bundled://").map(|p| p.to_string()) {
-            return AssetSource::Bundled(path);
-        } else if let Some(path) = path.strip_prefix("package://").map(|p| p.to_string()) {
-            return AssetSource::Package(path);
-        } else if let Some(path) = path.strip_prefix("osm-tile://").map(|p| p.to_string()) {
-            if let Some(path) = path.strip_suffix(".png") {
-                let coordinates: Result<Vec<_>, _> =
-                    path.split(",").map(|f| f.parse::<f32>()).collect();
-
-                match coordinates {
-                    Err(_) => {
-                        println!("Invalid map coordinates {}", path);
-                        return AssetSource::default();
-                    }
-                    Ok(coordinates) => {
-                        if coordinates.len() != 3 {
-                            println!("Invalid map coordinates {}", path);
-                            return AssetSource::default();
-                        }
-
-                        return AssetSource::OSMTile {
-                            zoom: coordinates[0] as i32,
-                            latitude: coordinates[1],
-                            longitude: coordinates[2],
-                        };
-                    }
-                }
-            } else {
-                println!("Invalid map coordinates {}", path);
-                return AssetSource::default();
-            }
-        }
-        AssetSource::default()
-    }
-}
-
 impl From<&AssetSource> for String {
     fn from(asset_source: &AssetSource) -> String {
         match asset_source {
             AssetSource::Remote(uri) => String::from("rmf-server://") + uri,
             AssetSource::Local(filename) => String::from("file://") + filename,
             AssetSource::Search(name) => String::from("search://") + name,
-            AssetSource::Bundled(name) => String::from("bundled://") + name,
             AssetSource::Package(path) => String::from("package://") + path,
-            AssetSource::OSMTile {
-                zoom,
-                latitude,
-                longitude,
-            } => {
-                format!("osm-tile://{},{},{}.png", zoom, latitude, longitude)
-            }
+        }
+    }
+}
+
+impl TryFrom<&str> for AssetSource {
+    type Error = String;
+
+    fn try_from(s: &str) -> Result<Self, Self::Error> {
+        if let Some(uri) = s.strip_prefix("rmf-server://") {
+            Ok(AssetSource::Remote(uri.to_owned()))
+        } else if let Some(uri) = s.strip_prefix("file://") {
+            Ok(AssetSource::Local(uri.to_owned()))
+        } else if let Some(uri) = s.strip_prefix("search://") {
+            Ok(AssetSource::Search(uri.to_owned()))
+        } else if let Some(uri) = s.strip_prefix("package://") {
+            Ok(AssetSource::Package(uri.to_owned()))
+        } else {
+            Err(format!("Unsupported asset type: {}", s))
         }
     }
 }
@@ -198,19 +140,9 @@ impl Recall for RecallAssetSource {
             AssetSource::Search(name) => {
                 self.search_name = Some(name.clone());
             }
-            AssetSource::Bundled(name) => {
-                self.bundled_name = Some(name.clone());
-            }
             AssetSource::Package(path) => {
                 self.package_path = Some(path.clone());
             }
-            AssetSource::OSMTile {
-                zoom,
-                latitude,
-                longitude,
-            } => {
-                self.map = Some((*zoom, *latitude, *longitude));
-            }
         }
     }
 }
diff --git a/rmf_site_format/src/category.rs b/rmf_site_format/src/category.rs
index 4df9a01b..76a2e0e7 100644
--- a/rmf_site_format/src/category.rs
+++ b/rmf_site_format/src/category.rs
@@ -16,7 +16,10 @@
 */
 
 #[cfg(feature = "bevy")]
-use bevy::prelude::Component;
+use bevy::{
+    prelude::{Component, ReflectComponent},
+    reflect::Reflect,
+};
 use serde::{Deserialize, Serialize};
 use std::collections::BTreeMap;
 
@@ -24,9 +27,13 @@ use std::collections::BTreeMap;
 /// what kind of thing they are, e.g. Anchor, Lane, Model, etc. This should be
 /// set by the respective site system that decorates its entities with
 /// components, e.g. add_door_visuals, add_lane_visuals, etc.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord, Hash)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[derive(
+    Serialize, Deserialize, Clone, Copy, Debug, Default, PartialEq, Eq, PartialOrd, Ord, Hash,
+)]
+#[cfg_attr(feature = "bevy", derive(Component, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub enum Category {
+    #[default]
     General,
     Site,
     Anchor,
diff --git a/rmf_site_format/src/misc.rs b/rmf_site_format/src/misc.rs
index 85d4d175..4754f510 100644
--- a/rmf_site_format/src/misc.rs
+++ b/rmf_site_format/src/misc.rs
@@ -127,7 +127,8 @@ impl RectFace {
 }
 
 #[derive(Serialize, Deserialize, PartialEq, Clone, Copy, Debug)]
-#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut))]
+#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub struct Scale(pub Vec3);
 
 impl Default for Scale {
@@ -137,6 +138,7 @@ impl Default for Scale {
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq, PartialOrd)]
+#[cfg_attr(feature = "bevy", derive(Reflect))]
 #[serde(rename_all = "snake_case")]
 pub enum Angle {
     Deg(f32),
@@ -226,6 +228,7 @@ impl std::ops::SubAssign for Angle {
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq)]
+#[cfg_attr(feature = "bevy", derive(Reflect))]
 #[serde(rename_all = "snake_case")]
 pub enum Rotation {
     Yaw(Angle),
@@ -304,7 +307,8 @@ impl Default for Rotation {
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[cfg_attr(feature = "bevy", derive(Component, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub struct Pose {
     pub trans: [f32; 3],
     #[serde(default)]
@@ -369,7 +373,8 @@ impl Pose {
 /// conflicts with another `Name` defined in `bevy::prelude`.
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq, Eq)]
 #[serde(transparent)]
-#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut))]
+#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub struct NameInSite(pub String);
 
 impl Default for NameInSite {
@@ -380,7 +385,8 @@ impl Default for NameInSite {
 
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
 #[serde(transparent)]
-#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut))]
+#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub struct IsStatic(pub bool);
 
 impl Default for IsStatic {
diff --git a/rmf_site_format/src/model.rs b/rmf_site_format/src/model.rs
index 86e08b31..8cda5bd8 100644
--- a/rmf_site_format/src/model.rs
+++ b/rmf_site_format/src/model.rs
@@ -17,7 +17,7 @@
 
 use crate::*;
 #[cfg(feature = "bevy")]
-use bevy::prelude::{Bundle, Component};
+use bevy::prelude::{Bundle, Component, Reflect, ReflectComponent};
 use serde::{Deserialize, Serialize};
 
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
@@ -41,7 +41,8 @@ pub struct Model {
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, Default, PartialEq, Eq)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[cfg_attr(feature = "bevy", derive(Component, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub struct ModelMarker;
 
 impl Default for Model {
diff --git a/rmf_site_format/src/workcell.rs b/rmf_site_format/src/workcell.rs
index f7d4e377..3bb54b73 100644
--- a/rmf_site_format/src/workcell.rs
+++ b/rmf_site_format/src/workcell.rs
@@ -23,7 +23,9 @@ use crate::*;
 #[cfg(feature = "bevy")]
 use bevy::ecs::system::EntityCommands;
 #[cfg(feature = "bevy")]
-use bevy::prelude::{Bundle, Component, Deref, DerefMut, Entity, SpatialBundle};
+use bevy::prelude::{
+    Bundle, Component, Deref, DerefMut, Entity, Reflect, ReflectComponent, SpatialBundle,
+};
 #[cfg(feature = "bevy")]
 use bevy::reflect::{TypePath, TypeUuid};
 use glam::{EulerRot, Vec3};
@@ -284,7 +286,8 @@ pub enum Geometry {
 }
 
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[cfg_attr(feature = "bevy", derive(Component, Reflect))]
+#[cfg_attr(feature = "bevy", reflect(Component))]
 pub enum PrimitiveShape {
     Box { size: [f32; 3] },
     Cylinder { radius: f32, length: f32 },
@@ -292,6 +295,14 @@ pub enum PrimitiveShape {
     Sphere { radius: f32 },
 }
 
+impl Default for PrimitiveShape {
+    fn default() -> Self {
+        Self::Box {
+            size: [1.0, 1.0, 1.0],
+        }
+    }
+}
+
 impl PrimitiveShape {
     pub fn label(&self) -> String {
         match &self {
@@ -883,10 +894,14 @@ impl From<&urdf_rs::Geometry> for Geometry {
                 let scale = scale
                     .clone()
                     .and_then(|s| Some(Vec3::from_array(s.map(|v| v as f32))));
-                Geometry::Mesh {
-                    source: (&**filename).into(),
-                    scale,
-                }
+                // Most (all?) Urdf files use package references, we fallback to local if that is
+                // not the case
+                let source = if let Some(path) = filename.strip_prefix("package://") {
+                    AssetSource::Package(path.to_owned())
+                } else {
+                    AssetSource::Local(filename.clone())
+                };
+                Geometry::Mesh { source, scale }
             }
         }
     }