diff --git a/Cargo.lock b/Cargo.lock
index a6e5fd76..8dde6c84 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "ab_glyph"
-version = "0.2.23"
+version = "0.2.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "80179d7dd5d7e8c285d67c4a1e652972a92de7475beddfb92028c76463b13225"
+checksum = "2e53b0a3d5760cd2ba9b787ae0c6440ad18ee294ff71b05e3381c900a7d16cfd"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -41,7 +41,7 @@ checksum = "cd3b6ae1eabbfbced10e840fd3fce8a93ae84f174b3e4ba892ab7bcb42e477a7"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
- "objc2",
+ "objc2 0.3.0-beta.3.patch-leaks.3",
  "once_cell",
 ]
 
@@ -73,9 +73,9 @@ dependencies = [
 
 [[package]]
 name = "addr2line"
-version = "0.21.0"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
+checksum = "6e4503c46a5c0c7844e948c9a4d6acd9f50cccb4de1c48eb9e291ea17470c678"
 dependencies = [
  "gimli",
 ]
@@ -101,18 +101,18 @@ dependencies = [
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
+checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "allocator-api2"
-version = "0.2.16"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0942ffc6dcaadf03badf6e6a2d0228460359d5e34b57ccdc720b7382dfbd5ec5"
+checksum = "5c6cb57a04249c6480766f7f7cef5467412af1490f8d1e243141daddada3264f"
 
 [[package]]
 name = "alsa"
@@ -182,47 +182,48 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.6.13"
+version = "0.6.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d96bd03f33fe50a863e394ee9718a706f988b9079b20c3784fb726e7678b62fb"
+checksum = "418c75fa768af9c03be99d17643f93f79bbba589895012a80e3452a19ddda15b"
 dependencies = [
  "anstyle",
  "anstyle-parse",
  "anstyle-query",
  "anstyle-wincon",
  "colorchoice",
+ "is_terminal_polyfill",
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle"
-version = "1.0.6"
+version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8901269c6307e8d93993578286ac0edf7f195079ffff5ebdeea6a59ffb7e36bc"
+checksum = "038dfcf04a5feb68e9c60b21c9625a54c2c0616e79b72b0fd87075a056ae1d1b"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.3"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c75ac65da39e5fe5ab759307499ddad880d724eed2f6ce5b5e8a26f4f387928c"
+checksum = "c03a11a9034d92058ceb6ee011ce58af4a9bf61491aa7e1e59ecd24bd40d22d4"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
+checksum = "ad186efb764318d35165f1758e7dcef3b10628e26d41a44bc5550652e6804391"
 dependencies = [
  "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.2"
+version = "3.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
+checksum = "61a38449feb7068f52bb06c12759005cf459ee52bb4adc1d5a7c4322d716fb19"
 dependencies = [
  "anstyle",
  "windows-sys 0.52.0",
@@ -230,9 +231,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.81"
+version = "1.0.86"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0952808a6c2afd1aa8947271f3a60f1a6763c7b912d210184c5149b5cf147247"
+checksum = "b3d1d046238990b9cf5bcde22a3fb3584ee5cf65fb2765f454ed428c7a0063da"
 
 [[package]]
 name = "approx"
@@ -245,19 +246,18 @@ dependencies = [
 
 [[package]]
 name = "arboard"
-version = "3.3.2"
+version = "3.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2041f1943049c7978768d84e6d0fd95de98b76d6c4727b09e78ec253d29fa58"
+checksum = "9fb4009533e8ff8f1450a5bcbc30f4242a1d34442221f72314bea1f5dc9c7f89"
 dependencies = [
  "clipboard-win",
- "core-graphics 0.23.1",
- "image",
+ "core-graphics 0.23.2",
+ "image 0.25.1",
  "log",
- "objc",
- "objc-foundation",
- "objc_id",
+ "objc2 0.5.2",
+ "objc2-app-kit",
+ "objc2-foundation",
  "parking_lot",
- "thiserror",
  "windows-sys 0.48.0",
  "x11rb",
 ]
@@ -306,27 +306,25 @@ dependencies = [
 
 [[package]]
 name = "async-channel"
-version = "2.2.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f28243a43d821d11341ab73c80bed182dc015c514b951616cf79bd4af39af0c3"
+checksum = "89b47800b0be77592da0afd425cc03468052844aff33b84e33cc696f64e77b6a"
 dependencies = [
  "concurrent-queue",
- "event-listener 5.2.0",
- "event-listener-strategy 0.5.0",
+ "event-listener-strategy",
  "futures-core",
  "pin-project-lite",
 ]
 
 [[package]]
 name = "async-executor"
-version = "1.8.0"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17ae5ebefcc48e7452b4987947920dac9450be1110cadf34d1b8c116bdbaf97c"
+checksum = "c8828ec6e544c02b0d6691d21ed9f9218d0384a82542855073c2a3f58304aaf0"
 dependencies = [
- "async-lock 3.3.0",
  "async-task",
  "concurrent-queue",
- "fastrand 2.0.1",
+ "fastrand 2.1.0",
  "futures-lite 2.3.0",
  "slab",
 ]
@@ -337,7 +335,7 @@ version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "279cf904654eeebfa37ac9bb1598880884924aab82e290aa65c9e77a0e142e06"
 dependencies = [
- "async-lock 2.8.0",
+ "async-lock",
  "autocfg",
  "blocking",
  "futures-lite 1.13.0",
@@ -352,22 +350,11 @@ dependencies = [
  "event-listener 2.5.3",
 ]
 
-[[package]]
-name = "async-lock"
-version = "3.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d034b430882f8381900d3fe6f0aaa3ad94f2cb4ac519b429692a1bc2dda4ae7b"
-dependencies = [
- "event-listener 4.0.3",
- "event-listener-strategy 0.4.0",
- "pin-project-lite",
-]
-
 [[package]]
 name = "async-task"
-version = "4.7.0"
+version = "4.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb36e985947064623dbd357f727af08ffd077f93d696782f3c56365fa2e2799"
+checksum = "8b75356056920673b02621b35afd0f7dda9306d03c79a30f5c56c44cf256e3de"
 
 [[package]]
 name = "atk-sys"
@@ -398,15 +385,15 @@ checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
 [[package]]
 name = "autocfg"
-version = "1.1.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "backtrace"
-version = "0.3.69"
+version = "0.3.73"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2089b7e3f35b9dd2d0ed921ead4f6d318c27680d4a5bd167b3ee120edb105837"
+checksum = "5cc23269a4f8976d0a4d2e7109211a419fe30e8d88d677cd60b6bc79c5732e0a"
 dependencies = [
  "addr2line",
  "cc",
@@ -429,6 +416,12 @@ version = "0.21.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567"
 
+[[package]]
+name = "base64"
+version = "0.22.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
+
 [[package]]
 name = "bevy"
 version = "0.12.1"
@@ -493,7 +486,7 @@ checksum = "935984568f75867dd7357133b06f4b1502cd2be55e4642d483ce597e46e63bff"
 dependencies = [
  "async-broadcast",
  "async-fs",
- "async-lock 2.8.0",
+ "async-lock",
  "bevy_app",
  "bevy_asset_macros",
  "bevy_ecs",
@@ -526,7 +519,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -592,7 +585,7 @@ checksum = "f484318350462c58ba3942a45a656c1fd6b6e484a6b6b7abc3a787ad1a51e500"
 dependencies = [
  "bevy_macro_utils",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -640,7 +633,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -743,7 +736,7 @@ dependencies = [
  "bevy_transform",
  "gltf",
  "gltf-json",
- "image",
+ "image 0.24.9",
  "serde",
  "serde_json",
  "thiserror",
@@ -850,7 +843,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustc-hash",
- "syn 2.0.53",
+ "syn 2.0.67",
  "toml_edit 0.20.7",
 ]
 
@@ -880,7 +873,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "35d72134cd809630e78bc953318156f37ff2839a50bebb148bc5c3a669e133e0"
 dependencies = [
  "bevy",
- "bitfield",
+ "bitfield 0.14.0",
  "interpolation",
  "thiserror",
  "wgpu-types",
@@ -996,7 +989,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
  "uuid",
 ]
 
@@ -1031,7 +1024,7 @@ dependencies = [
  "encase",
  "futures-lite 1.13.0",
  "hexasphere",
- "image",
+ "image 0.24.9",
  "js-sys",
  "ktx2",
  "naga",
@@ -1055,7 +1048,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -1221,7 +1214,7 @@ dependencies = [
  "ahash",
  "bevy_utils_proc_macros",
  "getrandom",
- "hashbrown 0.14.3",
+ "hashbrown 0.14.5",
  "instant",
  "nonmax",
  "petgraph",
@@ -1238,7 +1231,7 @@ checksum = "7aafecc952b6b8eb1a93c12590bd867d25df2f4ae1033a01dfdfc3c35ebccfff"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -1299,7 +1292,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -1329,6 +1322,12 @@ version = "0.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2d7e60934ceec538daadb9d8432424ed043a904d8e0243f3c6446bce549a46ac"
 
+[[package]]
+name = "bitfield"
+version = "0.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c821a6e124197eb56d907ccc2188eab1038fb919c914f47976e64dd8dbc855d1"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -1378,7 +1377,7 @@ version = "0.1.0-beta.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fa55741ee90902547802152aaf3f8e5248aab7e21468089560d4c8840561146"
 dependencies = [
- "objc-sys",
+ "objc-sys 0.2.0-beta.2",
 ]
 
 [[package]]
@@ -1388,23 +1387,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8dd9e63c1744f755c2f60332b88de39d341e5e86239014ad839bd71c106dec42"
 dependencies = [
  "block-sys",
- "objc2-encode",
+ "objc2-encode 2.0.0-pre.2",
+]
+
+[[package]]
+name = "block2"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c132eebf10f5cad5289222520a4a058514204aed6d791f1cf4fe8088b82d15f"
+dependencies = [
+ "objc2 0.5.2",
 ]
 
 [[package]]
 name = "blocking"
-version = "1.5.1"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a37913e8dc4ddcc604f0c6d3bf2887c995153af3611de9e23c352b44c1b9118"
+checksum = "703f41c54fc768e63e091340b424302bb1c29ef4aa0c7f10fe849dfb114d29ea"
 dependencies = [
- "async-channel 2.2.0",
- "async-lock 3.3.0",
+ "async-channel 2.3.1",
  "async-task",
- "fastrand 2.0.1",
  "futures-io",
  "futures-lite 2.3.0",
  "piper",
- "tracing",
 ]
 
 [[package]]
@@ -1419,28 +1424,28 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.15.4"
+version = "3.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ff69b9dd49fd426c69a0db9fc04dd934cdb6645ff000864d98f7e2af8830eaa"
+checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
 
 [[package]]
 name = "bytemuck"
-version = "1.15.0"
+version = "1.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d6d68c57235a3a081186990eca2867354726650f42f7516ca50c28d6281fd15"
+checksum = "b236fc92302c97ed75b38da1f4917b5cdda4984745740f153a5d3059e48d725e"
 dependencies = [
  "bytemuck_derive",
 ]
 
 [[package]]
 name = "bytemuck_derive"
-version = "1.6.0"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4da9a32f3fed317401fa3c862968128267c3106685286e15d5aaa3d7389c2f60"
+checksum = "1ee891b04274a59bd38b412188e24b849617b2e45a0fd8d057deb63e7403761b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -1451,9 +1456,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.5.0"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223"
+checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9"
 
 [[package]]
 name = "cairo-sys-rs"
@@ -1467,12 +1472,13 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.90"
+version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cd6604a82acf3039f1144f54b8eb34e91ffba622051189e71b781822d5ee1f5"
+checksum = "96c51067fd44124faa7f870b4b1c969379ad32b2ba805aa959430ceaa384f695"
 dependencies = [
  "jobserver",
  "libc",
+ "once_cell",
 ]
 
 [[package]]
@@ -1492,9 +1498,9 @@ dependencies = [
 
 [[package]]
 name = "cfg-expr"
-version = "0.15.7"
+version = "0.15.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa50868b64a9a6fda9d593ce778849ea8715cd2a3d2cc17ffdb4a2f2f2f1961d"
+checksum = "d067ad48b8650848b989a59a86c6c36a995d02d2bf778d45c3c5d57bc2718f02"
 dependencies = [
  "smallvec",
  "target-lexicon",
@@ -1512,23 +1518,29 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
 [[package]]
 name = "chrono"
-version = "0.4.35"
+version = "0.4.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
+checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
 dependencies = [
  "android-tzdata",
  "iana-time-zone",
  "num-traits",
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
 name = "chrono-tz"
-version = "0.8.6"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d59ae0466b83e838b81a54256c39d5d7c20b9d7daa10510a242d9b75abd5936e"
+checksum = "93698b29de5e97ad0ae26447b344c482a7284c737d9ddc5f9e52b74a336671bb"
 dependencies = [
  "chrono",
  "chrono-tz-build",
@@ -1537,9 +1549,9 @@ dependencies = [
 
 [[package]]
 name = "chrono-tz-build"
-version = "0.2.1"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "433e39f13c9a060046954e0592a8d0a4bcb1040125cbf91cb8ee58964cfb350f"
+checksum = "0c088aee841df9c3041febbb73934cfc39708749bf96dc827e3359cd39ef11b1"
 dependencies = [
  "parse-zoneinfo",
  "phf",
@@ -1548,9 +1560,9 @@ dependencies = [
 
 [[package]]
 name = "clang-sys"
-version = "1.7.0"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67523a3b4be3ce1989d607a828d036249522dd9c1c8de7f4dd2dae43a37369d1"
+checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
 dependencies = [
  "glob",
  "libc",
@@ -1559,9 +1571,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.3"
+version = "4.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "949626d00e063efc93b6dca932419ceb5432f99769911c0b995f7e884c778813"
+checksum = "5db83dced34638ad474f39f250d7fea9598bdd239eaced1bdf45d597da0f433f"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -1569,9 +1581,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.2"
+version = "4.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae129e2e766ae0ec03484e609954119f123cc1fe650337e155d03b022f24f7b4"
+checksum = "f7e204572485eb3fbf28f871612191521df159bc3e15a9f5064c66dba3a8c05f"
 dependencies = [
  "anstream",
  "anstyle",
@@ -1581,27 +1593,27 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.3"
+version = "4.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90239a040c80f5e14809ca132ddc4176ab33d5e17e49691793296e3fcb34d72f"
+checksum = "c780290ccf4fb26629baa7a1081e68ced113f1d3ec302fa5948f1c381ebf06c6"
 dependencies = [
  "heck 0.5.0",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.7.0"
+version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98cc8fbded0c607b7ba9dd60cd98df59af97e84d24e49c8557331cfc26d301ce"
+checksum = "4b82cf0babdbd58558212896d1a4272303a57bdb245c2bf1147185fb45640e70"
 
 [[package]]
 name = "clipboard-win"
-version = "5.3.0"
+version = "5.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d517d4b86184dbb111d3556a10f1c8a04da7428d2987bf1081602bf11c3aa9ee"
+checksum = "79f4473f5144e20d9aceaf2972478f06ddf687831eafeeb434fbaf0acc4144ad"
 dependencies = [
  "error-code",
 ]
@@ -1624,9 +1636,9 @@ checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
 
 [[package]]
 name = "colorchoice"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acbf1af155f9b9ef647e42cdc158db4b64a1b61f743629225fde6f3e0be2a7c7"
+checksum = "0b6a852b24ab71dffc585bcb46eaf7959d175cb865a7152e35b348d1b2960422"
 
 [[package]]
 name = "com-rs"
@@ -1636,9 +1648,9 @@ checksum = "bf43edc576402991846b093a7ca18a3477e0ef9c588cde84964b5d3e43016642"
 
 [[package]]
 name = "combine"
-version = "4.6.6"
+version = "4.6.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35ed6e9d84f0b51a7f52daf1c7d71dd136fd7a3f41a8462b8cdb8c78d920fad4"
+checksum = "ba5a308b75df32fe02788e748662718f03fde005016435c444eea572398219fd"
 dependencies = [
  "bytes",
  "memchr",
@@ -1646,9 +1658,9 @@ dependencies = [
 
 [[package]]
 name = "concurrent-queue"
-version = "2.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d16048cd947b08fa32c24458a22f5dc5e835264f689f4f5653210c69fd107363"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
 dependencies = [
  "crossbeam-utils",
 ]
@@ -1730,9 +1742,9 @@ dependencies = [
 
 [[package]]
 name = "core-graphics"
-version = "0.23.1"
+version = "0.23.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "970a29baf4110c26fedbc7f82107d42c23f7e88e404c4577ed73fe99ff85a212"
+checksum = "c07782be35f9e1140080c6b96f0d44b739e2278479f64e02fdab4e32dfd8b081"
 dependencies = [
  "bitflags 1.3.2",
  "core-foundation",
@@ -1806,9 +1818,9 @@ dependencies = [
 
 [[package]]
 name = "crc32fast"
-version = "1.4.0"
+version = "1.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3855a8a784b474f333699ef2bbca9db2c4a1f6d9088a90a2d25b1eb53111eaa"
+checksum = "a97769d94ddab943e4510d138150169a2758b5ef3eb191a9ee688de3e23ef7b3"
 dependencies = [
  "cfg-if",
 ]
@@ -1821,9 +1833,9 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.12"
+version = "0.5.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab3db02a9c5b5121e1e42fbdb1aeb65f5e02624cc58c43f2884c6ccac0b82f95"
+checksum = "33480d6946193aa8033910124896ca395333cae7e2d1113d1fef6c3272217df2"
 dependencies = [
  "crossbeam-utils",
 ]
@@ -1849,9 +1861,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.19"
+version = "0.8.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "248e3bacc7dc6baa3b21e405ee045c3047101a49145e7e9eca583ab4c2ca5345"
+checksum = "22ec99545bb0ed0ea7bb9b8e1e9122ea386ff8a48c0922e43f36d45ab09e0e80"
 
 [[package]]
 name = "crunchy"
@@ -1888,15 +1900,15 @@ checksum = "0c87e182de0887fd5361989c677c4e8f5000cd9491d6d563161a8f3a5519fc7f"
 
 [[package]]
 name = "data-encoding"
-version = "2.5.0"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e962a19be5cfc3f3bf6dd8f61eb50107f356ad6270fbb3ed41476571db78be5"
+checksum = "e8566979429cf69b49a5c740c60791108e86440e8be149bbea4fe54d2c32d6e2"
 
 [[package]]
 name = "deunicode"
-version = "1.4.3"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6e854126756c496b8c81dec88f9a706b15b875c5849d4097a3854476b9fdf94"
+checksum = "339544cc9e2c4dc3fc7149fd630c5f22263a4fdf18a98afd0075784968b5cf00"
 
 [[package]]
 name = "digest"
@@ -1946,9 +1958,9 @@ dependencies = [
 
 [[package]]
 name = "downcast-rs"
-version = "1.2.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
+checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
 
 [[package]]
 name = "earcutr"
@@ -1986,7 +1998,7 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e598cc2bfc28612f26426259ed99a978270e9433d63ae6d2843e30fb0974cd02"
 dependencies = [
- "async-channel 2.2.0",
+ "async-channel 2.3.1",
  "document-features",
  "js-sys",
  "ureq",
@@ -1997,9 +2009,9 @@ dependencies = [
 
 [[package]]
 name = "either"
-version = "1.10.0"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
+checksum = "3dca9240753cf90908d7e4aac30f630662b02aebaa1b58a3cadabdb23385b58b"
 
 [[package]]
 name = "emath"
@@ -2039,7 +2051,7 @@ checksum = "3fe2568f851fd6144a45fa91cfed8fe5ca8fc0b56ba6797bfc1ed2771b90e37c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -2074,9 +2086,9 @@ dependencies = [
 
 [[package]]
 name = "errno"
-version = "0.3.8"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
+checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba"
 dependencies = [
  "libc",
  "windows-sys 0.52.0",
@@ -2090,9 +2102,9 @@ checksum = "a0474425d51df81997e2f90a21591180b38eccf27292d755f3e30750225c175b"
 
 [[package]]
 name = "euclid"
-version = "0.22.9"
+version = "0.22.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87f253bc5c813ca05792837a0ff4b3a580336b224512d48f7eda1d7dd9210787"
+checksum = "e0f0eb73b934648cd7a4a61f1b15391cd95dab0b4da6e2e66c2a072c144b4a20"
 dependencies = [
  "num-traits",
 ]
@@ -2105,20 +2117,9 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "event-listener"
-version = "4.0.3"
+version = "5.3.1"
 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 = "2b5fb89194fa3cad959b833185b3063ba881dbfc7030680b314250779fb4cc91"
+checksum = "6032be9bd27023a771701cc49f9f053c751055f71efb2e0ae5c15809093675ba"
 dependencies = [
  "concurrent-queue",
  "parking",
@@ -2127,21 +2128,11 @@ dependencies = [
 
 [[package]]
 name = "event-listener-strategy"
-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"
+version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "feedafcaa9b749175d5ac357452a9d41ea2911da598fde46ce1fe02c37751291"
+checksum = "0f214dc438f977e6d4e3500aaa277f5ad94ca83fbbd9b1a15713ce2344ccc5a1"
 dependencies = [
- "event-listener 5.2.0",
+ "event-listener 5.3.1",
  "pin-project-lite",
 ]
 
@@ -2172,9 +2163,9 @@ dependencies = [
 
 [[package]]
 name = "fastrand"
-version = "2.0.1"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5"
+checksum = "9fc0510504f03c51ada170672ac806f1f105a88aa97a5281117e1ddc3368e51a"
 
 [[package]]
 name = "fdeflate"
@@ -2193,9 +2184,9 @@ checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
 
 [[package]]
 name = "flate2"
-version = "1.0.28"
+version = "1.0.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46303f565772937ffe1d394a4fac6f411c6013172fadde9dcdb1e147a086940e"
+checksum = "5f54427cfd1c7829e2a139fcefea601bf088ebca651d2bf53ebc600eac295dae"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -2264,7 +2255,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -2321,7 +2312,7 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "52527eb5074e35e9339c6b4e8d12600c7128b68fb25dcb9fa9dec18f7c25f3a5"
 dependencies = [
- "fastrand 2.0.1",
+ "fastrand 2.1.0",
  "futures-core",
  "futures-io",
  "parking",
@@ -2418,9 +2409,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.12"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "190092ea657667030ac6a35e305e62fc4dd69fd98ac98631e5d3a2b1575a12b5"
+checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2441,9 +2432,9 @@ dependencies = [
 
 [[package]]
 name = "gilrs"
-version = "0.10.6"
+version = "0.10.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "499067aa54af19f88732dc418f61f23d5912de1518665bb0eca034ca0d07574c"
+checksum = "b54e5e39844ab5cddaf3bbbdfdc2923a6cb34e36818b95618da4e3f26302c24c"
 dependencies = [
  "fnv",
  "gilrs-core",
@@ -2454,9 +2445,9 @@ dependencies = [
 
 [[package]]
 name = "gilrs-core"
-version = "0.5.11"
+version = "0.5.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85c132270a155f2548e67d66e731075c336c39098afc555752f3df8f882c720e"
+checksum = "b922f294d9f062af517ea0bd0a036ddcf11c2842211c2f9c71a3ceee859e10b6"
 dependencies = [
  "core-foundation",
  "inotify",
@@ -2470,14 +2461,14 @@ dependencies = [
  "vec_map",
  "wasm-bindgen",
  "web-sys",
- "windows 0.54.0",
+ "windows 0.57.0",
 ]
 
 [[package]]
 name = "gimli"
-version = "0.28.1"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4271d37baee1b8c7e4b708028c57d816cf9d2434acb33a549475f78c181f6253"
+checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
 
 [[package]]
 name = "gio-sys"
@@ -2527,17 +2518,17 @@ dependencies = [
  "aho-corasick",
  "bstr",
  "log",
- "regex-automata 0.4.6",
- "regex-syntax 0.8.2",
+ "regex-automata 0.4.7",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
 name = "globwalk"
-version = "0.8.1"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93e3af942408868f6934a7b85134a3230832b9977cf66125df2f9edcfce4ddcc"
+checksum = "0bf760ebf69878d9fd8f110c89703d90ce35095324d1f1edcb595c63945ee757"
 dependencies = [
- "bitflags 1.3.2",
+ "bitflags 2.5.0",
  "ignore",
  "walkdir",
 ]
@@ -2556,9 +2547,9 @@ dependencies = [
 
 [[package]]
 name = "gltf"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b78f069cf941075835822953c345b9e1edd67ae347b81ace3aea9de38c2ef33"
+checksum = "e3ce1918195723ce6ac74e80542c5a96a40c2b26162c1957a5cd70799b8cacf7"
 dependencies = [
  "byteorder",
  "gltf-json",
@@ -2568,21 +2559,21 @@ dependencies = [
 
 [[package]]
 name = "gltf-derive"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "438ffe1a5540d75403feaf23636b164e816e93f6f03131674722b3886ce32a57"
+checksum = "14070e711538afba5d6c807edb74bcb84e5dbb9211a3bf5dea0dfab5b24f4c51"
 dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "gltf-json"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "655951ba557f2bc69ea4b0799446bae281fa78efae6319968bdd2c3e9a06d8e1"
+checksum = "e6176f9d60a7eab0a877e8e96548605dedbde9190a7ae1e80bbcc1c9af03ab14"
 dependencies = [
  "gltf-derive",
  "serde",
@@ -2652,7 +2643,7 @@ checksum = "cc11df1ace8e7e564511f53af41f3e42ddc95b56fd07b3f4445d2a6048bc682c"
 dependencies = [
  "bitflags 2.5.0",
  "gpu-descriptor-types",
- "hashbrown 0.14.3",
+ "hashbrown 0.14.5",
 ]
 
 [[package]]
@@ -2701,21 +2692,22 @@ dependencies = [
 [[package]]
 name = "gz-fuel"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=luca/ehttp#44b3fc616146a9f0b32652ba9a9fe34eaf40a629"
+source = "git+https://github.com/open-rmf/gz-fuel-rs?branch=main#cbdb4b587834ac9af78d0018c6dcd9ab3efd3cb2"
 dependencies = [
+ "crossbeam-channel",
  "dirs",
  "ehttp",
  "futures-lite 2.3.0",
- "itertools 0.12.1",
+ "itertools 0.13.0",
  "serde",
  "serde_json",
 ]
 
 [[package]]
 name = "half"
-version = "2.4.0"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5eceaaeec696539ddaf7b333340f1af35a5aa87ae3e4f3ead0532f72affab2e"
+checksum = "6dd08c532ae367adf81c312a4580bc67f1d0fe8bc9c460520283f4c0ff277888"
 dependencies = [
  "cfg-if",
  "crunchy",
@@ -2738,9 +2730,9 @@ checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 dependencies = [
  "ahash",
  "allocator-api2",
@@ -2867,7 +2859,7 @@ dependencies = [
  "globset",
  "log",
  "memchr",
- "regex-automata 0.4.6",
+ "regex-automata 0.4.7",
  "same-file",
  "walkdir",
  "winapi-util",
@@ -2891,6 +2883,19 @@ dependencies = [
  "tiff",
 ]
 
+[[package]]
+name = "image"
+version = "0.25.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fd54d660e773627692c524beaad361aca785a4f9f5730ce91f42aabe5bce3d11"
+dependencies = [
+ "bytemuck",
+ "byteorder",
+ "num-traits",
+ "png",
+ "tiff",
+]
+
 [[package]]
 name = "indexmap"
 version = "1.9.3"
@@ -2903,12 +2908,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.2.5"
+version = "2.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.3",
+ "hashbrown 0.14.5",
 ]
 
 [[package]]
@@ -2939,9 +2944,9 @@ dependencies = [
 
 [[package]]
 name = "instant"
-version = "0.1.12"
+version = "0.1.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a5bbe824c507c5da5956355e86a746d82e0e1464f65d862cc5e71da70e94b2c"
+checksum = "e0242819d153cba4b4b05a5a8f2a7e9bbf97b6055b2a002b395c96b5ff3c0222"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2965,6 +2970,12 @@ dependencies = [
  "mach2",
 ]
 
+[[package]]
+name = "is_terminal_polyfill"
+version = "1.70.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8478577c03552c21db0e2724ffb8986a5ce7af88107e6be5d2ee6e158c12800"
+
 [[package]]
 name = "itertools"
 version = "0.11.0"
@@ -2983,11 +2994,20 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
-version = "1.0.10"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
+checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
 
 [[package]]
 name = "jni"
@@ -3013,9 +3033,9 @@ checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
 [[package]]
 name = "jobserver"
-version = "0.1.28"
+version = "0.1.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab46a6e9526ddef3ae7f787c06f0f2600639ba80ea3eade3d8e670a2230f51d6"
+checksum = "d2b099aaa34a9751c5bf0878add70444e1ed2dd73f347be99003d4577277de6e"
 dependencies = [
  "libc",
 ]
@@ -3060,9 +3080,9 @@ dependencies = [
 
 [[package]]
 name = "lazy_static"
-version = "1.4.0"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 
 [[package]]
 name = "lazycell"
@@ -3089,9 +3109,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.153"
+version = "0.2.155"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
+checksum = "97b3888a4aecf77e811145cadf6eef5901f4782c53886191b2f693f24761847c"
 
 [[package]]
 name = "libloading"
@@ -3110,7 +3130,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c2a198fb6b0eada2a8df47933734e6d35d350665a33a3593d7164fa52c75c19"
 dependencies = [
  "cfg-if",
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -3121,9 +3141,9 @@ checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "libredox"
-version = "0.0.1"
+version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8"
+checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
 dependencies = [
  "bitflags 2.5.0",
  "libc",
@@ -3132,13 +3152,12 @@ dependencies = [
 
 [[package]]
 name = "libredox"
-version = "0.0.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
+checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
  "bitflags 2.5.0",
  "libc",
- "redox_syscall 0.4.1",
 ]
 
 [[package]]
@@ -3159,9 +3178,9 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c"
+checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
 
 [[package]]
 name = "litrs"
@@ -3171,9 +3190,9 @@ checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
 
 [[package]]
 name = "lock_api"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -3224,9 +3243,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.7.1"
+version = "2.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
 [[package]]
 name = "metal"
@@ -3251,9 +3270,9 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.7.2"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d811f3e15f28568be3407c8e7fdb6514c1cda3cb30683f15b6a1a1dc4ea14a7"
+checksum = "b8a240ddb74feaf34a79a7add65a741f3167852fba007066dcac1ca548d89c08"
 dependencies = [
  "adler",
  "simd-adler32",
@@ -3314,9 +3333,9 @@ dependencies = [
 
 [[package]]
 name = "nalgebra"
-version = "0.32.4"
+version = "0.32.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4541eb06dce09c0241ebbaab7102f0a01a0c8994afed2e5d0d66775016e25ac2"
+checksum = "7b5c17de023a86f59ed79891b2e5d5a94c705dbe904a5b5c9c952ea6221b03e4"
 dependencies = [
  "approx",
  "matrixmultiply",
@@ -3393,13 +3412,13 @@ dependencies = [
 
 [[package]]
 name = "nix"
-version = "0.28.0"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab2156c4fce2f8df6c499cc1c763e4394b7482525bf2a9701c9d79d215f519e4"
+checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
  "bitflags 2.5.0",
  "cfg-if",
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
  "libc",
 ]
 
@@ -3446,9 +3465,9 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.5"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
 dependencies = [
  "num-traits",
 ]
@@ -3472,7 +3491,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -3486,20 +3505,19 @@ dependencies = [
 
 [[package]]
 name = "num-rational"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
 dependencies = [
- "autocfg",
  "num-integer",
  "num-traits",
 ]
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
  "libm",
@@ -3553,7 +3571,7 @@ dependencies = [
  "proc-macro-crate 1.3.1",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -3565,7 +3583,7 @@ dependencies = [
  "proc-macro-crate 3.1.0",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -3595,15 +3613,71 @@ version = "0.2.0-beta.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "df3b9834c1e95694a05a828b59f55fa2afec6288359cda67146126b3f90a55d7"
 
+[[package]]
+name = "objc-sys"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdb91bdd390c7ce1a8607f35f3ca7151b65afc0ff5ff3b34fa350f7d7c7e4310"
+
 [[package]]
 name = "objc2"
 version = "0.3.0-beta.3.patch-leaks.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7e01640f9f2cb1220bbe80325e179e532cb3379ebcd1bf2279d703c19fe3a468"
 dependencies = [
- "block2",
- "objc-sys",
- "objc2-encode",
+ "block2 0.2.0-alpha.6",
+ "objc-sys 0.2.0-beta.2",
+ "objc2-encode 2.0.0-pre.2",
+]
+
+[[package]]
+name = "objc2"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46a785d4eeff09c14c487497c162e92766fbb3e4059a71840cecc03d9a50b804"
+dependencies = [
+ "objc-sys 0.3.5",
+ "objc2-encode 4.0.3",
+]
+
+[[package]]
+name = "objc2-app-kit"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e4e89ad9e3d7d297152b17d39ed92cd50ca8063a89a9fa569046d41568891eff"
+dependencies = [
+ "bitflags 2.5.0",
+ "block2 0.5.1",
+ "libc",
+ "objc2 0.5.2",
+ "objc2-core-data",
+ "objc2-core-image",
+ "objc2-foundation",
+ "objc2-quartz-core",
+]
+
+[[package]]
+name = "objc2-core-data"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "617fbf49e071c178c0b24c080767db52958f716d9eabdf0890523aeae54773ef"
+dependencies = [
+ "bitflags 2.5.0",
+ "block2 0.5.1",
+ "objc2 0.5.2",
+ "objc2-foundation",
+]
+
+[[package]]
+name = "objc2-core-image"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "55260963a527c99f1819c4f8e3b47fe04f9650694ef348ffd2227e8196d34c80"
+dependencies = [
+ "block2 0.5.1",
+ "objc2 0.5.2",
+ "objc2-foundation",
+ "objc2-metal",
 ]
 
 [[package]]
@@ -3612,7 +3686,50 @@ version = "2.0.0-pre.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "abfcac41015b00a120608fdaa6938c44cb983fee294351cc4bac7638b4e50512"
 dependencies = [
- "objc-sys",
+ "objc-sys 0.2.0-beta.2",
+]
+
+[[package]]
+name = "objc2-encode"
+version = "4.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7891e71393cd1f227313c9379a26a584ff3d7e6e7159e988851f0934c993f0f8"
+
+[[package]]
+name = "objc2-foundation"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee638a5da3799329310ad4cfa62fbf045d5f56e3ef5ba4149e7452dcf89d5a8"
+dependencies = [
+ "bitflags 2.5.0",
+ "block2 0.5.1",
+ "libc",
+ "objc2 0.5.2",
+]
+
+[[package]]
+name = "objc2-metal"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd0cba1276f6023976a406a14ffa85e1fdd19df6b0f737b063b95f6c8c7aadd6"
+dependencies = [
+ "bitflags 2.5.0",
+ "block2 0.5.1",
+ "objc2 0.5.2",
+ "objc2-foundation",
+]
+
+[[package]]
+name = "objc2-quartz-core"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e42bee7bff906b14b167da2bac5efe6b6a07e6f7c0a21a7308d40c960242dc7a"
+dependencies = [
+ "bitflags 2.5.0",
+ "block2 0.5.1",
+ "objc2 0.5.2",
+ "objc2-foundation",
+ "objc2-metal",
 ]
 
 [[package]]
@@ -3635,9 +3752,9 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.32.2"
+version = "0.36.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6a622008b6e321afc04970976f62ee297fdbaa6f95318ca343e3eebb9648441"
+checksum = "576dfe1fc8f9df304abb159d767a29d0476f7750fbf8aa7ad07816004a207434"
 dependencies = [
  "memchr",
 ]
@@ -3723,9 +3840,9 @@ checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
 
 [[package]]
 name = "owned_ttf_parser"
-version = "0.20.0"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4586edfe4c648c71797a74c84bacb32b52b212eff5dfe2bb9f2c599844023e7"
+checksum = "6b41438d2fc63c46c74a2203bf5ccd82c41ba04347b2fcf5754f230b167067d5"
 dependencies = [
  "ttf-parser",
 ]
@@ -3750,9 +3867,9 @@ checksum = "bb813b8af86854136c6922af0598d719255ecb2179515e6e7730d468f05c9cae"
 
 [[package]]
 name = "parking_lot"
-version = "0.12.1"
+version = "0.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3742b2c103b9f06bc9fff0a37ff4912935851bee6d36f3c02bcc755bcfec228f"
+checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27"
 dependencies = [
  "lock_api",
  "parking_lot_core",
@@ -3760,31 +3877,31 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.9"
+version = "0.9.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
+checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
 dependencies = [
  "cfg-if",
  "libc",
- "redox_syscall 0.4.1",
+ "redox_syscall 0.5.2",
  "smallvec",
- "windows-targets 0.48.5",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
 name = "parse-zoneinfo"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c705f256449c60da65e11ff6626e0c16a0a0b96aaa348de61376b249bc340f41"
+checksum = "1f2a05b18d44e2957b88f96ba460715e295bc1d7510468a2f3d3b44535d26c24"
 dependencies = [
  "regex",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pathdiff"
@@ -3800,9 +3917,9 @@ checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
-version = "2.7.8"
+version = "2.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56f8023d0fb78c8e03784ea1c7f3fa36e68a723138990b8d5a47d916b651e7a8"
+checksum = "560131c633294438da9f7c4b08189194b20946c8274c6b9e38881a7874dc8ee8"
 dependencies = [
  "memchr",
  "thiserror",
@@ -3811,9 +3928,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.7.8"
+version = "2.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0d24f72393fd16ab6ac5738bc33cdb6a9aa73f8b902e8fe29cf4e67d7dd1026"
+checksum = "26293c9193fbca7b1a3bf9b79dc1e388e927e6cacaa78b4a3ab705a1d3d41459"
 dependencies = [
  "pest",
  "pest_generator",
@@ -3821,22 +3938,22 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.7.8"
+version = "2.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fdc17e2a6c7d0a492f0158d7a4bd66cc17280308bbaff78d5bef566dca35ab80"
+checksum = "3ec22af7d3fb470a85dd2ca96b7c577a1eb4ef6f1683a9fe9a8c16e136c04687"
 dependencies = [
  "pest",
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "pest_meta"
-version = "2.7.8"
+version = "2.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "934cd7631c050f4674352a6e835d5f6711ffbfb9345c2fc0107155ac495ae293"
+checksum = "d7a240022f37c361ec1878d646fc5b7d7c4d28d5946e1a80ad5a7a4f4ca0bdcd"
 dependencies = [
  "once_cell",
  "pest",
@@ -3845,12 +3962,12 @@ dependencies = [
 
 [[package]]
 name = "petgraph"
-version = "0.6.4"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
+checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db"
 dependencies = [
  "fixedbitset",
- "indexmap 2.2.5",
+ "indexmap 2.2.6",
 ]
 
 [[package]]
@@ -3893,18 +4010,18 @@ dependencies = [
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.13"
+version = "0.2.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
 
 [[package]]
 name = "piper"
-version = "0.2.1"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "668d31b1c4eba19242f2088b2bf3316b82ca31082a8335764db4e083db7485d4"
+checksum = "ae1d5c74c9876f070d3e8fd503d748c7d974c3e48da8f41350fa5222ef9b4391"
 dependencies = [
  "atomic-waker",
- "fastrand 2.0.1",
+ "fastrand 2.1.0",
  "futures-io",
 ]
 
@@ -3963,9 +4080,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.79"
+version = "1.0.86"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
+checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
 dependencies = [
  "unicode-ident",
 ]
@@ -3987,9 +4104,9 @@ dependencies = [
 
 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
 dependencies = [
  "proc-macro2",
 ]
@@ -4050,9 +4167,9 @@ checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
 name = "rayon"
-version = "1.9.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4963ed1bc86e4f3ee217022bd855b297cef07fb9eac5dfa1f788b220b49b3bd"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
 dependencies = [
  "either",
  "rayon-core",
@@ -4092,27 +4209,36 @@ dependencies = [
  "bitflags 1.3.2",
 ]
 
+[[package]]
+name = "redox_syscall"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c82cf8cff14456045f55ec4241383baeff27af886adb72ffb2162f99911de0fd"
+dependencies = [
+ "bitflags 2.5.0",
+]
+
 [[package]]
 name = "redox_users"
-version = "0.4.4"
+version = "0.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4"
+checksum = "bd283d9651eeda4b2a83a43c1c91b266c40fd76ecd39a50a8c630ae69dc72891"
 dependencies = [
  "getrandom",
- "libredox 0.0.1",
+ "libredox 0.1.3",
  "thiserror",
 ]
 
 [[package]]
 name = "regex"
-version = "1.10.3"
+version = "1.10.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b62dbe01f0b06f9d8dc7d49e05a0785f153b00b2c227856282f671e0318c9b15"
+checksum = "b91213439dad192326a0d7c6ee3955910425f441d7038e0d6933b0aec5c4517f"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.4.6",
- "regex-syntax 0.8.2",
+ "regex-automata 0.4.7",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -4126,13 +4252,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.6"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea"
+checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.2",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -4149,9 +4275,9 @@ checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.2"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
+checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
 
 [[package]]
 name = "renderdoc-sys"
@@ -4210,7 +4336,7 @@ dependencies = [
  "bevy_obj",
  "bevy_polyline",
  "bevy_stl",
- "bitfield",
+ "bitfield 0.15.0",
  "clap",
  "console_error_panic_hook",
  "crossbeam-channel",
@@ -4219,7 +4345,7 @@ dependencies = [
  "futures-lite 1.13.0",
  "geo",
  "gz-fuel",
- "itertools 0.12.1",
+ "itertools 0.13.0",
  "pathdiff",
  "rfd",
  "rmf_site_format",
@@ -4300,9 +4426,9 @@ dependencies = [
 
 [[package]]
 name = "rustc-demangle"
-version = "0.1.23"
+version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d626bb9dae77e28219937af045c257c28bfd3f69333c512553507f5f9798cb76"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
 
 [[package]]
 name = "rustc-hash"
@@ -4321,9 +4447,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.31"
+version = "0.38.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ea3e1a662af26cd7a3ba09c0297a31af215563ecf42817c98df621387f4e949"
+checksum = "70dc5ec042f7a43c4a73241207cecc9873a06d45debb38b329f8541d85c2730f"
 dependencies = [
  "bitflags 2.5.0",
  "errno",
@@ -4334,9 +4460,9 @@ dependencies = [
 
 [[package]]
 name = "rustls"
-version = "0.22.2"
+version = "0.22.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e87c9956bd9807afa1f77e0f7594af32566e830e088a5576d27c5b6f30f49d41"
+checksum = "bf4ef73721ac7bcd79b2b315da7779d8fc09718c6b3d2d1b2d94850eb8c18432"
 dependencies = [
  "log",
  "ring",
@@ -4348,15 +4474,15 @@ dependencies = [
 
 [[package]]
 name = "rustls-pki-types"
-version = "1.3.1"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ede67b28608b4c60685c7d54122d4400d90f62b40caee7700e700380a390fa8"
+checksum = "976295e77ce332211c0d24d92c0e83e50f5c5f046d11082cea19f3df13a3562d"
 
 [[package]]
 name = "rustls-webpki"
-version = "0.102.2"
+version = "0.102.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "faaa0a62740bedb9b2ef5afa303da42764c012f743917351dc9a237ea1663610"
+checksum = "ff448f7e92e913c4b7d4c6d8e4540a1724b319b4152b8aef6d4cf8339712b33e"
 dependencies = [
  "ring",
  "rustls-pki-types",
@@ -4376,15 +4502,15 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.17"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
+checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
 [[package]]
 name = "safe_arch"
-version = "0.7.1"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
+checksum = "c3460605018fdc9612bce72735cba0d27efbcd9904780d44c7e3a9948f96148a"
 dependencies = [
  "bytemuck",
 ]
@@ -4418,35 +4544,35 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 
 [[package]]
 name = "serde"
-version = "1.0.197"
+version = "1.0.203"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fb1c873e1b9b056a4dc4c0c198b24c3ffa059243875552b2bd0933b1aee4ce2"
+checksum = "7253ab4de971e72fb7be983802300c30b5a7f0c2e56fab8abfc6a214307c0094"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.197"
+version = "1.0.203"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7eb0b34b42edc17f6b7cac84a52a1c5f0e1bb2227e997ca9011ea3dd34e8610b"
+checksum = "500cbc0ebeb6f46627f50f3f5811ccf6bf00643be300b4c3eabc0ef55dc5b5ba"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.114"
+version = "1.0.117"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5f09b1bd632ef549eaa9f60a1f8de742bdbc698e6cee2095fc84dde5f549ae0"
+checksum = "455182ea6142b14f93f4bc5320a2b31c1f266b66a4a5c858b013302a5d8cbfc3"
 dependencies = [
  "itoa",
  "ryu",
@@ -4455,9 +4581,9 @@ dependencies = [
 
 [[package]]
 name = "serde_spanned"
-version = "0.6.5"
+version = "0.6.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb3622f419d1296904700073ea6cc23ad690adbd66f13ea683df73298736f0c1"
+checksum = "79e674e01f999af37c49f70a6ede167a8a60b2503e56c5599532a65baa5969a0"
 dependencies = [
  "serde",
 ]
@@ -4555,29 +4681,29 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.13.1"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6ecd384b10a64542d77071bd64bd7b231f4ed5940fba55e98c3de13824cf3d7"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "smol_str"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6845563ada680337a52d43bb0b29f396f2d911616f6573012645b9e3d048a49"
+checksum = "dd538fb6910ac1099850255cf94a94df6551fbdd602454387d0adb2d1ca6dead"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "spade"
-version = "2.6.0"
+version = "2.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61addf9117b11d1f5b4bf6fe94242ba25f59d2d4b2080544b771bd647024fd00"
+checksum = "9f4ec45f91925e2c9ab3b6a857ee9ed36916990df76a1c475d783a328e247cc8"
 dependencies = [
- "hashbrown 0.14.3",
+ "hashbrown 0.14.5",
  "num-traits",
  "robust",
  "smallvec",
@@ -4626,21 +4752,21 @@ dependencies = [
 
 [[package]]
 name = "strsim"
-version = "0.11.0"
+version = "0.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ee073c9e4cd00e28217186dbe12796d692868f432bf2e97ee73bed0c56dfa01"
+checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
 [[package]]
 name = "subtle"
-version = "2.5.0"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81cdd64d312baedb58e21336b31bc043b77e01cc99033ce76ef539f78e965ebc"
+checksum = "0d0208408ba0c3df17ed26eb06992cb1a1268d41b2c0e12e65203fbe3972cee5"
 
 [[package]]
 name = "svg_fmt"
-version = "0.4.2"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f83ba502a3265efb76efb89b0a2f7782ad6f2675015d4ce37e4b547dda42b499"
+checksum = "20e16a0f46cf5fd675563ef54f26e83e20f2366bcf027bcb3cc3ed2b98aaf2ca"
 
 [[package]]
 name = "syn"
@@ -4655,9 +4781,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.53"
+version = "2.0.67"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
+checksum = "ff8655ed1d86f3af4ee3fd3263786bc14245ad17c4c7e85ba7187fb3ae028c90"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4693,9 +4819,9 @@ dependencies = [
 
 [[package]]
 name = "taffy"
-version = "0.3.18"
+version = "0.3.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c2287b6d7f721ada4cddf61ade5e760b2c6207df041cac9bfaa192897362fd3"
+checksum = "b1315457ccd9c3def787a18fae91914e623e4dcff019b64ce39f5268ded53d3d"
 dependencies = [
  "arrayvec",
  "grid",
@@ -4711,9 +4837,9 @@ checksum = "e1fc403891a21bcfb7c37834ba66a547a8f402146eba7265b5a6d88059c9ff2f"
 
 [[package]]
 name = "tera"
-version = "1.19.1"
+version = "1.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "970dff17c11e884a4a09bc76e3a17ef71e01bb13447a11e85226e254fe6d10b8"
+checksum = "ab9d851b45e865f178319da0abdbfe6acbc4328759ff18dafc3a41c16b4cd2ee"
 dependencies = [
  "chrono",
  "chrono-tz",
@@ -4742,9 +4868,9 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
 dependencies = [
  "thiserror-impl",
 ]
@@ -4766,18 +4892,18 @@ checksum = "e4c60d69f36615a077cc7663b9cb8e42275722d23e58a7fa3d2c7f2915d09d04"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -4818,9 +4944,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tobj"
-version = "4.0.1"
+version = "4.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f7ca3ec0405b0f2f95e0dbcced28882190dc79b0dac63ff82533d256d770223"
+checksum = "c3bd4ba05f29e4c65b6c0c11a58b6465ffa820bac890d76ad407b4e81d8372e8"
 dependencies = [
  "ahash",
  "log",
@@ -4828,21 +4954,21 @@ dependencies = [
 
 [[package]]
 name = "toml"
-version = "0.8.12"
+version = "0.8.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9dd1545e8208b4a5af1aa9bbd0b4cf7e9ea08fabc5d0a5c67fcaafa17433aa3"
+checksum = "6f49eb2ab21d2f26bd6db7bf383edc527a7ebaee412d17af4d40fdccd442f335"
 dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "toml_edit 0.22.8",
+ "toml_edit 0.22.14",
 ]
 
 [[package]]
 name = "toml_datetime"
-version = "0.6.5"
+version = "0.6.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3550f4e9685620ac18a50ed434eb3aec30db8ba93b0287467bca5826ea25baf1"
+checksum = "4badfd56924ae69bcc9039335b2e017639ce3f9b001c393c1b2d1ef846ce2cbf"
 dependencies = [
  "serde",
 ]
@@ -4853,7 +4979,7 @@ version = "0.19.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
- "indexmap 2.2.5",
+ "indexmap 2.2.6",
  "toml_datetime",
  "winnow 0.5.40",
 ]
@@ -4864,7 +4990,7 @@ version = "0.20.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "70f427fce4d84c72b5b732388bf4a9f4531b53f74e2887e3ecb2481f68f66d81"
 dependencies = [
- "indexmap 2.2.5",
+ "indexmap 2.2.6",
  "toml_datetime",
  "winnow 0.5.40",
 ]
@@ -4875,22 +5001,22 @@ version = "0.21.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a8534fd7f78b5405e860340ad6575217ce99f38d4d5c8f2442cb5ecb50090e1"
 dependencies = [
- "indexmap 2.2.5",
+ "indexmap 2.2.6",
  "toml_datetime",
  "winnow 0.5.40",
 ]
 
 [[package]]
 name = "toml_edit"
-version = "0.22.8"
+version = "0.22.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c12219811e0c1ba077867254e5ad62ee2c9c190b0d957110750ac0cda1ae96cd"
+checksum = "f21c7aaf97f1bd9ca9d4f9e73b0a6c74bd5afef56f2bc931943a6e1c37e04e38"
 dependencies = [
- "indexmap 2.2.5",
+ "indexmap 2.2.6",
  "serde",
  "serde_spanned",
  "toml_datetime",
- "winnow 0.6.5",
+ "winnow 0.6.13",
 ]
 
 [[package]]
@@ -4912,7 +5038,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
@@ -4978,9 +5104,9 @@ dependencies = [
 
 [[package]]
 name = "ttf-parser"
-version = "0.20.0"
+version = "0.21.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
+checksum = "2c591d83f69777866b9126b24c6dd9a18351f177e49d625920d19f989fd31cf8"
 
 [[package]]
 name = "twox-hash"
@@ -5083,9 +5209,9 @@ checksum = "d4c87d22b6e3f4a18d4d40ef354e97c90fcb14dd91d7dc0aa9d8a1172ebf7202"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.11"
+version = "0.1.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e51733f11c9c4f72aa0c160008246859e340b00807569a0da0e7a1079b27ba85"
+checksum = "0336d538f7abc86d282a4189614dfaa90810dfc2c6f6427eaf88e16311dd225d"
 
 [[package]]
 name = "unicode-xid"
@@ -5114,11 +5240,11 @@ dependencies = [
 
 [[package]]
 name = "ureq"
-version = "2.9.6"
+version = "2.9.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11f214ce18d8b2cbe84ed3aa6486ed3f5b285cf8d8fbdbce9f3f767a724adc35"
+checksum = "d11a831e3c0b56e438a28308e7c810799e3c118417f342d30ecec080105395cd"
 dependencies = [
- "base64 0.21.7",
+ "base64 0.22.1",
  "flate2",
  "log",
  "once_cell",
@@ -5131,9 +5257,9 @@ dependencies = [
 
 [[package]]
 name = "url"
-version = "2.5.0"
+version = "2.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "31e6302e3bb753d46e83516cae55ae196fc0c309407cf11ab35cc51a4c2a4633"
+checksum = "22784dbdf76fdde8af1aeda5622b546b422b6fc585325248a2bf9f5e41e94d6c"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -5142,9 +5268,9 @@ dependencies = [
 
 [[package]]
 name = "utf8parse"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
+checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
 [[package]]
 name = "utm"
@@ -5188,9 +5314,9 @@ checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
 
 [[package]]
 name = "waker-fn"
-version = "1.1.1"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3c4517f54858c779bbcbf228f4fca63d121bf85fbecb2dc578cdf4a39395690"
+checksum = "317211a0dc0ceedd78fb2ca9a44aed3d7b9b26f81870d485c07122b4350673b7"
 
 [[package]]
 name = "walkdir"
@@ -5229,7 +5355,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
  "wasm-bindgen-shared",
 ]
 
@@ -5263,7 +5389,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -5297,9 +5423,9 @@ dependencies = [
 
 [[package]]
 name = "webbrowser"
-version = "0.8.13"
+version = "0.8.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1b04c569c83a9bb971dd47ec6fd48753315f4bf989b9b04a2e7ca4d7f0dc950"
+checksum = "db67ae75a9405634f5882791678772c94ff5f16a66535aae186e26aa0841fc8b"
 dependencies = [
  "core-foundation",
  "home",
@@ -5314,9 +5440,9 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.26.1"
+version = "0.26.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3de34ae270483955a94f4b21bdaaeb83d508bb84a01435f393818edb0012009"
+checksum = "bd7c23921eeb1713a4e851530e9b9756e4fb0e89978582942612524cf09f01cd"
 dependencies = [
  "rustls-pki-types",
 ]
@@ -5428,9 +5554,9 @@ dependencies = [
 
 [[package]]
 name = "wide"
-version = "0.7.15"
+version = "0.7.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89beec544f246e679fc25490e3f8e08003bc4bf612068f325120dad4cea02c1c"
+checksum = "8a040b111774ab63a19ef46bbc149398ab372b4ccdcfd719e9814dbd7dfd76c8"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -5438,9 +5564,9 @@ dependencies = [
 
 [[package]]
 name = "widestring"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "653f141f39ec16bba3c5abe400a0c60da7468261cc2cbf36805022876bc721a8"
+checksum = "7219d36b6eac893fa81e84ebe06485e7dcbb616177469b142df14f1f4deb1311"
 
 [[package]]
 name = "winapi"
@@ -5460,11 +5586,11 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
 name = "winapi-util"
-version = "0.1.6"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f29e6f9198ba0d26b4c9f07dbe6f9ed633e1f3d5b8b414090084349e46a52596"
+checksum = "4d4cc384e1e73b93bafa6fb4f1df8c41695c8a91cf9c4c64358067d15a7b6c6b"
 dependencies = [
- "winapi",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -5488,8 +5614,8 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
 dependencies = [
- "windows-implement",
- "windows-interface",
+ "windows-implement 0.48.0",
+ "windows-interface 0.48.0",
  "windows-targets 0.48.5",
 ]
 
@@ -5500,7 +5626,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9252e5725dbed82865af151df558e754e4a3c2c30818359eb17465f1346a1b49"
 dependencies = [
  "windows-core 0.54.0",
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
+]
+
+[[package]]
+name = "windows"
+version = "0.57.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12342cb4d8e3b046f3d80effd474a7a02447231330ef77d71daa6fbc40681143"
+dependencies = [
+ "windows-core 0.57.0",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -5509,7 +5645,7 @@ version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "33ab640c8d7e35bf8ba19b884ba838ceb4fba93a4e8c65a9059d08afcfc683d9"
 dependencies = [
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -5519,7 +5655,19 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "12661b9c89351d684a50a8a643ce5f608e20243b9fb84687800163429f161d65"
 dependencies = [
  "windows-result",
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.57.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2ed2439a290666cd67ecce2b0ffaad89c2a56b976b736e6ece670297897832d"
+dependencies = [
+ "windows-implement 0.57.0",
+ "windows-interface 0.57.0",
+ "windows-result",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -5533,6 +5681,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "windows-implement"
+version = "0.57.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9107ddc059d5b6fbfbffdfa7a7fe3e22a226def0b2608f72e9d552763d3e1ad7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.67",
+]
+
 [[package]]
 name = "windows-interface"
 version = "0.48.0"
@@ -5544,13 +5703,24 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "windows-interface"
+version = "0.57.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "29bee4b38ea3cde66011baa44dba677c432a78593e202392d1e9070cf2a7fca7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.67",
+]
+
 [[package]]
 name = "windows-result"
-version = "0.1.0"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd19df78e5168dfb0aedc343d1d1b8d422ab2db6756d2dc3fef75035402a3f64"
+checksum = "5e383302e8ec8515204254685643de10811af0ed97ea37210dc26fb0032647f8"
 dependencies = [
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -5577,7 +5747,7 @@ version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
 dependencies = [
- "windows-targets 0.52.4",
+ "windows-targets 0.52.5",
 ]
 
 [[package]]
@@ -5612,17 +5782,18 @@ dependencies = [
 
 [[package]]
 name = "windows-targets"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7dd37b7e5ab9018759f893a1952c9420d060016fc19a472b4bb20d1bdd694d1b"
+checksum = "6f0713a46559409d202e70e28227288446bf7841d3211583a4b53e3f6d96e7eb"
 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",
+ "windows_aarch64_gnullvm 0.52.5",
+ "windows_aarch64_msvc 0.52.5",
+ "windows_i686_gnu 0.52.5",
+ "windows_i686_gnullvm",
+ "windows_i686_msvc 0.52.5",
+ "windows_x86_64_gnu 0.52.5",
+ "windows_x86_64_gnullvm 0.52.5",
+ "windows_x86_64_msvc 0.52.5",
 ]
 
 [[package]]
@@ -5639,9 +5810,9 @@ checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bcf46cf4c365c6f2d1cc93ce535f2c8b244591df96ceee75d8e83deb70a9cac9"
+checksum = "7088eed71e8b8dda258ecc8bac5fb1153c5cffaf2578fc8ff5d61e23578d3263"
 
 [[package]]
 name = "windows_aarch64_msvc"
@@ -5657,9 +5828,9 @@ checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da9f259dd3bcf6990b55bffd094c4f7235817ba4ceebde8e6d11cd0c5633b675"
+checksum = "9985fd1504e250c615ca5f281c3f7a6da76213ebd5ccc9561496568a2752afb6"
 
 [[package]]
 name = "windows_i686_gnu"
@@ -5675,9 +5846,15 @@ checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b474d8268f99e0995f25b9f095bc7434632601028cf86590aea5c8a5cb7801d3"
+checksum = "88ba073cf16d5372720ec942a8ccbf61626074c6d4dd2e745299726ce8b89670"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87f4261229030a858f36b459e748ae97545d6f1ec60e5e0d6a3d32e0dc232ee9"
 
 [[package]]
 name = "windows_i686_msvc"
@@ -5693,9 +5870,9 @@ checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
 [[package]]
 name = "windows_i686_msvc"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1515e9a29e5bed743cb4415a9ecf5dfca648ce85ee42e15873c3cd8610ff8e02"
+checksum = "db3c2bf3d13d5b658be73463284eaf12830ac9a26a90c717b7f771dfe97487bf"
 
 [[package]]
 name = "windows_x86_64_gnu"
@@ -5711,9 +5888,9 @@ checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
 [[package]]
 name = "windows_x86_64_gnu"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5eee091590e89cc02ad514ffe3ead9eb6b660aedca2183455434b93546371a03"
+checksum = "4e4246f76bdeff09eb48875a0fd3e2af6aada79d409d33011886d3e1581517d9"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
@@ -5729,9 +5906,9 @@ checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77ca79f2451b49fa9e2af39f0747fe999fcda4f5e241b2898624dca97a1f2177"
+checksum = "852298e482cd67c356ddd9570386e2862b5673c85bd5f88df9ab6802b334c596"
 
 [[package]]
 name = "windows_x86_64_msvc"
@@ -5747,9 +5924,9 @@ checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
 [[package]]
 name = "windows_x86_64_msvc"
-version = "0.52.4"
+version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32b752e52a2da0ddfbdbcc6fceadfeede4c939ed16d13e648833a61dfb611ed8"
+checksum = "bec47e5bfd1bff0eeaf6d8b485cc1074891a197ab4225d504cb7a1ab88b02bf0"
 
 [[package]]
 name = "winit"
@@ -5759,7 +5936,7 @@ checksum = "9596d90b45384f5281384ab204224876e8e8bf7d58366d9b795ad99aa9894b94"
 dependencies = [
  "android-activity",
  "bitflags 1.3.2",
- "cfg_aliases",
+ "cfg_aliases 0.1.1",
  "core-foundation",
  "core-graphics 0.22.3",
  "dispatch",
@@ -5768,7 +5945,7 @@ dependencies = [
  "log",
  "mio",
  "ndk 0.7.0",
- "objc2",
+ "objc2 0.3.0-beta.3.patch-leaks.3",
  "once_cell",
  "orbclient",
  "percent-encoding",
@@ -5792,9 +5969,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.6.5"
+version = "0.6.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dffa400e67ed5a4dd237983829e66475f0a4a26938c4b04c21baede6262215b8"
+checksum = "59b5e5f6c299a3c7890b876a2a587f3115162487e704907d9b6cd29473052ba1"
 dependencies = [
  "memchr",
 ]
@@ -5812,9 +5989,9 @@ dependencies = [
 
 [[package]]
 name = "x11rb"
-version = "0.13.0"
+version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8f25ead8c7e4cba123243a6367da5d3990e0d3affa708ea19dce96356bd9f1a"
+checksum = "5d91ffca73ee7f68ce055750bf9f6eca0780b8c85eff9bc046a3b0da41755e12"
 dependencies = [
  "gethostname",
  "rustix",
@@ -5823,9 +6000,9 @@ dependencies = [
 
 [[package]]
 name = "x11rb-protocol"
-version = "0.13.0"
+version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e63e71c4b8bd9ffec2c963173a4dc4cbde9ee96961d4fcb4429db9929b606c34"
+checksum = "ec107c4503ea0b4a98ef47356329af139c0a4f7750e621cf2973cd3385ebcb3d"
 
 [[package]]
 name = "xi-unicode"
@@ -5835,9 +6012,9 @@ checksum = "a67300977d3dc3f8034dae89778f502b6ba20b269527b3223ba59c0cf393bb8a"
 
 [[package]]
 name = "xml-rs"
-version = "0.8.19"
+version = "0.8.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcb9cbac069e033553e8bb871be2fbdffcab578eb25bd0f7c508cedc6dcd75a"
+checksum = "791978798f0597cfc70478424c2b4fdc2b7a8024aaff78497ef00f24ef674193"
 
 [[package]]
 name = "xmltree"
@@ -5883,29 +6060,29 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.53",
+ "syn 2.0.67",
 ]
 
 [[package]]
 name = "zeroize"
-version = "1.7.0"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "525b4ec142c6b68a2d10f01f7bbf6755599ca3f81ea53b8431b7dd348f5fdb2d"
+checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde"
 
 [[package]]
 name = "zune-inflate"
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index 447851bd..8230df9d 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -47,7 +47,7 @@ urdf-rs = "0.7"
 yaserde = "0.7"
 utm = "0.1.6"
 sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
-gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "luca/ehttp" }
+gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "main" }
 pathdiff = "*"
 tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
diff --git a/rmf_site_editor/src/aabb.rs b/rmf_site_editor/src/aabb.rs
index 1a42323d..6bf91f1a 100644
--- a/rmf_site_editor/src/aabb.rs
+++ b/rmf_site_editor/src/aabb.rs
@@ -17,10 +17,12 @@ use bevy::{
 use smallvec::SmallVec;
 
 /// Tracks which [`Entities`](Entity) have which meshes for entities whose [`Aabb`]s are managed by
-/// the [`calculate_bounds`] and [`update_bounds`] systems. This is needed because `update_bounds`
+/// the [`calculate_bounds`][1] and [`update_bounds`] systems. This is needed because `update_bounds`
 /// recomputes `Aabb`s for entities whose mesh has been mutated. These mutations are visible via
 /// [`AssetEvent<Mesh>`](AssetEvent) which tells us which mesh was changed but not which entities
 /// have that mesh.
+///
+/// [1]: bevy::render::view::calculate_bounds
 #[derive(Debug, Default, Clone, Resource)]
 pub struct EntityMeshMap {
     entities_with_mesh: HashMap<AssetId<Mesh>, SmallVec<[Entity; 1]>>,
@@ -76,8 +78,6 @@ pub fn register_bounds(
 /// Updates [`Aabb`]s for [`Entities`](Entity) with [`Mesh`]es. This includes `Entities` that have
 /// been assigned new `Mesh`es as well as `Entities` whose `Mesh` has been directly mutated.
 ///
-/// To opt out of bound calculation for an `Entity`, give it the [`NoAabbUpdate`] component.
-///
 /// NOTE: This system needs to remove entities from their collection in
 /// [`EntityMeshMap`] whenever a mesh handle is reassigned or an entity's mesh handle is
 /// removed. This may impact performance if meshes with many entities are frequently
diff --git a/rmf_site_editor/src/autoload.rs b/rmf_site_editor/src/autoload.rs
new file mode 100644
index 00000000..5608e5f0
--- /dev/null
+++ b/rmf_site_editor/src/autoload.rs
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::prelude::*;
+use std::path::PathBuf;
+
+#[derive(Resource)]
+pub struct Autoload {
+    pub filename: Option<PathBuf>,
+    pub import: Option<PathBuf>,
+}
+
+impl Autoload {
+    pub fn file(filename: PathBuf, import: Option<PathBuf>) -> Self {
+        Autoload {
+            filename: Some(filename),
+            import,
+        }
+    }
+}
diff --git a/rmf_site_editor/src/interaction/gizmo.rs b/rmf_site_editor/src/interaction/gizmo.rs
index b3b60d55..196dbaa3 100644
--- a/rmf_site_editor/src/interaction/gizmo.rs
+++ b/rmf_site_editor/src/interaction/gizmo.rs
@@ -218,7 +218,7 @@ impl Default for GizmoState {
 }
 
 /// Instruction to move an entity to a new transform. This should be caught with
-/// an EventReader<MoveTo>.
+/// an `EventReader<MoveTo>`.
 #[derive(Debug, Clone, Copy, Event)]
 pub struct MoveTo {
     pub entity: Entity,
diff --git a/rmf_site_editor/src/interaction/mod.rs b/rmf_site_editor/src/interaction/mod.rs
index d583b15a..16290689 100644
--- a/rmf_site_editor/src/interaction/mod.rs
+++ b/rmf_site_editor/src/interaction/mod.rs
@@ -98,7 +98,18 @@ pub struct SiteRaycastSet;
 
 #[derive(Default)]
 pub struct InteractionPlugin {
-    pub headless: bool,
+    headless: bool,
+}
+
+impl InteractionPlugin {
+    pub fn new() -> Self {
+        Self::default()
+    }
+
+    pub fn headless(mut self, is_headless: bool) -> Self {
+        self.headless = is_headless;
+        self
+    }
 }
 
 #[derive(Debug, Clone, Copy, Default, Hash, PartialEq, Eq, States)]
diff --git a/rmf_site_editor/src/interaction/mode.rs b/rmf_site_editor/src/interaction/mode.rs
index 6b25618d..42162586 100644
--- a/rmf_site_editor/src/interaction/mode.rs
+++ b/rmf_site_editor/src/interaction/mode.rs
@@ -101,8 +101,8 @@ pub struct BackoutParams<'w, 's> {
 ///    cannot expect users to know this or handle the cleanup correctly.
 ///
 /// User-defined systems should never
-/// use ResMut<InteractionMode>. Instead they should always use
-/// EventWriter<ChangeMode>.
+/// use `ResMut<InteractionMode>`. Instead they should always use
+/// `EventWriter<ChangeMode>`.
 //
 // TODO(MXG): We could enforce this by letting InteractionMode be public but
 // wrapping it in a newtype to store it in the resource. The inner type would
diff --git a/rmf_site_editor/src/issue.rs b/rmf_site_editor/src/issue.rs
index eeab0ef9..84dbab60 100644
--- a/rmf_site_editor/src/issue.rs
+++ b/rmf_site_editor/src/issue.rs
@@ -16,15 +16,11 @@
 */
 
 use crate::site::ChangePlugin;
-use crate::widgets::{
-    diagnostic_window::DiagnosticWindowState,
-    menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ToolMenu},
+use bevy::{
+    prelude::*,
+    utils::{HashMap, Uuid},
 };
-use crate::AppState;
-use bevy::prelude::*;
-use bevy::utils::{HashMap, Uuid};
 use rmf_site_format::{FilteredIssueKinds, FilteredIssues, IssueKey};
-use std::collections::HashSet;
 
 #[derive(Component, Debug, Clone)]
 pub struct Issue {
@@ -60,45 +56,6 @@ pub struct IssueDictionary(HashMap<Uuid, String>);
 #[derive(Default)]
 pub struct IssuePlugin;
 
-#[derive(Resource)]
-pub struct IssueMenu {
-    diagnostic_tool: Entity,
-}
-
-impl FromWorld for IssueMenu {
-    fn from_world(world: &mut World) -> Self {
-        let target_states = HashSet::from([
-            AppState::SiteEditor,
-            AppState::SiteDrawingEditor,
-            AppState::SiteVisualizer,
-        ]);
-        // Tools menu
-        let diagnostic_tool = world
-            .spawn(MenuItem::Text("Diagnostic Tool".to_string()))
-            .insert(MenuVisualizationStates(target_states))
-            .id();
-
-        let tool_header = world.resource::<ToolMenu>().get();
-        world
-            .entity_mut(tool_header)
-            .push_children(&[diagnostic_tool]);
-
-        IssueMenu { diagnostic_tool }
-    }
-}
-
-fn handle_diagnostic_window_visibility(
-    mut menu_events: EventReader<MenuEvent>,
-    issue_menu: Res<IssueMenu>,
-    mut diagnostic_window: ResMut<DiagnosticWindowState>,
-) {
-    for event in menu_events.read() {
-        if event.clicked() && event.source() == issue_menu.diagnostic_tool {
-            diagnostic_window.show = true;
-        }
-    }
-}
-
 impl Plugin for IssuePlugin {
     fn build(&self, app: &mut App) {
         app.add_event::<ValidateWorkspace>()
@@ -107,8 +64,7 @@ impl Plugin for IssuePlugin {
                 ChangePlugin::<FilteredIssueKinds>::default(),
             ))
             .init_resource::<IssueDictionary>()
-            .init_resource::<IssueMenu>()
-            .add_systems(Update, handle_diagnostic_window_visibility);
+            .add_systems(PostUpdate, clear_old_issues_on_new_validate_event);
     }
 }
 
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index 5e97cd86..5537b60a 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -9,6 +9,8 @@ use wasm_bindgen::prelude::*;
 
 pub mod aabb;
 pub mod animate;
+pub mod autoload;
+pub use autoload::*;
 
 pub mod asset_loaders;
 use asset_loaders::*;
@@ -31,7 +33,6 @@ mod shapes;
 use log::LogHistoryPlugin;
 
 pub mod main_menu;
-use main_menu::Autoload;
 pub mod site;
 // mod warehouse_generator;
 pub mod workcell;
@@ -56,7 +57,7 @@ use wireframe::*;
 use aabb::AabbUpdatePlugin;
 use animate::AnimationPlugin;
 use interaction::InteractionPlugin;
-use site::{OSMViewPlugin, SiteFileMenuPlugin, SitePlugin};
+use site::{OSMViewPlugin, SitePlugin};
 use site_asset_io::SiteAssetIoPlugin;
 
 pub mod osm_slippy_map;
@@ -134,14 +135,25 @@ pub fn run(command_line_args: Vec<String>) {
         headless_export = command_line_args.headless_export;
     }
 
-    app.add_plugins(SiteEditor { headless_export });
+    app.add_plugins(SiteEditor::default().headless_export(headless_export));
     app.run();
 }
 
 #[derive(Default)]
 pub struct SiteEditor {
     /// Contains Some(path) if the site editor is running in headless mode exporting its site.
-    pub headless_export: Option<String>,
+    headless_export: Option<String>,
+}
+
+impl SiteEditor {
+    pub fn new() -> Self {
+        Self::default()
+    }
+
+    pub fn headless_export(mut self, export_to_file: Option<String>) -> Self {
+        self.headless_export = export_to_file;
+        self
+    }
 }
 
 impl Plugin for SiteEditor {
@@ -212,28 +224,24 @@ impl Plugin for SiteEditor {
                 AabbUpdatePlugin,
                 EguiPlugin,
                 KeyboardInputPlugin,
-                MainMenuPlugin,
-                WorkcellEditorPlugin,
                 SitePlugin,
-                InteractionPlugin {
-                    headless: self.headless_export.is_some(),
-                },
-                StandardUiLayout {
-                    headless: self.headless_export.is_some(),
-                },
+                InteractionPlugin::new().headless(self.headless_export.is_some()),
                 AnimationPlugin,
                 OccupancyPlugin,
                 WorkspacePlugin,
-            ))
-            // Note order matters, plugins that edit the menus must be initialized after the UI
-            .add_plugins((
-                ViewMenuPlugin,
                 IssuePlugin,
-                OSMViewPlugin,
-                SiteWireframePlugin,
-                SiteFileMenuPlugin,
             ));
 
+        if self.headless_export.is_none() {
+            app.add_plugins((
+                StandardUiPlugin::default(),
+                MainMenuPlugin,
+                WorkcellEditorPlugin,
+            ))
+            // Note order matters, plugins that edit the menus must be initialized after the UI
+            .add_plugins((ViewMenuPlugin, OSMViewPlugin, SiteWireframePlugin));
+        }
+
         // Ref https://github.com/bevyengine/bevy/issues/10877. The default behavior causes issues
         // with events being accumulated when not read (i.e. scrolling mouse wheel on a UI widget).
         app.world
diff --git a/rmf_site_editor/src/main_menu.rs b/rmf_site_editor/src/main_menu.rs
index bf2417fc..d6822509 100644
--- a/rmf_site_editor/src/main_menu.rs
+++ b/rmf_site_editor/src/main_menu.rs
@@ -16,27 +16,9 @@
 */
 
 use super::demo_world::*;
-use crate::{AppState, LoadWorkspace, WorkspaceData};
-use bevy::{app::AppExit, prelude::*, tasks::Task, window::PrimaryWindow};
+use crate::{AppState, Autoload, LoadWorkspace, WorkspaceData};
+use bevy::{app::AppExit, prelude::*, window::PrimaryWindow};
 use bevy_egui::{egui, EguiContexts};
-use std::path::PathBuf;
-
-#[derive(Resource)]
-pub struct Autoload {
-    pub filename: Option<PathBuf>,
-    pub import: Option<PathBuf>,
-    pub importing: Option<Task<Option<(Entity, rmf_site_format::Site)>>>,
-}
-
-impl Autoload {
-    pub fn file(filename: PathBuf, import: Option<PathBuf>) -> Self {
-        Autoload {
-            filename: Some(filename),
-            import,
-            importing: None,
-        }
-    }
-}
 
 fn egui_ui(
     mut egui_context: EguiContexts,
@@ -49,10 +31,9 @@ fn egui_ui(
     if let Some(mut autoload) = autoload {
         #[cfg(not(target_arch = "wasm32"))]
         {
-            if let Some(filename) = autoload.filename.clone() {
+            if let Some(filename) = autoload.filename.take() {
                 _load_workspace.send(LoadWorkspace::Path(filename));
             }
-            autoload.filename = None;
         }
         return;
     }
diff --git a/rmf_site_editor/src/site/fuel_cache.rs b/rmf_site_editor/src/site/fuel_cache.rs
index 51aeea9d..a4185b00 100644
--- a/rmf_site_editor/src/site/fuel_cache.rs
+++ b/rmf_site_editor/src/site/fuel_cache.rs
@@ -40,12 +40,26 @@ pub struct SetFuelApiKey(pub String);
 /// Using channels instead of events to allow usage in wasm since, unlike event writers, they can
 /// be cloned and moved into async functions therefore don't have lifetime issues
 #[derive(Debug, Resource)]
-pub struct UpdateFuelCacheChannels {
+pub struct FuelCacheUpdateChannel {
     pub sender: Sender<FuelCacheUpdated>,
     pub receiver: Receiver<FuelCacheUpdated>,
 }
 
-impl Default for UpdateFuelCacheChannels {
+impl Default for FuelCacheUpdateChannel {
+    fn default() -> Self {
+        let (sender, receiver) = crossbeam_channel::unbounded();
+        Self { sender, receiver }
+    }
+}
+
+/// Channels that give incremental updates about what models have been fetched.
+#[derive(Debug, Resource)]
+pub struct FuelCacheProgressChannel {
+    pub sender: Sender<FuelModel>,
+    pub receiver: Receiver<FuelModel>,
+}
+
+impl Default for FuelCacheProgressChannel {
     fn default() -> Self {
         let (sender, receiver) = crossbeam_channel::unbounded();
         Self { sender, receiver }
@@ -54,15 +68,19 @@ impl Default for UpdateFuelCacheChannels {
 
 pub fn handle_update_fuel_cache_requests(
     mut events: EventReader<UpdateFuelCache>,
-    mut gallery_status: ResMut<AssetGalleryStatus>,
+    gallery_status: Option<ResMut<AssetGalleryStatus>>,
     fuel_client: Res<FuelClient>,
-    channels: Res<UpdateFuelCacheChannels>,
+    update_channel: Res<FuelCacheUpdateChannel>,
+    progress_channel: Res<FuelCacheProgressChannel>,
 ) {
     if events.read().last().is_some() {
         info!("Updating fuel cache, this might take a few minutes");
-        gallery_status.fetching_cache = true;
+        if let Some(mut gallery_status) = gallery_status {
+            gallery_status.fetching_cache = true;
+        }
         let mut fuel_client = fuel_client.clone();
-        let sender = channels.sender.clone();
+        let sender = update_channel.sender.clone();
+        let progress = progress_channel.sender.clone();
         IoTaskPool::get()
             .spawn(async move {
                 // Only write to cache in non wasm, no file system in web
@@ -71,26 +89,38 @@ pub fn handle_update_fuel_cache_requests(
                 #[cfg(not(target_arch = "wasm32"))]
                 let write_to_disk = true;
                 // Send client if update was successful
-                let res = fuel_client.update_cache(write_to_disk).await;
+
+                let res = fuel_client
+                    .update_cache_with_progress(write_to_disk, Some(progress))
+                    .await;
                 sender
                     .send(FuelCacheUpdated(res))
                     .expect("Failed sending fuel cache update event");
             })
             .detach();
     }
+
+    while let Ok(next_model) = progress_channel.receiver.try_recv() {
+        info!(
+            "Detected model {} owned by {}",
+            next_model.name, next_model.owner,
+        );
+    }
 }
 
 pub fn read_update_fuel_cache_results(
-    channels: Res<UpdateFuelCacheChannels>,
+    channels: Res<FuelCacheUpdateChannel>,
     mut fuel_client: ResMut<FuelClient>,
-    mut gallery_status: ResMut<AssetGalleryStatus>,
+    gallery_status: Option<ResMut<AssetGalleryStatus>>,
 ) {
     if let Ok(result) = channels.receiver.try_recv() {
         match result.0 {
             Some(models) => fuel_client.models = Some(models),
             None => error!("Failed updating fuel cache"),
         }
-        gallery_status.fetching_cache = false;
+        if let Some(mut gallery_status) = gallery_status {
+            gallery_status.fetching_cache = false;
+        }
     }
 }
 
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index 904efcb9..3dd7de9c 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -42,9 +42,6 @@ pub use drawing::*;
 pub mod fiducial;
 pub use fiducial::*;
 
-pub mod file_menu;
-pub use file_menu::*;
-
 pub mod floor;
 pub use floor::*;
 
@@ -192,7 +189,8 @@ impl Plugin for SitePlugin {
         .init_resource::<SiteAssets>()
         .init_resource::<CurrentLevel>()
         .init_resource::<PhysicalLightToggle>()
-        .init_resource::<UpdateFuelCacheChannels>()
+        .init_resource::<FuelCacheUpdateChannel>()
+        .init_resource::<FuelCacheProgressChannel>()
         .init_resource::<ModelTrashcan>()
         .register_type::<NameInSite>()
         .register_type::<AssetSource>()
@@ -339,7 +337,6 @@ impl Plugin for SitePlugin {
                 update_walls,
                 update_transforms_for_changed_poses,
                 align_site_drawings,
-                clear_old_issues_on_new_validate_event,
                 export_lights,
                 set_camera_transform_for_changed_site,
             )
diff --git a/rmf_site_editor/src/site/sdf_exporter.rs b/rmf_site_editor/src/site/sdf_exporter.rs
index d3c14e74..acf43b31 100644
--- a/rmf_site_editor/src/site/sdf_exporter.rs
+++ b/rmf_site_editor/src/site/sdf_exporter.rs
@@ -6,9 +6,12 @@ use std::path::Path;
 
 use crate::SaveWorkspace;
 
-use crate::site::{
-    ChildLiftCabinGroup, CollisionMeshMarker, DoorSegments, DrawingMarker, FloorSegments,
-    LiftDoormat, ModelSceneRoot, TentativeModelFormat, VisualMeshMarker,
+use crate::{
+    site::{
+        ChildLiftCabinGroup, CollisionMeshMarker, DoorSegments, DrawingMarker, FloorSegments,
+        LiftDoormat, ModelSceneRoot, TentativeModelFormat, VisualMeshMarker,
+    },
+    Autoload, LoadWorkspace,
 };
 use rmf_site_format::{
     IsStatic, LevelElevation, LiftCabin, ModelMarker, NameInSite, NameOfSite, SiteID, WallMarker,
@@ -47,14 +50,24 @@ pub fn headless_sdf_export(
     mut export_state: ResMut<HeadlessSdfExportState>,
     sites: Query<(Entity, &NameOfSite)>,
     drawings: Query<Entity, With<DrawingMarker>>,
+    autoload: Option<ResMut<Autoload>>,
+    mut load_workspace: EventWriter<LoadWorkspace>,
 ) {
+    if let Some(mut autoload) = autoload {
+        if let Some(filename) = autoload.filename.take() {
+            load_workspace.send(LoadWorkspace::Path(filename));
+        }
+    } else {
+        error!("Cannot perform a headless export since no site file was specified for loading");
+    }
+
     export_state.iterations += 1;
     if export_state.iterations < 5 {
         return;
     }
     if sites.is_empty() {
         warn!(
-            "Unable to load site from file [{}] so we cannot export an SDF from it",
+            "No site is loaded so we cannot export an SDF file into [{}]",
             export_state.target_path,
         );
         exit.send(bevy::app::AppExit);
diff --git a/rmf_site_editor/src/site/util.rs b/rmf_site_editor/src/site/util.rs
index 84d499c5..2c1a445e 100644
--- a/rmf_site_editor/src/site/util.rs
+++ b/rmf_site_editor/src/site/util.rs
@@ -72,6 +72,13 @@ impl EdgeLabels {
             Self::LeftRight => "right",
         }
     }
+
+    pub fn side(&self, side: Side) -> &'static str {
+        match side {
+            Side::Left => self.start(),
+            Side::Right => self.end(),
+        }
+    }
 }
 
 #[derive(Component, Debug, Default, Clone, Deref, DerefMut)]
diff --git a/rmf_site_editor/src/widgets/building_preview.rs b/rmf_site_editor/src/widgets/building_preview.rs
new file mode 100644
index 00000000..9aad1b02
--- /dev/null
+++ b/rmf_site_editor/src/widgets/building_preview.rs
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{AlignSiteDrawings, FinishEditDrawing},
+    widgets::prelude::*,
+    AppState, CurrentWorkspace, Icons,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::{Button, Ui};
+
+#[derive(Default)]
+pub struct BuildingPreviewPlugin {}
+
+impl Plugin for BuildingPreviewPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(PropertiesTilePlugin::<BuildingPreview>::new());
+    }
+}
+
+#[derive(SystemParam)]
+pub struct BuildingPreview<'w> {
+    app_state: Res<'w, State<AppState>>,
+    next_app_state: ResMut<'w, NextState<AppState>>,
+    icons: Res<'w, Icons>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    align_site: EventWriter<'w, AlignSiteDrawings>,
+    finish_edit_drawing: EventWriter<'w, FinishEditDrawing>,
+}
+
+impl<'w> WidgetSystem<Tile> for BuildingPreview<'w> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state == AppState::SiteEditor {
+            if ui.add(Button::new("Building preview")).clicked() {
+                params.next_app_state.set(AppState::SiteVisualizer);
+            }
+        }
+
+        if *params.app_state == AppState::SiteVisualizer {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.alignment.egui(),
+                    "Align Drawings",
+                ))
+                .on_hover_text(
+                    "Align all drawings in the site based on their fiducials and measurements",
+                )
+                .clicked()
+            {
+                if let Some(site) = params.current_workspace.root {
+                    params.align_site.send(AlignSiteDrawings(site));
+                }
+            }
+
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.exit.egui(),
+                    "Return to site editor",
+                ))
+                .clicked()
+            {
+                params.next_app_state.set(AppState::SiteEditor);
+            }
+        }
+
+        if *params.app_state == AppState::SiteDrawingEditor {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.exit.egui(),
+                    "Return to site editor",
+                ))
+                .clicked()
+            {
+                params.finish_edit_drawing.send(FinishEditDrawing(None));
+            }
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/console.rs b/rmf_site_editor/src/widgets/console.rs
index 52a17b1e..70baf797 100644
--- a/rmf_site_editor/src/widgets/console.rs
+++ b/rmf_site_editor/src/widgets/console.rs
@@ -15,110 +15,99 @@
  *
 */
 
-use crate::{log::*, widgets::AppEvents};
-use bevy_egui::egui::{self, CollapsingHeader, Color32, RichText, Ui};
+use crate::{log::*, widgets::prelude::*};
+use bevy::prelude::*;
+use bevy_egui::egui::{self, CollapsingHeader, Color32, RichText};
 
-pub struct ConsoleWidget<'a, 'w2, 's2> {
-    events: &'a mut AppEvents<'w2, 's2>,
-}
+/// This widget provides a console that displays information, warning, and error
+/// messages.
+#[derive(Default)]
+pub struct ConsoleWidgetPlugin {}
 
-impl<'a, 'w2, 's2> ConsoleWidget<'a, 'w2, 's2> {
-    pub fn new(events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { events }
+impl Plugin for ConsoleWidgetPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LogHistory>();
+        let widget = PanelWidget::new(console_widget, &mut app.world);
+        app.world.spawn(widget);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        ui.horizontal_wrapped(|ui| {
-            ui.spacing_mut().item_spacing.x = 0.5;
-            let status = self.events.display.log_history.top();
-            match status {
-                Some(log) => print_log(ui, log),
-                None => (),
-            }
-        });
-        ui.add_space(5.0);
-        CollapsingHeader::new("RMF Site Editor Console")
-            .default_open(false)
-            .show(ui, |ui| {
-                ui.horizontal_wrapped(|ui| {
-                    ui.spacing_mut().item_spacing.x = 10.0;
-                    // Filter logs by category
-                    let mut all_are_checked = self
-                        .events
-                        .display
-                        .log_history
-                        .all_categories_are_selected();
-                    let all_were_checked = all_are_checked;
-                    ui.checkbox(&mut all_are_checked, "All");
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Status),
-                        "Status",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Warning),
-                        "Warning",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Error),
-                        "Error",
-                    );
-                    ui.checkbox(
-                        self.events
-                            .display
-                            .log_history
-                            .category_present_mut(LogCategory::Bevy),
-                        "Bevy",
-                    );
-                    // Copy full log history to clipboard
-                    if ui.button("Copy Log History").clicked() {
-                        ui.output_mut(|o| {
-                            o.copied_text = self.events.display.log_history.copy_log_history()
-                        });
-                    }
-                    // Slider to adjust display limit
-                    // TODO(@mxgrey): Consider allowing this range to
-                    // automatically grow/shrink when the selected value
-                    // approaches or leaves the upper limit.
-                    ui.add(egui::Slider::new(
-                        self.events.display.log_history.display_limit_mut(),
-                        10..=1000,
-                    ));
-
-                    if !all_were_checked && all_are_checked {
-                        // The user has asked to select all categories
-                        self.events.display.log_history.select_all_categories();
-                    }
-                });
-                ui.add_space(10.);
-
-                egui::ScrollArea::both()
-                    .auto_shrink([false, false])
-                    .stick_to_bottom(true)
-                    .show(ui, |ui| {
-                        let mut count = 0;
-                        for element in self.events.display.log_history.iter() {
-                            print_log(ui, element);
-                            count += 1;
+fn console_widget(In(input): In<PanelWidgetInput>, mut log_history: ResMut<LogHistory>) {
+    egui::TopBottomPanel::bottom("log_consolse")
+        .resizable(true)
+        .min_height(30.0)
+        .max_height(300.0)
+        .show(&input.context, |ui| {
+            ui.horizontal_wrapped(|ui| {
+                ui.spacing_mut().item_spacing.x = 0.5;
+                let status = log_history.top();
+                if let Some(log) = status {
+                    print_log(ui, log);
+                }
+            });
+            ui.add_space(5.0);
+            CollapsingHeader::new("Log Console")
+                .default_open(false)
+                .show(ui, |ui| {
+                    ui.horizontal_wrapped(|ui| {
+                        ui.spacing_mut().item_spacing.x = 10.0;
+                        // Filter logs by category
+                        let mut all_are_checked = log_history.all_categories_are_selected();
+                        let all_were_checked = all_are_checked;
+                        ui.checkbox(&mut all_are_checked, "All");
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Status),
+                            "Status",
+                        );
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Warning),
+                            "Warning",
+                        );
+                        ui.checkbox(
+                            log_history.category_present_mut(LogCategory::Error),
+                            "Error",
+                        );
+                        ui.checkbox(log_history.category_present_mut(LogCategory::Bevy), "Bevy");
+                        // Copy full log history to clipboard
+                        if ui.button("Copy Log History").clicked() {
+                            ui.output_mut(|o| {
+                                o.copied_text = log_history.copy_log_history();
+                            });
                         }
-                        if count >= self.events.display.log_history.display_limit() {
-                            ui.add_space(5.0);
-                            if ui.button("See more").clicked() {
-                                *self.events.display.log_history.display_limit_mut() += 100;
-                            }
+                        // Slider to adjust display limit
+                        // TODO(@mxgrey): Consider allowing this range to
+                        // automatically grow/shrink when the selected value
+                        // approaches or leaves the upper limit.
+                        ui.add(egui::Slider::new(
+                            log_history.display_limit_mut(),
+                            10..=1000,
+                        ));
+
+                        if !all_were_checked && all_are_checked {
+                            log_history.select_all_categories();
                         }
                     });
-                ui.add_space(10.);
-            });
-    }
+                    ui.add_space(10.0);
+
+                    egui::ScrollArea::both()
+                        .auto_shrink([false, false])
+                        .stick_to_bottom(true)
+                        .show(ui, |ui| {
+                            let mut count = 0;
+                            for element in log_history.iter() {
+                                print_log(ui, element);
+                                count += 1;
+                            }
+                            if count >= log_history.display_limit() {
+                                ui.add_space(5.0);
+                                if ui.button("See more").clicked() {
+                                    *log_history.display_limit_mut() += 100;
+                                }
+                            }
+                        });
+                    ui.add_space(10.0);
+                });
+        });
 }
 
 fn print_log(ui: &mut egui::Ui, element: &LogHistoryElement) {
diff --git a/rmf_site_editor/src/widgets/create.rs b/rmf_site_editor/src/widgets/create.rs
deleted file mode 100644
index 4ab0d59e..00000000
--- a/rmf_site_editor/src/widgets/create.rs
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
- * Copyright (C) 2022 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-use crate::{
-    inspector::{InspectAssetSource, InspectScale},
-    interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
-    site::{DefaultFile, DrawingBundle, Recall},
-    AppEvents, AppState,
-};
-use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{CollapsingHeader, Ui};
-
-use rmf_site_format::{DrawingProperties, Geometry, Model, WorkcellModel};
-
-#[derive(SystemParam)]
-pub struct CreateParams<'w, 's> {
-    pub default_file: Query<'w, 's, &'static DefaultFile>,
-}
-
-pub struct CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub params: &'a CreateParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> CreateWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(params: &'a CreateParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            match self.events.app_state.get() {
-                AppState::MainMenu | AppState::SiteVisualizer => {
-                    return;
-                }
-                AppState::SiteEditor => {
-                    if ui.button("Lane").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_lane().into(),
-                        ));
-                    }
-
-                    if ui.button("Location").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_location().into(),
-                        ));
-                    }
-
-                    if ui.button("Wall").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_wall().into(),
-                        ));
-                    }
-
-                    if ui.button("Door").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_door().into(),
-                        ));
-                    }
-
-                    if ui.button("Lift").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_lift().into(),
-                        ));
-                    }
-
-                    if ui.button("Floor").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_path().for_floor().into(),
-                        ));
-                    }
-                    if ui.button("Fiducial").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_site_fiducial().into(),
-                        ));
-                    }
-
-                    ui.add_space(10.0);
-                    CollapsingHeader::new("New drawing")
-                        .default_open(false)
-                        .show(ui, |ui| {
-                            let default_file = self
-                                .events
-                                .request
-                                .current_workspace
-                                .root
-                                .map(|e| self.params.default_file.get(e).ok())
-                                .flatten();
-                            if let Some(new_asset_source) = InspectAssetSource::new(
-                                &self.events.display.pending_drawings.source,
-                                &self.events.display.pending_drawings.recall_source,
-                                default_file,
-                            )
-                            .show(ui)
-                            {
-                                self.events
-                                    .display
-                                    .pending_drawings
-                                    .recall_source
-                                    .remember(&new_asset_source);
-                                self.events.display.pending_drawings.source = new_asset_source;
-                            }
-                            ui.add_space(5.0);
-                            if ui.button("Add Drawing").clicked() {
-                                self.events
-                                    .commands
-                                    .spawn(DrawingBundle::new(DrawingProperties {
-                                        source: self.events.display.pending_drawings.source.clone(),
-                                        ..default()
-                                    }));
-                            }
-                        });
-                }
-                AppState::SiteDrawingEditor => {
-                    if ui.button("Fiducial").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point()
-                                .for_drawing_fiducial()
-                                .into(),
-                        ));
-                    }
-                    if ui.button("Measurement").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_measurement().into(),
-                        ));
-                    }
-                }
-                AppState::WorkcellEditor => {
-                    if ui.button("Frame").clicked() {
-                        self.events.request.change_mode.send(ChangeMode::To(
-                            SelectAnchor3D::create_new_point().for_anchor(None).into(),
-                        ));
-                    }
-                }
-            }
-            match self.events.app_state.get() {
-                AppState::MainMenu | AppState::SiteDrawingEditor | AppState::SiteVisualizer => {}
-                AppState::SiteEditor | AppState::WorkcellEditor => {
-                    ui.add_space(10.0);
-                    CollapsingHeader::new("New model")
-                        .default_open(false)
-                        .show(ui, |ui| {
-                            let default_file = self
-                                .events
-                                .request
-                                .current_workspace
-                                .root
-                                .map(|e| self.params.default_file.get(e).ok())
-                                .flatten();
-                            if let Some(new_asset_source) = InspectAssetSource::new(
-                                &self.events.display.pending_model.source,
-                                &self.events.display.pending_model.recall_source,
-                                default_file,
-                            )
-                            .show(ui)
-                            {
-                                self.events
-                                    .display
-                                    .pending_model
-                                    .recall_source
-                                    .remember(&new_asset_source);
-                                self.events.display.pending_model.source = new_asset_source;
-                            }
-                            ui.add_space(5.0);
-                            if let Some(new_scale) =
-                                InspectScale::new(&self.events.display.pending_model.scale).show(ui)
-                            {
-                                self.events.display.pending_model.scale = new_scale;
-                            }
-                            ui.add_space(5.0);
-                            match self.events.app_state.get() {
-                                AppState::MainMenu
-                                | AppState::SiteDrawingEditor
-                                | AppState::SiteVisualizer => {}
-                                AppState::SiteEditor => {
-                                    if ui.button("Browse fuel").clicked() {
-                                        self.events.new_model.asset_gallery_status.show = true;
-                                    }
-                                    if ui.button("Spawn model").clicked() {
-                                        let model = Model {
-                                            source: self
-                                                .events
-                                                .display
-                                                .pending_model
-                                                .source
-                                                .clone(),
-                                            scale: self.events.display.pending_model.scale,
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_model(model)
-                                                .into(),
-                                        ));
-                                    }
-                                }
-                                AppState::WorkcellEditor => {
-                                    if ui.button("Browse fuel").clicked() {
-                                        self.events.new_model.asset_gallery_status.show = true;
-                                    }
-                                    if ui.button("Spawn visual").clicked() {
-                                        let workcell_model = WorkcellModel {
-                                            geometry: Geometry::Mesh {
-                                                source: self
-                                                    .events
-                                                    .display
-                                                    .pending_model
-                                                    .source
-                                                    .clone(),
-                                                scale: Some(
-                                                    *self.events.display.pending_model.scale,
-                                                ),
-                                            },
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_visual(workcell_model)
-                                                .into(),
-                                        ));
-                                    }
-                                    if ui.button("Spawn collision").clicked() {
-                                        let workcell_model = WorkcellModel {
-                                            geometry: Geometry::Mesh {
-                                                source: self
-                                                    .events
-                                                    .display
-                                                    .pending_model
-                                                    .source
-                                                    .clone(),
-                                                scale: Some(
-                                                    *self.events.display.pending_model.scale,
-                                                ),
-                                            },
-                                            ..default()
-                                        };
-                                        self.events.request.change_mode.send(ChangeMode::To(
-                                            SelectAnchor3D::create_new_point()
-                                                .for_collision(workcell_model)
-                                                .into(),
-                                        ));
-                                    }
-                                    ui.add_space(10.0);
-                                }
-                            }
-                        });
-                }
-            }
-        });
-    }
-}
diff --git a/rmf_site_editor/src/widgets/creation.rs b/rmf_site_editor/src/widgets/creation.rs
new file mode 100644
index 00000000..9166a137
--- /dev/null
+++ b/rmf_site_editor/src/widgets/creation.rs
@@ -0,0 +1,275 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    inspector::{InspectAssetSourceComponent, InspectScaleComponent},
+    interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
+    site::{AssetSource, DefaultFile, DrawingBundle, Recall, RecallAssetSource, Scale},
+    widgets::{prelude::*, AssetGalleryStatus},
+    AppState, CurrentWorkspace,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{CollapsingHeader, Ui};
+
+use rmf_site_format::{DrawingProperties, Geometry, Model, WorkcellModel};
+
+/// This widget provides a widget with buttons for creating new site elements.
+#[derive(Default)]
+pub struct CreationPlugin {}
+
+impl Plugin for CreationPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<PendingDrawing>()
+            .init_resource::<PendingModel>()
+            .add_plugins(PropertiesTilePlugin::<Creation>::new());
+    }
+}
+
+#[derive(SystemParam)]
+struct Creation<'w, 's> {
+    default_file: Query<'w, 's, &'static DefaultFile>,
+    app_state: Res<'w, State<AppState>>,
+    change_mode: EventWriter<'w, ChangeMode>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    pending_drawings: ResMut<'w, PendingDrawing>,
+    pending_model: ResMut<'w, PendingModel>,
+    asset_gallery: Option<ResMut<'w, AssetGalleryStatus>>,
+    commands: Commands<'w, 's>,
+}
+
+impl<'w, 's> WidgetSystem<Tile> for Creation<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        match params.app_state.get() {
+            AppState::SiteEditor | AppState::SiteDrawingEditor | AppState::WorkcellEditor => {}
+            AppState::MainMenu | AppState::SiteVisualizer => return,
+        }
+        CollapsingHeader::new("Create")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
+    }
+}
+
+impl<'w, 's> Creation<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        ui.vertical(|ui| {
+            match self.app_state.get() {
+                AppState::MainMenu | AppState::SiteVisualizer => {
+                    return;
+                }
+                AppState::SiteEditor => {
+                    if ui.button("Lane").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_edge_sequence().for_lane().into(),
+                        ));
+                    }
+
+                    if ui.button("Location").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point().for_location().into(),
+                        ));
+                    }
+
+                    if ui.button("Wall").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_edge_sequence().for_wall().into(),
+                        ));
+                    }
+
+                    if ui.button("Door").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_door().into(),
+                        ));
+                    }
+
+                    if ui.button("Lift").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_lift().into(),
+                        ));
+                    }
+
+                    if ui.button("Floor").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_path().for_floor().into(),
+                        ));
+                    }
+                    if ui.button("Fiducial").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point().for_site_fiducial().into(),
+                        ));
+                    }
+
+                    ui.add_space(10.0);
+                    CollapsingHeader::new("New drawing")
+                        .default_open(false)
+                        .show(ui, |ui| {
+                            let default_file = self
+                                .current_workspace
+                                .root
+                                .map(|e| self.default_file.get(e).ok())
+                                .flatten();
+                            if let Some(new_asset_source) = InspectAssetSourceComponent::new(
+                                &self.pending_drawings.source,
+                                &self.pending_drawings.recall_source,
+                                default_file,
+                            )
+                            .show(ui)
+                            {
+                                self.pending_drawings
+                                    .recall_source
+                                    .remember(&new_asset_source);
+                                self.pending_drawings.source = new_asset_source;
+                            }
+                            ui.add_space(5.0);
+                            if ui.button("Add Drawing").clicked() {
+                                self.commands.spawn(DrawingBundle::new(DrawingProperties {
+                                    source: self.pending_drawings.source.clone(),
+                                    ..default()
+                                }));
+                            }
+                        });
+                }
+                AppState::SiteDrawingEditor => {
+                    if ui.button("Fiducial").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_new_point()
+                                .for_drawing_fiducial()
+                                .into(),
+                        ));
+                    }
+                    if ui.button("Measurement").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor::create_one_new_edge().for_measurement().into(),
+                        ));
+                    }
+                }
+                AppState::WorkcellEditor => {
+                    if ui.button("Frame").clicked() {
+                        self.change_mode.send(ChangeMode::To(
+                            SelectAnchor3D::create_new_point().for_anchor(None).into(),
+                        ));
+                    }
+                }
+            }
+            match self.app_state.get() {
+                AppState::MainMenu | AppState::SiteDrawingEditor | AppState::SiteVisualizer => {}
+                AppState::SiteEditor | AppState::WorkcellEditor => {
+                    ui.add_space(10.0);
+                    CollapsingHeader::new("New model")
+                        .default_open(false)
+                        .show(ui, |ui| {
+                            let default_file = self
+                                .current_workspace
+                                .root
+                                .map(|e| self.default_file.get(e).ok())
+                                .flatten();
+                            if let Some(new_asset_source) = InspectAssetSourceComponent::new(
+                                &self.pending_model.source,
+                                &self.pending_model.recall_source,
+                                default_file,
+                            )
+                            .show(ui)
+                            {
+                                self.pending_model.recall_source.remember(&new_asset_source);
+                                self.pending_model.source = new_asset_source;
+                            }
+                            ui.add_space(5.0);
+                            if let Some(new_scale) =
+                                InspectScaleComponent::new(&self.pending_model.scale).show(ui)
+                            {
+                                self.pending_model.scale = new_scale;
+                            }
+                            ui.add_space(5.0);
+                            if let Some(asset_gallery) = &mut self.asset_gallery {
+                                match self.app_state.get() {
+                                    AppState::MainMenu
+                                    | AppState::SiteDrawingEditor
+                                    | AppState::SiteVisualizer => {}
+                                    AppState::SiteEditor => {
+                                        if ui.button("Browse fuel").clicked() {
+                                            asset_gallery.show = true;
+                                        }
+                                        if ui.button("Spawn model").clicked() {
+                                            let model = Model {
+                                                source: self.pending_model.source.clone(),
+                                                scale: self.pending_model.scale,
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_model(model)
+                                                    .into(),
+                                            ));
+                                        }
+                                    }
+                                    AppState::WorkcellEditor => {
+                                        if ui.button("Browse fuel").clicked() {
+                                            asset_gallery.show = true;
+                                        }
+                                        if ui.button("Spawn visual").clicked() {
+                                            let workcell_model = WorkcellModel {
+                                                geometry: Geometry::Mesh {
+                                                    source: self.pending_model.source.clone(),
+                                                    scale: Some(*self.pending_model.scale),
+                                                },
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_visual(workcell_model)
+                                                    .into(),
+                                            ));
+                                        }
+                                        if ui.button("Spawn collision").clicked() {
+                                            let workcell_model = WorkcellModel {
+                                                geometry: Geometry::Mesh {
+                                                    source: self.pending_model.source.clone(),
+                                                    scale: Some(*self.pending_model.scale),
+                                                },
+                                                ..default()
+                                            };
+                                            self.change_mode.send(ChangeMode::To(
+                                                SelectAnchor3D::create_new_point()
+                                                    .for_collision(workcell_model)
+                                                    .into(),
+                                            ));
+                                        }
+                                        ui.add_space(10.0);
+                                    }
+                                }
+                            }
+                        });
+                }
+            }
+        });
+    }
+}
+
+#[derive(Resource, Clone, Default)]
+struct PendingDrawing {
+    pub source: AssetSource,
+    pub recall_source: RecallAssetSource,
+}
+
+#[derive(Resource, Clone, Default)]
+struct PendingModel {
+    pub source: AssetSource,
+    pub recall_source: RecallAssetSource,
+    pub scale: Scale,
+}
diff --git a/rmf_site_editor/src/widgets/diagnostic_window.rs b/rmf_site_editor/src/widgets/diagnostics.rs
similarity index 53%
rename from rmf_site_editor/src/widgets/diagnostic_window.rs
rename to rmf_site_editor/src/widgets/diagnostics.rs
index 3a21c21b..41a25028 100644
--- a/rmf_site_editor/src/widgets/diagnostic_window.rs
+++ b/rmf_site_editor/src/widgets/diagnostics.rs
@@ -15,56 +15,89 @@
  *
 */
 
-use crate::inspector::SelectionWidget;
-use crate::site::{Change, FilteredIssueKinds, FilteredIssues, IssueKey, SiteID};
-use crate::{AppEvents, Icons, Issue};
-use crate::{IssueDictionary, ValidateWorkspace};
-use bevy::ecs::system::SystemParam;
-use bevy::prelude::*;
-use bevy_egui::egui::{Button, Checkbox, Grid, ImageButton, ScrollArea, Ui};
+use crate::{
+    site::{Change, FilteredIssueKinds, FilteredIssues, IssueKey},
+    widgets::{
+        menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ToolMenu},
+        prelude::*,
+        SelectorWidget,
+    },
+    AppState, CurrentWorkspace, Icons, Issue, IssueDictionary, ValidateWorkspace,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{self, Button, Checkbox, Grid, ImageButton, ScrollArea, Ui};
+use std::collections::HashSet;
 
-#[derive(Resource, Debug, Clone, Default)]
-pub struct DiagnosticWindowState {
-    pub show: bool,
-    pub selected: Option<IssueKey<Entity>>,
+/// Add a [`Diagnostics`] widget to your application.
+#[derive(Default)]
+pub struct DiagnosticsPlugin {}
+
+impl Plugin for DiagnosticsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<IssueDictionary>()
+            .init_resource::<IssueMenu>()
+            .init_resource::<DiagnosticsDisplay>()
+            .add_systems(Update, handle_diagnostic_panel_visibility);
+
+        let panel = PanelWidget::new(diagnostics_panel, &mut app.world);
+        let widget = Widget::new::<Diagnostics>(&mut app.world);
+        app.world.spawn((panel, widget));
+    }
 }
 
-#[derive(SystemParam)]
-pub struct DiagnosticParams<'w, 's> {
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub filters: Query<'w, 's, (&'static FilteredIssues<Entity>, &'static FilteredIssueKinds)>,
-    pub issue_dictionary: Res<'w, IssueDictionary>,
-    pub issues: Query<'w, 's, (&'static Issue, &'static Parent)>,
+fn diagnostics_panel(In(input): In<PanelWidgetInput>, world: &mut World) {
+    if world.resource::<DiagnosticsDisplay>().show {
+        egui::SidePanel::left("diagnostics")
+            .resizable(true)
+            .min_width(320.0)
+            .show(&input.context, |ui| {
+                if let Err(err) = world.try_show(input.id, ui) {
+                    error!("Unable to display diagnostics panel: {err:?}");
+                }
+            });
+    }
 }
 
-pub struct DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
-    events: &'a mut AppEvents<'w1, 's1>,
-    params: &'a DiagnosticParams<'w2, 's2>,
+/// A widget that displays diagnostic information about the current site. This
+/// helps identify potential problems that you should consider addressing.
+///
+/// Use [`DiagnosticsPlugin`] to add this to your application.
+#[derive(SystemParam)]
+pub struct Diagnostics<'w, 's> {
+    icons: Res<'w, Icons>,
+    filters: Query<'w, 's, (&'static FilteredIssues<Entity>, &'static FilteredIssueKinds)>,
+    issue_dictionary: Res<'w, IssueDictionary>,
+    issues: Query<'w, 's, (&'static Issue, &'static Parent)>,
+    display_diagnostics: ResMut<'w, DiagnosticsDisplay>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    validate_workspace: EventWriter<'w, ValidateWorkspace>,
+    change_filtered_issues: EventWriter<'w, Change<FilteredIssues<Entity>>>,
+    change_filtered_issue_kinds: EventWriter<'w, Change<FilteredIssueKinds>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        events: &'a mut AppEvents<'w1, 's1>,
-        params: &'a DiagnosticParams<'w2, 's2>,
-    ) -> Self {
-        Self { events, params }
+impl<'w, 's> WidgetSystem for Diagnostics<'w, 's> {
+    fn show(_: (), ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        params.show_widget(ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w, 's> Diagnostics<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
         //let state = &mut self.events.file_events.diagnostic_window;
-        let mut state = (*self.events.file_events.diagnostic_window).clone();
-        let Some(root) = self.events.request.current_workspace.root else {
+        let mut state = (*self.display_diagnostics).clone();
+        let Some(root) = self.current_workspace.root else {
             return;
         };
-        let Ok((filtered_issues, filtered_issue_kinds)) = self.params.filters.get(root) else {
+        let Ok((filtered_issues, filtered_issue_kinds)) = self.filters.get(root) else {
             return;
         };
         let mut new_filtered_issues = filtered_issues.clone();
         let mut new_filtered_issue_kinds = filtered_issue_kinds.clone();
         ui.vertical(|ui| {
             ui.collapsing("Filters", |ui| {
-                for (uuid, name) in self.params.issue_dictionary.iter() {
+                for (uuid, name) in self.issue_dictionary.iter() {
                     let mut show_category = !new_filtered_issue_kinds.contains(uuid);
                     if ui.add(Checkbox::new(&mut show_category, name)).clicked() {
                         match show_category {
@@ -80,14 +113,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 for (idx, issue) in new_filtered_issues.iter().enumerate() {
                     ui.horizontal(|ui| {
                         let issue_type = self
-                            .params
                             .issue_dictionary
                             .get(&issue.kind)
                             .cloned()
                             .unwrap_or("Unknown Type".to_owned());
                         ui.label(issue_type);
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
+                            .add(ImageButton::new(self.icons.trash.egui()))
                             .on_hover_text("Remove this suppression")
                             .clicked()
                         {
@@ -98,13 +130,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                         ui,
                         |ui| {
                             for e in &issue.entities {
-                                SelectionWidget::new(
-                                    *e,
-                                    self.params.site_id.get(*e).ok().cloned(),
-                                    self.params.icons.as_ref(),
-                                    self.events,
-                                )
-                                .show(ui);
+                                self.selector.show_widget(*e, ui);
                             }
                         },
                     );
@@ -122,10 +148,10 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 .auto_shrink([false, false])
                 .show(ui, |ui| {
                     let mut issue_still_exists = false;
-                    if self.params.issues.is_empty() {
+                    if self.issues.is_empty() {
                         ui.label("No issues found");
                     }
-                    for (issue, parent) in &self.params.issues {
+                    for (issue, parent) in &self.issues {
                         if new_filtered_issue_kinds.contains(&issue.key.kind)
                             || new_filtered_issues.contains(&issue.key)
                             || **parent != root
@@ -136,7 +162,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                         issue_still_exists |= sel;
                         ui.horizontal(|ui| {
                             if ui
-                                .add(ImageButton::new(self.params.icons.hide.egui()))
+                                .add(ImageButton::new(self.icons.hide.egui()))
                                 .on_hover_text("Suppress this issue")
                                 .clicked()
                             {
@@ -164,39 +190,71 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
                 ui.label("Affected entities");
                 Grid::new("diagnostic_affected_entities").show(ui, |ui| {
                     for e in &sel.entities {
-                        SelectionWidget::new(
-                            *e,
-                            self.params.site_id.get(*e).ok().cloned(),
-                            self.params.icons.as_ref(),
-                            self.events,
-                        )
-                        .show(ui);
+                        self.selector.show_widget(*e, ui);
                     }
                 });
             }
 
             if ui.add(Button::new("Validate")).clicked() {
-                self.events
-                    .request
-                    .validate_workspace
-                    .send(ValidateWorkspace(root));
+                self.validate_workspace.send(ValidateWorkspace(root));
             }
             if ui.add(Button::new("Close")).clicked() {
                 state.show = false;
             }
         });
         if new_filtered_issues != *filtered_issues {
-            self.events
-                .change
-                .filtered_issues
+            self.change_filtered_issues
                 .send(Change::new(new_filtered_issues, root));
         }
         if new_filtered_issue_kinds != *filtered_issue_kinds {
-            self.events
-                .change
-                .filtered_issue_kinds
+            self.change_filtered_issue_kinds
                 .send(Change::new(new_filtered_issue_kinds, root));
         }
-        *self.events.file_events.diagnostic_window = state;
+        *self.display_diagnostics = state;
+    }
+}
+
+#[derive(Resource, Debug, Clone, Default)]
+pub struct DiagnosticsDisplay {
+    pub show: bool,
+    pub selected: Option<IssueKey<Entity>>,
+}
+
+fn handle_diagnostic_panel_visibility(
+    mut menu_events: EventReader<MenuEvent>,
+    issue_menu: Res<IssueMenu>,
+    mut diagnostic_window: ResMut<DiagnosticsDisplay>,
+) {
+    for event in menu_events.read() {
+        if event.clicked() && event.source() == issue_menu.diagnostic_tool {
+            diagnostic_window.show = true;
+        }
+    }
+}
+
+#[derive(Resource)]
+pub struct IssueMenu {
+    diagnostic_tool: Entity,
+}
+
+impl FromWorld for IssueMenu {
+    fn from_world(world: &mut World) -> Self {
+        let target_states = HashSet::from([
+            AppState::SiteEditor,
+            AppState::SiteDrawingEditor,
+            AppState::SiteVisualizer,
+        ]);
+        // Tools menu
+        let diagnostic_tool = world
+            .spawn(MenuItem::Text("Diagnostic Tool".to_string()))
+            .insert(MenuVisualizationStates(target_states))
+            .id();
+
+        let tool_header = world.resource::<ToolMenu>().get();
+        world
+            .entity_mut(tool_header)
+            .push_children(&[diagnostic_tool]);
+
+        IssueMenu { diagnostic_tool }
     }
 }
diff --git a/rmf_site_editor/src/widgets/new_model.rs b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
similarity index 79%
rename from rmf_site_editor/src/widgets/new_model.rs
rename to rmf_site_editor/src/widgets/fuel_asset_browser.rs
index 5550542d..0c7a2885 100644
--- a/rmf_site_editor/src/widgets/new_model.rs
+++ b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2023 Open Source Robotics Foundation
+ * Copyright (C) 2024 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,13 +15,28 @@
  *
 */
 
-use crate::interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D};
-use crate::site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache};
-use crate::AppEvents;
+use crate::{
+    interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D},
+    site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache},
+    widgets::prelude::*,
+};
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
+use bevy_egui::egui::{self, Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
 use gz_fuel::FuelModel;
 
+/// Add a [`FuelAssetBrowser`] widget to your application.
+#[derive(Default)]
+pub struct FuelAssetBrowserPlugin {}
+
+impl Plugin for FuelAssetBrowserPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<AssetGalleryStatus>();
+        let panel = PanelWidget::new(fuel_asset_browser_panel, &mut app.world);
+        let widget = Widget::new::<FuelAssetBrowser>(&mut app.world);
+        app.world.spawn((panel, widget));
+    }
+}
+
 /// Filters applied to models in the fuel list
 #[derive(Default)]
 pub struct ShowAssetFilters {
@@ -33,7 +48,7 @@ pub struct ShowAssetFilters {
     pub recall_private: Option<bool>,
 }
 
-/// Used to signals whether to show or hide the left side panel with the asset gallery
+/// Used to indicate whether to show or hide the [`FuelAssetBrowser`].
 #[derive(Resource, Default)]
 pub struct AssetGalleryStatus {
     pub show: bool,
@@ -46,28 +61,49 @@ pub struct AssetGalleryStatus {
     pub show_api_window: bool,
 }
 
+/// A widget for browsing models that can be downloaded from fuel.
+///
+/// This is part of the [`StandardUiPlugin`][1]. If you are not using the
+/// `StandardUiPlugin` then it is recommended that you use the
+/// [`FuelAssetBrowserPlugin`] to add this to the editor.
+///
+/// [1]: crate::widgets::StandardUiPlugin
 #[derive(SystemParam)]
-pub struct NewModelParams<'w> {
-    pub fuel_client: ResMut<'w, FuelClient>,
+pub struct FuelAssetBrowser<'w, 's> {
+    fuel_client: ResMut<'w, FuelClient>,
     // TODO(luca) refactor to see whether we need
-    pub asset_gallery_status: ResMut<'w, AssetGalleryStatus>,
-    pub model_preview_camera: Res<'w, ModelPreviewCamera>,
-    pub update_cache: EventWriter<'w, UpdateFuelCache>,
-    pub set_api_key: EventWriter<'w, SetFuelApiKey>,
+    asset_gallery_status: ResMut<'w, AssetGalleryStatus>,
+    model_preview_camera: Res<'w, ModelPreviewCamera>,
+    update_cache: EventWriter<'w, UpdateFuelCache>,
+    set_api_key: EventWriter<'w, SetFuelApiKey>,
+    commands: Commands<'w, 's>,
+    change_mode: EventWriter<'w, ChangeMode>,
 }
 
-pub struct NewModel<'a, 'w, 's> {
-    events: &'a mut AppEvents<'w, 's>,
+fn fuel_asset_browser_panel(In(input): In<PanelWidgetInput>, world: &mut World) {
+    if world.resource::<AssetGalleryStatus>().show {
+        egui::SidePanel::left("asset_gallery")
+            .resizable(true)
+            .min_width(320.0)
+            .show(&input.context, |ui| {
+                if let Err(err) = world.try_show(input.id, ui) {
+                    error!("Unable to display asset gallery: {err:?}");
+                }
+            });
+    }
 }
 
-impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
-    pub fn new(events: &'a mut AppEvents<'w, 's>) -> Self {
-        Self { events }
+impl<'w, 's> WidgetSystem for FuelAssetBrowser<'w, 's> {
+    fn show(_: (), ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        params.show_widget(ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let fuel_client = &mut self.events.new_model.fuel_client;
-        let gallery_status = &mut self.events.new_model.asset_gallery_status;
+impl<'w, 's> FuelAssetBrowser<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let fuel_client = &mut self.fuel_client;
+        let gallery_status = &mut self.asset_gallery_status;
         ui.label(RichText::new("Asset Gallery").size(18.0));
         ui.add_space(10.0);
         match &fuel_client.models {
@@ -212,25 +248,21 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                 ui.add_space(10.0);
 
                 ui.image(ImageSource::Texture(
-                    (
-                        self.events.new_model.model_preview_camera.egui_handle,
-                        [320.0, 240.0].into(),
-                    )
-                        .into(),
+                    (self.model_preview_camera.egui_handle, [320.0, 240.0].into()).into(),
                 ));
                 ui.add_space(10.0);
 
                 if gallery_status.selected.as_ref() != new_selected {
                     if let Some(selected) = new_selected {
                         // Set the model preview source to what is selected
-                        let model_entity = self.events.new_model.model_preview_camera.model_entity;
+                        let model_entity = self.model_preview_camera.model_entity;
                         let model = Model {
                             source: AssetSource::Remote(
                                 selected.owner.clone() + "/" + &selected.name + "/model.sdf",
                             ),
                             ..default()
                         };
-                        self.events.commands.entity(model_entity).insert(model);
+                        self.commands.entity(model_entity).insert(model);
                         gallery_status.selected = Some(selected.clone());
                     }
                 }
@@ -243,7 +275,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                             ),
                             ..default()
                         };
-                        self.events.request.change_mode.send(ChangeMode::To(
+                        self.change_mode.send(ChangeMode::To(
                             SelectAnchor3D::create_new_point().for_model(model).into(),
                         ));
                     }
@@ -260,9 +292,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
                 ui.text_edit_singleline(&mut gallery_status.proposed_api_key);
                 if ui.add(Button::new("Save")).clicked() {
                     // Take it to avoid leaking the information in the dialog
-                    self.events
-                        .new_model
-                        .set_api_key
+                    self.set_api_key
                         .send(SetFuelApiKey(gallery_status.proposed_api_key.clone()));
                     fuel_client.token = Some(std::mem::take(&mut gallery_status.proposed_api_key));
                     gallery_status.show_api_window = false;
@@ -279,7 +309,7 @@ impl<'a, 'w, 's> NewModel<'a, 'w, 's> {
             ui.label("Updating model cache...");
         } else {
             if ui.add(Button::new("Update model cache")).clicked() {
-                self.events.new_model.update_cache.send(UpdateFuelCache);
+                self.update_cache.send(UpdateFuelCache);
             }
         }
         if ui.add(Button::new("Close")).clicked() {
diff --git a/rmf_site_editor/src/widgets/icons.rs b/rmf_site_editor/src/widgets/icons.rs
index f55ededb..3c488dae 100644
--- a/rmf_site_editor/src/widgets/icons.rs
+++ b/rmf_site_editor/src/widgets/icons.rs
@@ -16,9 +16,20 @@
 */
 
 use crate::{recency::RankAdjustment, site::LayerVisibility};
-use bevy::{ecs::system::SystemState, prelude::*};
+use bevy::{asset::embedded_asset, ecs::system::SystemState, prelude::*};
 use bevy_egui::{egui::ImageSource, egui::TextureId, EguiContexts};
 
+/// Add a resource for the common icons of the application.
+#[derive(Default)]
+pub struct IconsPlugin {}
+
+impl Plugin for IconsPlugin {
+    fn build(&self, app: &mut App) {
+        add_widgets_icons(app);
+        app.init_resource::<Icons>();
+    }
+}
+
 struct IconBuilder(Handle<Image>);
 impl IconBuilder {
     pub fn new(name: &str, asset_server: &AssetServer) -> Self {
@@ -48,7 +59,7 @@ impl Icon {
     }
 }
 
-// TODO(MXG): Create a struct to manage bevy-egui image pairs
+/// A collection of icons used by the standard widgets.
 #[derive(Clone, Debug, Resource)]
 pub struct Icons {
     pub select: Icon,
@@ -156,3 +167,56 @@ impl Icons {
         }
     }
 }
+
+fn add_widgets_icons(app: &mut App) {
+    // Taken from https://github.com/bevyengine/bevy/issues/10377#issuecomment-1858797002
+    // TODO(luca) remove once we migrate to Bevy 0.13 that includes the fix
+    #[cfg(any(not(target_family = "windows"), target_env = "gnu"))]
+    {
+        embedded_asset!(app, "src/", "icons/add.png");
+        embedded_asset!(app, "src/", "icons/alignment.png");
+        embedded_asset!(app, "src/", "icons/alpha.png");
+        embedded_asset!(app, "src/", "icons/confirm.png");
+        embedded_asset!(app, "src/", "icons/down.png");
+        embedded_asset!(app, "src/", "icons/edit.png");
+        embedded_asset!(app, "src/", "icons/empty.png");
+        embedded_asset!(app, "src/", "icons/exit.png");
+        embedded_asset!(app, "src/", "icons/global.png");
+        embedded_asset!(app, "src/", "icons/hidden.png");
+        embedded_asset!(app, "src/", "icons/hide.png");
+        embedded_asset!(app, "src/", "icons/merge.png");
+        embedded_asset!(app, "src/", "icons/opaque.png");
+        embedded_asset!(app, "src/", "icons/reject.png");
+        embedded_asset!(app, "src/", "icons/search.png");
+        embedded_asset!(app, "src/", "icons/select.png");
+        embedded_asset!(app, "src/", "icons/selected.png");
+        embedded_asset!(app, "src/", "icons/to_bottom.png");
+        embedded_asset!(app, "src/", "icons/to_top.png");
+        embedded_asset!(app, "src/", "icons/trash.png");
+        embedded_asset!(app, "src/", "icons/up.png");
+    }
+    #[cfg(all(target_family = "windows", not(target_env = "gnu")))]
+    {
+        embedded_asset!(app, "src\\", "icons\\add.png");
+        embedded_asset!(app, "src\\", "icons\\alignment.png");
+        embedded_asset!(app, "src\\", "icons\\alpha.png");
+        embedded_asset!(app, "src\\", "icons\\confirm.png");
+        embedded_asset!(app, "src\\", "icons\\down.png");
+        embedded_asset!(app, "src\\", "icons\\edit.png");
+        embedded_asset!(app, "src\\", "icons\\empty.png");
+        embedded_asset!(app, "src\\", "icons\\exit.png");
+        embedded_asset!(app, "src\\", "icons\\global.png");
+        embedded_asset!(app, "src\\", "icons\\hidden.png");
+        embedded_asset!(app, "src\\", "icons\\hide.png");
+        embedded_asset!(app, "src\\", "icons\\merge.png");
+        embedded_asset!(app, "src\\", "icons\\opaque.png");
+        embedded_asset!(app, "src\\", "icons\\reject.png");
+        embedded_asset!(app, "src\\", "icons\\search.png");
+        embedded_asset!(app, "src\\", "icons\\select.png");
+        embedded_asset!(app, "src\\", "icons\\selected.png");
+        embedded_asset!(app, "src\\", "icons\\to_bottom.png");
+        embedded_asset!(app, "src\\", "icons\\to_top.png");
+        embedded_asset!(app, "src\\", "icons\\trash.png");
+        embedded_asset!(app, "src\\", "icons\\up.png");
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
index 27f5168e..1b472973 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_anchor.rs
@@ -17,20 +17,21 @@
 
 use crate::{
     interaction::{Hover, MoveTo},
-    site::{
-        latlon_to_world, world_to_latlon, Anchor, AssociatedGraphs, Category, Change, Dependents,
-        GeographicComponent, JointProperties, LocationTags, MeshConstraint, SiteID, Subordinate,
+    site::{Anchor, Category, Change, Dependents, JointProperties, MeshConstraint, Subordinate},
+    widgets::{
+        inspector::{Inspect, InspectPoseComponent},
+        prelude::*,
+        Icons, SelectorWidget,
     },
-    widgets::{inspector::InspectPose, inspector::SelectionWidget, AppEvents, Icons},
     workcell::CreateJoint,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
-use std::collections::{BTreeMap, HashSet};
+use std::collections::{BTreeMap, BTreeSet};
 
 #[derive(SystemParam)]
-pub struct InspectAnchorParams<'w, 's> {
-    pub anchors: Query<
+pub struct InspectAnchor<'w, 's> {
+    anchors: Query<
         'w,
         's,
         (
@@ -41,269 +42,222 @@ pub struct InspectAnchorParams<'w, 's> {
             Option<&'static MeshConstraint<Entity>>,
         ),
     >,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub joints: Query<'w, 's, Entity, With<JointProperties>>,
-    pub geographic_offset: Query<'w, 's, &'static GeographicComponent>,
+    icons: Res<'w, Icons>,
+    joints: Query<'w, 's, Entity, With<JointProperties>>,
+    hover: EventWriter<'w, Hover>,
+    move_to: EventWriter<'w, MoveTo>,
+    mesh_constraints: EventWriter<'w, Change<MeshConstraint<Entity>>>,
+    create_joint: EventWriter<'w, CreateJoint>,
 }
 
-pub struct InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub anchor: Entity,
-    pub params: &'a InspectAnchorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-    pub is_dependency: bool,
-}
+impl<'w, 's> ShareableWidget for InspectAnchor<'w, 's> {}
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        anchor: Entity,
-        params: &'a InspectAnchorParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            anchor,
-            params,
-            events,
-            is_dependency: false,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectAnchor<'w, 's> {
+    fn show(
+        Inspect {
+            selection: anchor,
+            panel,
+            ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        impl_inspect_anchor(
+            InspectAnchorInput {
+                anchor,
+                is_dependency: false,
+                panel,
+            },
+            ui,
+            state,
+            world,
+        );
     }
+}
 
-    pub fn as_dependency(self) -> Self {
-        Self {
-            is_dependency: true,
-            ..self
-        }
+impl<'w, 's> WidgetSystem<InspectAnchorInput, Option<InspectAnchorResponse>>
+    for InspectAnchor<'w, 's>
+{
+    fn show(
+        input: InspectAnchorInput,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) -> Option<InspectAnchorResponse> {
+        impl_inspect_anchor(input, ui, state, world)
     }
+}
 
-    pub fn show(self, ui: &mut Ui) -> InspectAnchorResponse {
-        let mut replace = false;
-        if self.is_dependency {
-            SelectionWidget::new(
-                self.anchor,
-                self.params.site_id.get(self.anchor).ok().cloned(),
-                self.params.icons.as_ref(),
-                self.events,
-            )
-            .show(ui);
-
-            let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
+pub struct InspectAnchorInput {
+    pub anchor: Entity,
+    pub is_dependency: bool,
+    pub panel: PanelSide,
+}
 
-            if assign_response.hovered() {
-                self.events.request.hover.send(Hover(Some(self.anchor)));
-            }
+fn impl_inspect_anchor(
+    InspectAnchorInput {
+        anchor: id,
+        is_dependency,
+        panel,
+    }: InspectAnchorInput,
+    ui: &mut Ui,
+    state: &mut SystemState<InspectAnchor>,
+    world: &mut World,
+) -> Option<InspectAnchorResponse> {
+    if world.get::<Anchor>(id).is_none() {
+        return None;
+    }
 
-            replace = assign_response.clicked();
-            assign_response.on_hover_text("Reassign");
-        }
+    let mut replace = false;
+    if is_dependency {
+        world.show::<SelectorWidget, _, _>(id, ui);
 
-        if let Ok((anchor, tf, subordinate, parent, mesh_constraint)) =
-            self.params.anchors.get(self.anchor)
-        {
-            if let Some(subordinate) = subordinate {
-                ui.horizontal(|ui| {
-                    if let Some(boss) = subordinate.0 {
-                        ui.label("Subordinate to ").on_hover_text(
-                            "The position of a subordinate anchor is \
-                                managed by the properties of another entity.",
-                        );
-                        SelectionWidget::new(
-                            boss,
-                            self.params.site_id.get(boss).ok().copied(),
-                            self.params.icons.as_ref(),
-                            self.events,
-                        )
-                        .show(ui);
-                    } else {
-                        ui.label("Anonymous subordinate");
-                    }
-                });
-            } else {
-                match anchor {
-                    Anchor::Translate2D(_anchor) => {
-                        ui.vertical(|ui| {
-                            ui.horizontal(|ui| {
-                                if !self.is_dependency {
-                                    ui.label("x");
-                                }
-                                let mut x = tf.translation.x;
-                                ui.add(DragValue::new(&mut x).speed(0.01));
-                                // TODO(MXG): Make the drag speed a user-defined setting
+        let mut params = state.get_mut(world);
+        let edit_icon = params.icons.edit.egui();
+        let assign_response = ui.add(ImageButton::new(edit_icon));
 
-                                if !self.is_dependency {
-                                    ui.label("y");
-                                }
-                                let mut y = tf.translation.y;
-                                ui.add(DragValue::new(&mut y).speed(0.01));
+        if assign_response.hovered() {
+            params.hover.send(Hover(Some(id)));
+        }
 
-                                if x != tf.translation.x || y != tf.translation.y {
-                                    self.events.request.move_to.send(MoveTo {
-                                        entity: self.anchor,
-                                        transform: Transform::from_translation([x, y, 0.0].into()),
-                                    });
-                                }
-                            });
+        replace = assign_response.clicked();
+        assign_response.on_hover_text("Reassign");
+    }
 
-                            for comp in &self.params.geographic_offset {
-                                let Some(offset) = comp.0 else {
-                                    continue;
-                                };
-                                let Ok((mut lat, mut lon)) =
-                                    world_to_latlon(tf.translation, offset.anchor)
-                                else {
-                                    continue;
-                                };
+    let mut params = state.get_mut(world);
 
-                                let old_lat = lat.clone();
-                                let old_lon = lon.clone();
+    if let Ok((anchor, tf, subordinate, parent, mesh_constraint)) = params.anchors.get(id) {
+        if let Some(subordinate) = subordinate.map(|s| s.0) {
+            panel.orthogonal(ui, |ui| {
+                if let Some(boss) = subordinate {
+                    ui.label("Subordinate to ").on_hover_text(
+                        "The position of a subordinate anchor is \
+                        managed by the properties of another entity.",
+                    );
+                    world.show::<SelectorWidget, _, _>(boss, ui);
+                } else {
+                    ui.label("Anonymous subordinate");
+                }
+            });
+        } else {
+            match anchor {
+                Anchor::Translate2D(_) => {
+                    if !is_dependency {
+                        ui.label("x");
+                    }
+                    let mut x = tf.translation.x;
+                    ui.add(DragValue::new(&mut x).speed(0.01));
 
-                                if !self.is_dependency {
-                                    ui.label("Latitude");
-                                    ui.add(DragValue::new(&mut lat).speed(1e-16));
-                                    ui.label("Longitude");
-                                    ui.add(DragValue::new(&mut lon).speed(1e-16));
+                    if !is_dependency {
+                        ui.label("y");
+                    }
+                    let mut y = tf.translation.y;
+                    ui.add(DragValue::new(&mut y).speed(0.01));
 
-                                    if old_lat != lat || old_lon != lon {
-                                        self.events.request.move_to.send(MoveTo {
-                                            entity: self.anchor,
-                                            transform: Transform::from_translation(
-                                                latlon_to_world(
-                                                    lat as f32,
-                                                    lon as f32,
-                                                    offset.anchor,
-                                                ),
-                                            ),
-                                        });
-                                    }
-                                }
-                            }
+                    if x != tf.translation.x || y != tf.translation.y {
+                        {}
+                        params.move_to.send(MoveTo {
+                            entity: id,
+                            transform: Transform::from_translation([x, y, 0.0].into()),
                         });
                     }
-                    Anchor::CategorizedTranslate2D(_) => {
-                        warn!("Categorized translate inspector not implemented yet");
-                    }
-                    Anchor::Pose3D(pose) => {
-                        ui.vertical(|ui| {
-                            if let Some(c) = mesh_constraint {
-                                // For mesh constraints we only allow rotation editing
-                                if let Some(new_pose) =
-                                    InspectPose::new(&c.relative_pose).for_rotation().show(ui)
-                                {
-                                    // TODO(luca) Using moveto doesn't allow switching between variants of
-                                    // Pose3D
-                                    self.events
-                                        .workcell_change
-                                        .mesh_constraints
-                                        .send(Change::new(
-                                            MeshConstraint {
-                                                entity: c.entity,
-                                                element: c.element.clone(),
-                                                relative_pose: new_pose,
-                                            },
-                                            self.anchor,
-                                        ));
-                                }
-                            } else {
-                                if let Some(new_pose) = InspectPose::new(pose).show(ui) {
-                                    // TODO(luca) Using moveto doesn't allow switching between variants of
-                                    // Pose3D
-                                    self.events.request.move_to.send(MoveTo {
-                                        entity: self.anchor,
-                                        transform: new_pose.transform(),
-                                    });
-                                }
+                }
+                Anchor::CategorizedTranslate2D(_) => {
+                    warn!("Categorized translate inspector not implemented yet");
+                }
+                Anchor::Pose3D(pose) => {
+                    panel.align(ui, |ui| {
+                        if let Some(c) = mesh_constraint {
+                            if let Some(new_pose) =
+                                InspectPoseComponent::new(&c.relative_pose).for_rotation().show(ui)
+                            {
+                                // TODO(luca) Using moveto doesn't allow switching between
+                                // variants of Pose3D
+                                params.mesh_constraints.send(Change::new(
+                                    MeshConstraint {
+                                        entity: c.entity,
+                                        element: c.element.clone(),
+                                        relative_pose: new_pose,
+                                    },
+                                    id,
+                                ));
                             }
-                            // If the parent is not a joint, add a joint creation widget
-                            if self.params.joints.get(parent.get()).is_err() {
-                                if ui.button("Create joint").on_hover_text("Create a fixed joint and place it between the parent frame and this frame").clicked() {
-                                    self.events.request.create_joint.send(CreateJoint {
-                                        parent: parent.get(),
-                                        child: self.anchor,
-                                    });
-                                }
+                        } else {
+                            if let Some(new_pose) = InspectPoseComponent::new(pose).show(ui) {
+                                // TODO(luca) Using moveto doesn't allow switching between variants of
+                                // Pose3D
+                                params.move_to.send(MoveTo {
+                                    entity: id,
+                                    transform: new_pose.transform(),
+                                });
                             }
-                        });
-                    }
+                        }
+                        // If the parent is not a joint, add a joint creation widget
+                        if params.joints.get(parent.get()).is_err() {
+                            if ui.button("Create joint").on_hover_text("Create a fixed joint and place it between the parent frame and this frame").clicked() {
+                                params.create_joint.send(CreateJoint {
+                                    parent: parent.get(),
+                                    child: id,
+                                });
+                            }
+                        }
+                    });
                 }
             }
         }
-
-        InspectAnchorResponse { replace }
     }
-}
 
-pub struct InspectAnchorResponse {
-    pub replace: bool,
+    Some(InspectAnchorResponse { replace })
 }
 
 #[derive(SystemParam)]
-pub struct InspectAnchorDependentsParams<'w, 's> {
-    pub dependents: Query<'w, 's, &'static Dependents, With<Anchor>>,
-    pub locations: Query<'w, 's, &'static LocationTags, &'static AssociatedGraphs<Entity>>,
-    pub info: Query<'w, 's, (&'static Category, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
-}
-
-pub struct InspectAnchorDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub anchor: Entity,
-    pub params: &'a InspectAnchorDependentsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+pub struct InspectAnchorDependents<'w, 's> {
+    dependents: Query<'w, 's, &'static Dependents, With<Anchor>>,
+    category: Query<'w, 's, &'static Category>,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectAnchorDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        anchor: Entity,
-        params: &'a InspectAnchorDependentsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            anchor,
-            params,
-            events,
-        }
-    }
-
-    fn show_dependents(
-        dependents: &HashSet<Entity>,
-        params: &InspectAnchorDependentsParams<'w1, 's1>,
-        events: &mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectAnchorDependents<'w, 's> {
+    fn show(
+        Inspect {
+            selection, panel, ..
+        }: Inspect,
         ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
     ) {
-        ui.heading("Dependents");
-        let mut category_map: BTreeMap<Category, BTreeMap<Entity, Option<u32>>> = BTreeMap::new();
-        for e in dependents {
-            if let Ok((category, site_id)) = params.info.get(*e) {
-                category_map
-                    .entry(*category)
-                    .or_default()
-                    .insert(*e, site_id.map(|s| s.0));
-            } else {
-                ui.label(format!("ERROR: Broken reference to entity {e:?}"));
-            }
+        let params = state.get(world);
+        let Ok(dependents) = params.dependents.get(selection) else {
+            return;
+        };
+        if dependents.is_empty() {
+            ui.label("No dependents");
+            return;
         }
 
-        for (category, entities) in &category_map {
-            ui.label(category.label());
-
-            for (e, site_id) in entities {
-                ui.horizontal(|ui| {
-                    SelectionWidget::new(*e, site_id.map(SiteID), params.icons.as_ref(), events)
-                        .show(ui);
-                });
+        let mut category_map: BTreeMap<Category, BTreeSet<Entity>> = BTreeMap::new();
+        for e in &dependents.0 {
+            if let Ok(category) = params.category.get(*e) {
+                category_map.entry(*category).or_default().insert(*e);
+            } else {
+                error!("Broken reference to entity {e:?}");
             }
         }
-    }
 
-    pub fn show(mut self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            if let Ok(dependents) = self.params.dependents.get(self.anchor) {
-                if dependents.is_empty() {
-                    ui.label("No dependents");
-                } else {
-                    Self::show_dependents(&dependents.0, &self.params, &mut self.events, ui);
+        panel.align(ui, |ui| {
+            ui.heading("Dependencies");
+            for (category, entities) in &category_map {
+                ui.label(category.label());
+                for e in entities {
+                    panel.orthogonal(ui, |ui| {
+                        world.show::<SelectorWidget, _, _>(*e, ui);
+                    });
                 }
-            } else {
-                ui.label("ERROR: Unable to find dependents info for this anchor");
             }
         });
     }
 }
+
+pub struct InspectAnchorResponse {
+    pub replace: bool,
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
index 246777a0..f85298b2 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_asset_source.rs
@@ -15,7 +15,12 @@
  *
 */
 
-use crate::site::DefaultFile;
+use crate::{
+    site::{Change, DefaultFile, Pending},
+    widgets::{prelude::*, Inspect},
+    CurrentWorkspace,
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, Ui};
 use pathdiff::diff_paths;
 use rmf_site_format::{AssetSource, RecallAssetSource};
@@ -23,13 +28,51 @@ use rmf_site_format::{AssetSource, RecallAssetSource};
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::FileDialog;
 
-pub struct InspectAssetSource<'a> {
+#[derive(SystemParam)]
+pub struct InspectAssetSource<'w, 's> {
+    asset_sources:
+        Query<'w, 's, (&'static AssetSource, &'static RecallAssetSource), Without<Pending>>,
+    change_asset_source: EventWriter<'w, Change<AssetSource>>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    default_file: Query<'w, 's, &'static DefaultFile>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectAssetSource<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((source, recall)) = params.asset_sources.get(selection) else {
+            return;
+        };
+
+        let default_file = params
+            .current_workspace
+            .root
+            .map(|e| params.default_file.get(e).ok())
+            .flatten();
+
+        if let Some(new_source) =
+            InspectAssetSourceComponent::new(source, recall, default_file).show(ui)
+        {
+            params
+                .change_asset_source
+                .send(Change::new(new_source, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectAssetSourceComponent<'a> {
     pub source: &'a AssetSource,
     pub recall: &'a RecallAssetSource,
     pub default_file: Option<&'a DefaultFile>,
 }
 
-impl<'a> InspectAssetSource<'a> {
+impl<'a> InspectAssetSourceComponent<'a> {
     pub fn new(
         source: &'a AssetSource,
         recall: &'a RecallAssetSource,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
index 48450ece..e28d2371 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_associated_graphs.rs
@@ -20,7 +20,7 @@ use crate::{
         AssociatedGraphs, Change, ConsiderAssociatedGraph, NameInSite, NavGraphMarker,
         RecallAssociatedGraphs,
     },
-    widgets::{AppEvents, Icons},
+    widgets::{prelude::*, Icons, Inspect},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, ImageButton, Ui};
@@ -28,7 +28,7 @@ use smallvec::SmallVec;
 use std::collections::BTreeMap;
 
 #[derive(SystemParam)]
-pub struct InspectAssociatedGraphsParams<'w, 's> {
+pub struct InspectAssociatedGraphs<'w, 's> {
     associated: Query<
         'w,
         's,
@@ -39,29 +39,25 @@ pub struct InspectAssociatedGraphsParams<'w, 's> {
     >,
     graphs: Query<'w, 's, (Entity, &'static NameInSite), With<NavGraphMarker>>,
     icons: Res<'w, Icons>,
+    consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
+    change_associated_graphs: EventWriter<'w, Change<AssociatedGraphs<Entity>>>,
 }
 
-pub struct InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's2> {
-    pub entity: Entity,
-    pub params: &'a InspectAssociatedGraphsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectAssociatedGraphsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectAssociatedGraphs<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let (associated, recall) = match self.params.associated.get(self.entity) {
+impl<'w, 's> InspectAssociatedGraphs<'w, 's> {
+    fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let (associated, recall) = match self.associated.get(id) {
             Ok(q) => q,
             _ => return,
         };
@@ -87,24 +83,20 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
             AssociatedGraphs::Only(set) | AssociatedGraphs::AllExcept(set) => {
                 let mut removed_graphs: SmallVec<[Entity; 2]> = SmallVec::new();
                 for g in set.iter() {
-                    let (_, name) = match self.params.graphs.get(*g) {
+                    let (_, name) = match self.graphs.get(*g) {
                         Ok(q) => q,
                         _ => continue,
                     };
                     ui.horizontal(|ui| {
-                        if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
-                            .clicked()
-                        {
+                        if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
                             removed_graphs.push(*g);
                         }
                         ui.label(&name.0);
                     });
                 }
 
-                let unused_graphs: BTreeMap<Entity, &NameInSite> = BTreeMap::from_iter(
-                    self.params.graphs.iter().filter(|(e, _)| !set.contains(e)),
-                );
+                let unused_graphs: BTreeMap<Entity, &NameInSite> =
+                    BTreeMap::from_iter(self.graphs.iter().filter(|(e, _)| !set.contains(e)));
 
                 if let Some((first, _)) = unused_graphs.iter().next() {
                     ui.horizontal(|ui| {
@@ -124,16 +116,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
 
                         if add_graph {
                             set.insert(choice);
-                            self.events
-                                .request
-                                .consider_graph
-                                .send(ConsiderAssociatedGraph::new(None, self.entity));
+                            self.consider_graph
+                                .send(ConsiderAssociatedGraph::new(None, id));
                         } else {
                             if Some(choice) != recall.consider {
-                                self.events
-                                    .request
-                                    .consider_graph
-                                    .send(ConsiderAssociatedGraph::new(Some(choice), self.entity));
+                                self.consider_graph
+                                    .send(ConsiderAssociatedGraph::new(Some(choice), id));
                             }
                         }
                     });
@@ -146,10 +134,8 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectAssociatedGraphsWidget<'a, 'w1, 's1, 'w2, 's
         }
 
         if new_associated != *associated {
-            self.events
-                .change
-                .associated_graphs
-                .send(Change::new(new_associated, self.entity));
+            self.change_associated_graphs
+                .send(Change::new(new_associated, id));
         }
 
         ui.add_space(10.0);
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_door.rs b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
index 2710ff67..86e1df17 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_door.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_door.rs
@@ -15,10 +15,43 @@
  *
 */
 
-use crate::widgets::inspector::{InspectAngle, InspectSide};
+use crate::{
+    site::Change,
+    widgets::{
+        inspector::{InspectAngle, InspectSide},
+        prelude::*,
+        Inspect,
+    },
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, DragValue, Ui};
 use rmf_site_format::{DoorType, RecallDoorType, Swing};
 
+#[derive(SystemParam)]
+pub struct InspectDoor<'w, 's> {
+    doors: Query<'w, 's, (&'static DoorType, &'static RecallDoorType)>,
+    change_door: EventWriter<'w, Change<DoorType>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectDoor<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((door, recall)) = params.doors.get(selection) else {
+            return;
+        };
+
+        if let Some(new_door) = InspectDoorType::new(door, recall).show(ui) {
+            params.change_door.send(Change::new(new_door, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
 pub struct InspectDoorType<'a> {
     pub kind: &'a DoorType,
     pub recall: &'a RecallDoorType,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs b/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs
new file mode 100644
index 00000000..dee238f4
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_drawing.rs
@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{AlignSiteDrawings, BeginEditDrawing, Change, PixelsPerMeter},
+    widgets::{prelude::*, Inspect, InspectValue},
+    AppState, CurrentWorkspace, Icons,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::Button;
+
+#[derive(SystemParam)]
+pub struct InspectDrawing<'w, 's> {
+    pixels_per_meter: Query<'w, 's, &'static PixelsPerMeter>,
+    change_pixels_per_meter: EventWriter<'w, Change<PixelsPerMeter>>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    align_site: EventWriter<'w, AlignSiteDrawings>,
+    app_state: Res<'w, State<AppState>>,
+    icons: Res<'w, Icons>,
+    begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectDrawing<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(ppm) = params.pixels_per_meter.get(selection) else {
+            return;
+        };
+
+        if *params.app_state.get() == AppState::SiteEditor {
+            ui.add_space(10.0);
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.edit.egui(),
+                    "Edit Drawing",
+                ))
+                .clicked()
+            {
+                params.begin_edit_drawing.send(BeginEditDrawing(selection));
+            }
+            ui.add_space(10.0);
+        }
+
+        if *params.app_state.get() != AppState::SiteDrawingEditor {
+            if ui
+                .add(Button::image_and_text(
+                    params.icons.alignment.egui(),
+                    "Align Drawings",
+                ))
+                .on_hover_text(
+                    "Align all drawings in the site based on their fiducials and measurements",
+                )
+                .clicked()
+            {
+                if let Some(site) = params.current_workspace.root {
+                    params.align_site.send(AlignSiteDrawings(site));
+                }
+            }
+            ui.add_space(10.0);
+        }
+
+        if let Some(new_ppm) = InspectValue::<f32>::new("Pixels per meter", ppm.0)
+            .clamp_range(0.0001..=std::f32::INFINITY)
+            .tooltip("How many image pixels per meter")
+            .show(ui)
+        {
+            params
+                .change_pixels_per_meter
+                .send(Change::new(PixelsPerMeter(new_ppm), selection));
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
index 280ca60e..b71ea1a1 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
@@ -17,70 +17,65 @@
 
 use crate::{
     interaction::{ChangeMode, SelectAnchor},
-    site::{Category, EdgeLabels, Original},
+    site::{Category, EdgeLabels, Original, SiteID},
     widgets::{
-        inspector::{InspectAnchorParams, InspectAnchorWidget},
-        AppEvents,
+        inspector::{Inspect, InspectAnchor, InspectAnchorInput},
+        prelude::*,
     },
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{Grid, Ui};
 use rmf_site_format::{Edge, Side};
 
-pub struct InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub entity: Entity,
-    pub category: &'a Category,
-    pub edge: &'a Edge<Entity>,
-    pub original: Option<&'a Original<Edge<Entity>>>,
-    pub labels: Option<&'a EdgeLabels>,
-    pub anchor_params: &'a InspectAnchorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectEdge<'w, 's> {
+    edges: Query<
+        'w,
+        's,
+        (
+            &'static Category,
+            &'static Edge<Entity>,
+            Option<&'static Original<Edge<Entity>>>,
+            Option<&'static EdgeLabels>,
+        ),
+    >,
+    change_mode: EventWriter<'w, ChangeMode>,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        category: &'a Category,
-        edge: &'a Edge<Entity>,
-        original: Option<&'a Original<Edge<Entity>>>,
-        labels: Option<&'a EdgeLabels>,
-        anchor_params: &'a InspectAnchorParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            category,
-            edge,
-            original,
-            labels,
-            anchor_params,
-            events,
-        }
-    }
+impl<'w, 's> ShareableWidget for InspectEdge<'w, 's> {}
 
-    pub fn start_text(&self) -> &'static str {
-        self.labels.unwrap_or(&EdgeLabels::default()).start()
-    }
-
-    pub fn end_text(&self) -> &'static str {
-        self.labels.unwrap_or(&EdgeLabels::default()).end()
-    }
+impl<'w, 's> WidgetSystem<Inspect> for InspectEdge<'w, 's> {
+    fn show(
+        Inspect {
+            selection: id,
+            panel,
+            ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let params = state.get_mut(world);
+        let Ok((category, current_edge, original, labels)) = params.edges.get(id) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) {
-        let edge = if let Some(original) = self.original {
-            if original.is_reverse_of(self.edge) {
-                // The user is previewing a flipped edge. To avoid ugly
-                // high frequency UI flipping, we will display the edge
-                // in its original form until the user has committed to
-                // the flip.
-                &original.0
+        let edge = if let Some(original) = original {
+            if original.is_reverse_of(current_edge) {
+                // The user is previewing a flipped edge. To avoid ugly high
+                // frequency UI flipping, we will display the edge in its
+                // original form until the user has committed to the flip.
+                original.0
             } else {
-                self.edge
+                *current_edge
             }
         } else {
-            self.edge
+            *current_edge
         };
 
+        let labels = labels.copied().unwrap_or_default();
+        let category = *category;
+
         Grid::new("inspect_edge").show(ui, |ui| {
             ui.label("");
             ui.label("ID");
@@ -89,39 +84,85 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectEdgeWidget<'a, 'w1, 'w2, 's1, 's2> {
             ui.label("y");
             ui.end_row();
 
-            ui.label(self.start_text());
-            let start_response =
-                InspectAnchorWidget::new(edge.start(), self.anchor_params, self.events)
-                    .as_dependency()
-                    .show(ui);
-            ui.end_row();
-            if start_response.replace {
-                if let Some(request) =
-                    SelectAnchor::replace_side(self.entity, Side::Left).for_category(*self.category)
-                {
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
-                }
-            }
+            Self::show_anchor(
+                Side::Left,
+                id,
+                edge,
+                labels,
+                category,
+                panel,
+                ui,
+                state,
+                world,
+            );
+            Self::show_anchor(
+                Side::Right,
+                id,
+                edge,
+                labels,
+                category,
+                panel,
+                ui,
+                state,
+                world,
+            );
+        });
+        ui.add_space(10.0);
+    }
+}
 
-            ui.label(self.end_text());
-            let end_response =
-                InspectAnchorWidget::new(edge.end(), self.anchor_params, self.events)
-                    .as_dependency()
-                    .show(ui);
-            ui.end_row();
-            if end_response.replace {
-                if let Some(request) = SelectAnchor::replace_side(self.entity, Side::Right)
-                    .for_category(*self.category)
-                {
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
+impl<'w, 's> InspectEdge<'w, 's> {
+    fn show_anchor(
+        side: Side,
+        id: Entity,
+        edge: Edge<Entity>,
+        labels: EdgeLabels,
+        category: Category,
+        panel: PanelSide,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        ui.label(labels.side(side));
+        let anchor = edge.side(side);
+        let response = world.show::<InspectAnchor, _, _>(
+            InspectAnchorInput {
+                anchor,
+                is_dependency: true,
+                panel,
+            },
+            ui,
+        );
+        ui.end_row();
+
+        match response {
+            Some(response) => {
+                if response.replace {
+                    if let Some(request) =
+                        SelectAnchor::replace_side(id, side).for_category(category)
+                    {
+                        info!(
+                            "Triggered anchor replacement for side \
+                            {side:?} of edge {edge:?} with category {category:?}"
+                        );
+                        let mut params = state.get_mut(world);
+                        params.change_mode.send(ChangeMode::To(request.into()));
+                    } else {
+                        error!(
+                            "Failed to trigger an anchor replacement for side \
+                            {side:?} of edge {edge:?} with category {category:?}"
+                        );
+                    }
                 }
             }
-        });
+            None => {
+                error!(
+                    "An endpoint in the edge {id:?} (Site ID {:?}) is not an \
+                    anchor: {anchor:?}! This should never happen! Please report \
+                    this to the site editor developers.",
+                    world.get::<SiteID>(anchor),
+                );
+            }
+        }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
index 0a2af2d4..4e78394b 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
@@ -17,7 +17,7 @@
 
 use crate::{
     site::{Affiliation, Change, FiducialGroup, FiducialMarker, FiducialUsage, Group, NameInSite},
-    widgets::{AppEvents, Icons},
+    widgets::{prelude::*, Icons, Inspect, InspectionPlugin},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, ImageButton, Ui};
@@ -57,207 +57,208 @@ impl SearchResult {
     }
 }
 
+#[derive(Default)]
+pub struct InspectFiducialPlugin {}
+
+impl Plugin for InspectFiducialPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<SearchForFiducial>()
+            .add_plugins(InspectionPlugin::<InspectFiducial>::new());
+    }
+}
+
 #[derive(SystemParam)]
-pub struct InspectFiducialParams<'w, 's> {
+pub struct InspectFiducial<'w, 's> {
     fiducials: Query<'w, 's, (&'static Affiliation<Entity>, &'static Parent), With<FiducialMarker>>,
     group_names: Query<'w, 's, &'static NameInSite, (With<Group>, With<FiducialMarker>)>,
     usage: Query<'w, 's, &'static FiducialUsage>,
     icons: Res<'w, Icons>,
+    search_for_fiducial: ResMut<'w, SearchForFiducial>,
+    commands: Commands<'w, 's>,
+    change_affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
 }
 
-pub struct InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
-    entity: Entity,
-    params: &'a InspectFiducialParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectFiducialParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((affiliation, parent)) = self.params.fiducials.get(self.entity) else {
+impl<'w, 's> WidgetSystem<Inspect> for InspectFiducial<'w, 's> {
+    fn show(
+        Inspect {
+            selection, panel, ..
+        }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((affiliation, parent)) = params.fiducials.get(selection) else {
             return;
         };
-        let Ok(tracker) = self.params.usage.get(parent.get()) else {
+        let Ok(tracker) = params.usage.get(parent.get()) else {
             return;
         };
 
-        ui.separator();
-        ui.label("Affiliation");
-        let get_group_name = |affiliation: Affiliation<Entity>| {
-            if let Some(group) = affiliation.0 {
-                if let Ok(name) = self.params.group_names.get(group) {
-                    Some(name.0.clone())
+        panel.align(ui, |ui| {
+            ui.separator();
+            ui.label("Affiliation");
+            let get_group_name = |affiliation: Affiliation<Entity>| {
+                if let Some(group) = affiliation.0 {
+                    if let Ok(name) = params.group_names.get(group) {
+                        Some(name.0.clone())
+                    } else {
+                        None
+                    }
                 } else {
-                    None
+                    Some("<none>".to_owned())
                 }
-            } else {
-                Some("<none>".to_owned())
-            }
-        };
-        let selected_text =
-            get_group_name(*affiliation).unwrap_or_else(|| "<broken reference>".to_owned());
-
-        ui.horizontal(|ui| {
-            let search = &mut self.events.change.search_for_fiducial.0;
-            let mut result = SearchResult::NoMatch;
-            let mut any_partial_matches = false;
+            };
+            let selected_text =
+                get_group_name(*affiliation).unwrap_or_else(|| "<broken reference>".to_owned());
 
-            if search.is_empty() {
-                // An empty string should not be used
-                result = SearchResult::Empty;
-            }
+            panel.orthogonal(ui, |ui| {
+                let search = &mut params.search_for_fiducial.0;
+                let mut result = SearchResult::NoMatch;
+                let mut any_partial_matches = false;
 
-            if *search == selected_text {
-                result = SearchResult::Current;
-            }
+                if search.is_empty() {
+                    // An empty string should not be used
+                    result = SearchResult::Empty;
+                }
 
-            for (e, name) in tracker.unused().iter() {
-                if *search == *name {
-                    result.consider(*e);
+                if *search == selected_text {
+                    result = SearchResult::Current;
                 }
 
-                if !any_partial_matches {
-                    if name.contains(&*search) {
-                        any_partial_matches = true;
+                for (e, name) in tracker.unused().iter() {
+                    if *search == *name {
+                        result.consider(*e);
                     }
-                }
-            }
 
-            for (e, name) in tracker.used().iter() {
-                if *search == *name && !affiliation.0.is_some_and(|a| a == *e) {
-                    result.conflict("Group name is already taken");
+                    if !any_partial_matches {
+                        if name.contains(&*search) {
+                            any_partial_matches = true;
+                        }
+                    }
                 }
-            }
 
-            if any_partial_matches {
-                if ui
-                    .add(ImageButton::new(self.params.icons.search.egui()))
-                    .on_hover_text("Search results for this text can be found below")
-                    .clicked()
-                {
-                    info!("Use the drop-down box to choose a group for this fiducial");
+                for (e, name) in tracker.used().iter() {
+                    if *search == *name && !affiliation.0.is_some_and(|a| a == *e) {
+                        result.conflict("Group name is already taken");
+                    }
                 }
-            } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui()))
-                    .on_hover_text("No search results can be found for this text");
-            }
 
-            match result {
-                SearchResult::Empty => {
+                if any_partial_matches {
                     if ui
-                        .add(ImageButton::new(self.params.icons.hidden.egui()))
-                        .on_hover_text("An empty string is not a good fiducial group name")
+                        .add(ImageButton::new(params.icons.search.egui()))
+                        .on_hover_text("Search results for this text can be found below")
                         .clicked()
                     {
-                        warn!("You should not use an empty string as a fiducial group name");
+                        info!("Use the drop-down box to choose a group for this fiducial");
                     }
+                } else {
+                    ui.add(ImageButton::new(params.icons.empty.egui()))
+                        .on_hover_text("No search results can be found for this text");
                 }
-                SearchResult::Current => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.selected.egui()))
-                        .on_hover_text("This is the name of the fiducial's current group")
-                        .clicked()
-                    {
-                        info!("This fiducial group is already selected");
+
+                match result {
+                    SearchResult::Empty => {
+                        if ui
+                            .add(ImageButton::new(params.icons.hidden.egui()))
+                            .on_hover_text("An empty string is not a good fiducial group name")
+                            .clicked()
+                        {
+                            warn!("You should not use an empty string as a fiducial group name");
+                        }
                     }
-                }
-                SearchResult::NoMatch => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.add.egui()))
-                        .on_hover_text("Create a new group for this fiducial")
-                        .clicked()
-                    {
-                        let new_group = self
-                            .events
-                            .commands
-                            .spawn(FiducialGroup::new(NameInSite(search.clone())))
-                            .set_parent(tracker.site())
-                            .id();
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(new_group)), self.entity));
+                    SearchResult::Current => {
+                        if ui
+                            .add(ImageButton::new(params.icons.selected.egui()))
+                            .on_hover_text("This is the name of the fiducial's current group")
+                            .clicked()
+                        {
+                            info!("This fiducial group is already selected");
+                        }
                     }
-                }
-                SearchResult::Match(group) => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.confirm.egui()))
-                        .on_hover_text("Select this group")
-                        .clicked()
-                    {
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(group)), self.entity));
+                    SearchResult::NoMatch => {
+                        if ui
+                            .add(ImageButton::new(params.icons.add.egui()))
+                            .on_hover_text("Create a new group for this fiducial")
+                            .clicked()
+                        {
+                            let new_group = params
+                                .commands
+                                .spawn(FiducialGroup::new(NameInSite(search.clone())))
+                                .set_parent(tracker.site())
+                                .id();
+                            params
+                                .change_affiliation
+                                .send(Change::new(Affiliation(Some(new_group)), selection));
+                        }
                     }
-                }
-                SearchResult::Conflict(text) => {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.reject.egui()))
-                        .on_hover_text(text)
-                        .clicked()
-                    {
-                        warn!("Cannot set {search} as the fiducial group name: {text}");
+                    SearchResult::Match(group) => {
+                        if ui
+                            .add(ImageButton::new(params.icons.confirm.egui()))
+                            .on_hover_text("Select this group")
+                            .clicked()
+                        {
+                            params
+                                .change_affiliation
+                                .send(Change::new(Affiliation(Some(group)), selection));
+                        }
+                    }
+                    SearchResult::Conflict(text) => {
+                        if ui
+                            .add(ImageButton::new(params.icons.reject.egui()))
+                            .on_hover_text(text)
+                            .clicked()
+                        {
+                            warn!("Cannot set {search} as the fiducial group name: {text}");
+                        }
                     }
                 }
-            }
 
-            ui.text_edit_singleline(search)
-                .on_hover_text("Search or add a group name for this fiducial");
-        });
+                ui.text_edit_singleline(search)
+                    .on_hover_text("Search or add a group name for this fiducial");
+            });
 
-        let mut new_affiliation = affiliation.clone();
-        ui.horizontal(|ui| {
-            if ui
-                .add(ImageButton::new(self.params.icons.exit.egui()))
-                .on_hover_text("Remove this fiducial from its current group")
-                .clicked()
-            {
-                new_affiliation = Affiliation(None);
-            }
+            let mut new_affiliation = affiliation.clone();
+            panel.orthogonal(ui, |ui| {
+                if ui
+                    .add(ImageButton::new(params.icons.exit.egui()))
+                    .on_hover_text("Remove this fiducial from its current group")
+                    .clicked()
+                {
+                    new_affiliation = Affiliation(None);
+                }
 
-            let mut clear_filter = false;
-            ComboBox::from_id_source("fiducial_affiliation")
-                .selected_text(selected_text)
-                .show_ui(ui, |ui| {
-                    if let Some(group_name) = get_group_name(new_affiliation) {
-                        ui.selectable_value(&mut new_affiliation, *affiliation, group_name);
-                    }
+                let mut clear_filter = false;
+                ComboBox::from_id_source("fiducial_affiliation")
+                    .selected_text(selected_text)
+                    .show_ui(ui, |ui| {
+                        if let Some(group_name) = get_group_name(new_affiliation) {
+                            ui.selectable_value(&mut new_affiliation, *affiliation, group_name);
+                        }
 
-                    for (group, name) in tracker.unused() {
-                        if name.contains(&self.events.change.search_for_fiducial.0) {
-                            let select_affiliation = Affiliation(Some(*group));
-                            ui.selectable_value(&mut new_affiliation, select_affiliation, name);
+                        for (group, name) in tracker.unused() {
+                            if name.contains(&params.search_for_fiducial.0) {
+                                let select_affiliation = Affiliation(Some(*group));
+                                ui.selectable_value(&mut new_affiliation, select_affiliation, name);
+                            }
                         }
-                    }
 
-                    if !self.events.change.search_for_fiducial.0.is_empty() {
-                        ui.selectable_value(&mut clear_filter, true, "more...");
-                    }
-                });
+                        if !params.search_for_fiducial.0.is_empty() {
+                            ui.selectable_value(&mut clear_filter, true, "more...");
+                        }
+                    });
 
-            if clear_filter {
-                self.events.change.search_for_fiducial.0.clear();
+                if clear_filter {
+                    params.search_for_fiducial.0.clear();
+                }
+            });
+
+            if new_affiliation != *affiliation {
+                params
+                    .change_affiliation
+                    .send(Change::new(new_affiliation, selection));
             }
+            ui.separator();
         });
-
-        if new_affiliation != *affiliation {
-            self.events
-                .change
-                .affiliation
-                .send(Change::new(new_affiliation, self.entity));
-        }
-        ui.separator();
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_geography.rs b/rmf_site_editor/src/widgets/inspector/inspect_geography.rs
new file mode 100644
index 00000000..9daf5f50
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_geography.rs
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::MoveTo,
+    site::*,
+    widgets::{inspector::*, prelude::*},
+    CurrentWorkspace,
+};
+use bevy::prelude::*;
+use bevy_egui::egui::DragValue;
+
+#[derive(SystemParam)]
+pub struct InspectGeography<'w, 's> {
+    geographical: Query<'w, 's, &'static GeographicComponent>,
+    tfs: Query<'w, 's, &'static Transform, Or<(With<Anchor>, With<Pose>)>>,
+    move_to: EventWriter<'w, MoveTo>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectGeography<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut param = state.get_mut(world);
+        let Some(workspace) = param.current_workspace.root else {
+            return;
+        };
+        let Ok(geo) = param.geographical.get(workspace) else {
+            return;
+        };
+        let Ok(tf) = param.tfs.get(selection) else {
+            return;
+        };
+
+        if let Some(offset) = geo.0 {
+            let (mut lat, mut lon) = match world_to_latlon(tf.translation, offset.anchor) {
+                Ok(values) => values,
+                Err(err) => {
+                    warn!("Unable to obtain latitude and longitude: {err:?}");
+                    return;
+                }
+            };
+
+            let old_lat = lat;
+            let old_lon = lon;
+
+            ui.label("Latitude");
+            ui.add(DragValue::new(&mut lat).speed(0.0));
+            ui.label("Longitude");
+            ui.add(DragValue::new(&mut lon).speed(0.0));
+
+            if old_lat != lat || old_lon != lon {
+                param.move_to.send(MoveTo {
+                    entity: selection,
+                    transform: Transform::from_translation(latlon_to_world(
+                        lat as f32,
+                        lon as f32,
+                        offset.anchor,
+                    )),
+                });
+            }
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_group.rs b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
index 23e25e81..f7b0df47 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_group.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
@@ -16,69 +16,71 @@
 */
 
 use crate::{
-    site::{Affiliation, Change, DefaultFile, Group, Members, SiteID, Texture},
-    widgets::{
-        inspector::{InspectTexture, SelectionWidget},
-        AppEvents,
-    },
-    Icons,
+    site::{Affiliation, Change, DefaultFile, Group, Members, NameInSite, Texture},
+    widgets::{inspector::InspectTexture, prelude::*, Inspect, SelectorWidget},
+    CurrentWorkspace,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{CollapsingHeader, RichText, Ui};
 
 #[derive(SystemParam)]
-pub struct InspectGroupParams<'w, 's> {
-    pub is_group: Query<'w, 's, (), With<Group>>,
-    pub affiliation: Query<'w, 's, &'static Affiliation<Entity>>,
-    pub textures: Query<'w, 's, &'static Texture>,
-    pub members: Query<'w, 's, &'static Members>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub icons: Res<'w, Icons>,
+pub struct InspectGroup<'w, 's> {
+    is_group: Query<'w, 's, (), With<Group>>,
+    affiliation: Query<'w, 's, &'static Affiliation<Entity>>,
+    names: Query<'w, 's, &'static NameInSite>,
+    textures: Query<'w, 's, &'static Texture>,
+    members: Query<'w, 's, &'static Members>,
+    default_file: Query<'w, 's, &'static DefaultFile>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    change_texture: EventWriter<'w, Change<Texture>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectGroup<'a, 'w1, 'w2, 's1, 's2> {
-    group: Entity,
-    selection: Entity,
-    default_file: Option<&'a DefaultFile>,
-    params: &'a InspectGroupParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectGroup<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectGroup<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        group: Entity,
-        selection: Entity,
-        default_file: Option<&'a DefaultFile>,
-        params: &'a InspectGroupParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            group,
-            selection,
-            default_file,
-            params,
-            events,
+impl<'w, 's> InspectGroup<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        if self.is_group.contains(id) {
+            self.show_group_properties(id, ui);
+        }
+
+        if let Ok(Affiliation(Some(group))) = self.affiliation.get(id) {
+            ui.separator();
+            let name = self.names.get(*group).map(|n| n.0.as_str()).unwrap_or("");
+            ui.label(RichText::new(format!("Group Properties of [{}]", name)).size(18.0));
+            ui.add_space(5.0);
+            self.show_group_properties(*group, ui);
         }
     }
 
-    pub fn show(self, ui: &mut Ui) {
-        if let Ok(texture) = self.params.textures.get(self.group) {
+    pub fn show_group_properties(&mut self, id: Entity, ui: &mut Ui) {
+        let default_file = self
+            .current_workspace
+            .root
+            .map(|e| self.default_file.get(e).ok())
+            .flatten();
+
+        if let Ok(texture) = self.textures.get(id) {
             ui.label(RichText::new("Texture Properties").size(18.0));
-            if let Some(new_texture) = InspectTexture::new(texture, self.default_file).show(ui) {
-                self.events
-                    .change
-                    .texture
-                    .send(Change::new(new_texture, self.group));
+            if let Some(new_texture) = InspectTexture::new(texture, default_file).show(ui) {
+                self.change_texture.send(Change::new(new_texture, id));
             }
             ui.add_space(10.0);
         }
-        if let Ok(members) = self.params.members.get(self.group) {
+        if let Ok(members) = self.members.get(id) {
             CollapsingHeader::new("Members").show(ui, |ui| {
                 for member in members.iter() {
-                    let site_id = self.params.site_id.get(self.group).ok().cloned();
-                    SelectionWidget::new(*member, site_id, &self.params.icons, self.events)
-                        .as_selected(self.selection == *member)
-                        .show(ui);
+                    self.selector.show_widget(*member, ui);
                 }
             });
         }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
index 089b0dd8..8f3686eb 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_joint.rs
@@ -16,16 +16,15 @@
 */
 
 use crate::{
-    site::{Dependents, FrameMarker, JointProperties, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents},
-    Icons,
+    site::{Dependents, FrameMarker, JointProperties},
+    widgets::{prelude::*, Inspect, SelectorWidget},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::Ui;
 
 #[derive(SystemParam)]
-pub struct InspectJointParams<'w, 's> {
-    pub joints: Query<
+pub struct InspectJoint<'w, 's> {
+    joints: Query<
         'w,
         's,
         (
@@ -34,53 +33,34 @@ pub struct InspectJointParams<'w, 's> {
             &'static JointProperties,
         ),
     >,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub frames: Query<'w, 's, (), With<FrameMarker>>,
+    frames: Query<'w, 's, (), With<FrameMarker>>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectJointWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub joint: Entity,
-    pub params: &'a InspectJointParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectJointWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        joint: Entity,
-        params: &'a InspectJointParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            joint,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectJoint<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((parent, deps, joint_properties)) = self.params.joints.get(self.joint) else {
+impl<'w, 's> InspectJoint<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((parent, deps, joint_properties)) = self.joints.get(id) else {
             return;
         };
 
         ui.label("Parent frame");
-        SelectionWidget::new(
-            **parent,
-            self.params.site_id.get(**parent).ok().cloned(),
-            self.params.icons.as_ref(),
-            self.events,
-        )
-        .show(ui);
+        self.selector.show_widget(**parent, ui);
 
-        if let Some(frame_dep) = deps.iter().find(|d| self.params.frames.get(**d).is_ok()) {
+        if let Some(frame_dep) = deps.iter().find(|d| self.frames.get(**d).is_ok()) {
             ui.label("Child frame");
-            SelectionWidget::new(
-                *frame_dep,
-                self.params.site_id.get(*frame_dep).ok().cloned(),
-                self.params.icons.as_ref(),
-                self.events,
-            )
-            .show(ui);
+            self.selector.show_widget(*frame_dep, ui);
         }
 
         ui.horizontal(|ui| {
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
index 5acc28c6..dd3c7790 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_layer.rs
@@ -16,128 +16,182 @@
 */
 
 use crate::{
-    interaction::Hover,
+    interaction::{Hover, Selection},
     site::{
-        BeginEditDrawing, Change, LayerVisibility, PreferredSemiTransparency, SiteID,
-        VisibilityCycle,
+        BeginEditDrawing, Change, DrawingMarker, FloorMarker, LayerVisibility,
+        PreferredSemiTransparency, VisibilityCycle,
     },
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
+    widgets::{inspector::Inspect, prelude::*, Icons, MoveLayer, SelectorWidget},
+    ChangeRank,
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{DragValue, ImageButton, Ui};
 
-pub struct InspectLayer<'a, 'w, 's> {
-    pub entity: Entity,
-    pub icons: &'a Icons,
-    /// Does the layer have a custom visibility setting?
-    pub layer_vis: Option<LayerVisibility>,
-    pub default_alpha: f32,
-    // TODO(luca) make this an enum
-    pub is_floor: bool,
-    pub as_selected: bool,
-    /// Outer Option: Can this be selected?
-    /// Inner Option: Does this have a SiteID?
-    pub site_id: Option<Option<SiteID>>,
-    pub events: &'a mut AppEvents<'w, 's>,
+#[derive(SystemParam)]
+pub struct InspectLayer<'w, 's> {
+    pub drawings: Query<'w, 's, (), With<DrawingMarker>>,
+    pub floors: Query<'w, 's, (), With<FloorMarker>>,
+    pub layer: Query<
+        'w,
+        's,
+        (
+            Option<&'static LayerVisibility>,
+            &'static PreferredSemiTransparency,
+        ),
+        Or<(With<FloorMarker>, With<DrawingMarker>)>,
+    >,
+    pub icons: Res<'w, Icons>,
+    pub selection: Res<'w, Selection>,
+    pub begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
+    pub change_layer_visibility: EventWriter<'w, Change<LayerVisibility>>,
+    pub change_preferred_alpha: EventWriter<'w, Change<PreferredSemiTransparency>>,
+    pub floor_change_rank: EventWriter<'w, ChangeRank<FloorMarker>>,
+    pub drawing_change_rank: EventWriter<'w, ChangeRank<DrawingMarker>>,
+    pub commands: Commands<'w, 's>,
+    pub selector: SelectorWidget<'w, 's>,
 }
 
-impl<'a, 'w, 's> InspectLayer<'a, 'w, 's> {
-    pub fn new(
-        entity: Entity,
-        icons: &'a Icons,
-        events: &'a mut AppEvents<'w, 's>,
-        layer_vis: Option<LayerVisibility>,
-        default_alpha: f32,
-        is_floor: bool,
-    ) -> Self {
+impl<'w, 's> WidgetSystem<Inspect> for InspectLayer<'w, 's> {
+    fn show(
+        Inspect { selection: id, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(InspectLayerInput::new(id).with_moving(), ui);
+    }
+}
+
+impl<'w, 's> WidgetSystem<InspectLayerInput> for InspectLayer<'w, 's> {
+    fn show(
+        input: InspectLayerInput,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) -> () {
+        let mut params = state.get_mut(world);
+        params.show_widget(input, ui);
+    }
+}
+
+pub struct InspectLayerInput {
+    pub id: Entity,
+    pub with_selecting: bool,
+    pub with_moving: bool,
+}
+
+impl InspectLayerInput {
+    pub fn new(id: Entity) -> Self {
         Self {
-            entity,
-            icons,
-            events,
-            layer_vis,
-            default_alpha,
-            is_floor,
-            as_selected: false,
-            site_id: None,
+            id,
+            with_selecting: false,
+            with_moving: false,
         }
     }
-    pub fn with_selecting(mut self, site_id: Option<SiteID>) -> Self {
-        self.site_id = Some(site_id);
+
+    pub fn with_selecting(mut self) -> Self {
+        self.with_selecting = true;
         self
     }
 
-    pub fn as_selected(mut self, as_selected: bool) -> Self {
-        self.as_selected = as_selected;
+    pub fn with_moving(mut self) -> Self {
+        self.with_moving = true;
         self
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        if let Some(site_id) = self.site_id {
-            SelectionWidget::new(self.entity, site_id, self.icons, self.events)
-                .as_selected(self.as_selected)
-                .show(ui);
-
-            if !self.is_floor {
-                let response = ui
-                    .add(ImageButton::new(self.events.layers.icons.edit.egui()))
-                    .on_hover_text("Edit Drawing");
+impl<'w, 's> InspectLayer<'w, 's> {
+    pub fn show_widget(
+        &mut self,
+        InspectLayerInput {
+            id,
+            with_selecting,
+            with_moving,
+        }: InspectLayerInput,
+        ui: &mut Ui,
+    ) {
+        if !self.layer.contains(id) {
+            return;
+        }
 
-                if response.hovered() {
-                    self.events.request.hover.send(Hover(Some(self.entity)));
-                }
+        if with_moving {
+            if self.drawings.contains(id) {
+                ui.horizontal(|ui| {
+                    MoveLayer::<DrawingMarker>::new(id, &mut self.drawing_change_rank, &self.icons)
+                        .show(ui);
+                });
+            }
 
-                if response.clicked() {
-                    self.events
-                        .layers
-                        .begin_edit_drawing
-                        .send(BeginEditDrawing(self.entity));
-                }
+            if self.floors.contains(id) {
+                ui.horizontal(|ui| {
+                    MoveLayer::<FloorMarker>::new(id, &mut self.floor_change_rank, &self.icons)
+                        .show(ui);
+                });
             }
         }
 
-        let icon = self.icons.layer_visibility_of(self.layer_vis);
-        let resp = ui.add(ImageButton::new(icon)).on_hover_text(format!(
-            "Change to {}",
-            self.layer_vis.next(self.default_alpha).label()
-        ));
-        if resp.hovered() {
-            self.events.request.hover.send(Hover(Some(self.entity)));
-        }
-        if resp.clicked() {
-            match self.layer_vis.next(self.default_alpha) {
-                Some(v) => {
-                    self.events
-                        .layers
-                        .layer_vis
-                        .send(Change::new(v, self.entity).or_insert());
+        ui.horizontal(|ui| {
+            if with_selecting {
+                self.selector.show_widget(id, ui);
+            }
+
+            if with_selecting {
+                if self.drawings.contains(id) {
+                    let response = ui
+                        .add(ImageButton::new(self.icons.edit.egui()))
+                        .on_hover_text("Edit Drawing");
+
+                    if response.hovered() {
+                        self.selector.hover.send(Hover(Some(id)));
+                    }
+
+                    if response.clicked() {
+                        self.begin_edit_drawing.send(BeginEditDrawing(id));
+                    }
                 }
-                None => {
-                    self.events
-                        .commands
-                        .entity(self.entity)
-                        .remove::<LayerVisibility>();
+            }
+
+            let Ok((vis, default_alpha)) = self.layer.get(id) else {
+                return;
+            };
+            let vis = vis.copied();
+            let default_alpha = default_alpha.0;
+
+            let icon = self.icons.layer_visibility_of(vis);
+            let resp = ui
+                .add(ImageButton::new(icon))
+                .on_hover_text(format!("Change to {}", vis.next(default_alpha).label()));
+            if resp.hovered() {
+                self.selector.hover.send(Hover(Some(id)));
+            }
+            if resp.clicked() {
+                match vis.next(default_alpha) {
+                    Some(v) => {
+                        self.change_layer_visibility
+                            .send(Change::new(v, id).or_insert());
+                    }
+                    None => {
+                        self.commands.entity(id).remove::<LayerVisibility>();
+                    }
                 }
             }
-        }
 
-        if let Some(LayerVisibility::Alpha(mut alpha)) = self.layer_vis {
-            if ui
-                .add(
-                    DragValue::new(&mut alpha)
-                        .clamp_range(0_f32..=1_f32)
-                        .speed(0.01),
-                )
-                .changed()
-            {
-                self.events
-                    .layers
-                    .layer_vis
-                    .send(Change::new(LayerVisibility::Alpha(alpha), self.entity));
-                self.events
-                    .layers
-                    .preferred_alpha
-                    .send(Change::new(PreferredSemiTransparency(alpha), self.entity));
+            if let Some(LayerVisibility::Alpha(mut alpha)) = vis {
+                if ui
+                    .add(
+                        DragValue::new(&mut alpha)
+                            .clamp_range(0_f32..=1_f32)
+                            .speed(0.01),
+                    )
+                    .changed()
+                {
+                    self.change_layer_visibility
+                        .send(Change::new(LayerVisibility::Alpha(alpha), id));
+                    self.change_preferred_alpha
+                        .send(Change::new(PreferredSemiTransparency(alpha), id));
+                }
             }
-        }
+        });
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_lift.rs b/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
index 04a4c7ee..eaeae148 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_lift.rs
@@ -16,48 +16,56 @@
 */
 
 use crate::{
-    site::{CabinDoorId, LevelElevation, NameInSite, SiteID, ToggleLiftDoorAvailability},
+    site::{
+        CabinDoorId, Change, CurrentLevel, LevelElevation, NameInSite, ToggleLiftDoorAvailability,
+    },
     widgets::{
-        inspector::{InspectOptionF32, SelectionWidget},
-        AppEvents, Icons,
+        inspector::InspectOptionF32, prelude::*, Inspect, InspectionPlugin, LevelDisplay,
+        SelectorWidget,
     },
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{CollapsingHeader, DragValue, Ui};
 use rmf_site_format::lift::*;
 
-#[derive(SystemParam)]
-pub struct InspectLiftParams<'w, 's> {
-    pub cabins: Query<'w, 's, (&'static LiftCabin<Entity>, &'static RecallLiftCabin<Entity>)>,
-    pub doors: Query<'w, 's, &'static LevelVisits<Entity>>,
-    pub levels: Query<'w, 's, (&'static NameInSite, &'static LevelElevation)>,
-    pub icons: Res<'w, Icons>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
+#[derive(Default)]
+pub struct InspectLiftPlugin {}
+
+impl Plugin for InspectLiftPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LevelDisplay>()
+            .add_plugins(InspectionPlugin::<InspectLiftCabin>::new());
+    }
 }
 
-pub struct InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
-    pub lift: Entity,
-    pub params: &'a InspectLiftParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectLiftCabin<'w, 's> {
+    cabins: Query<'w, 's, (&'static LiftCabin<Entity>, &'static RecallLiftCabin<Entity>)>,
+    doors: Query<'w, 's, &'static LevelVisits<Entity>>,
+    levels: Query<'w, 's, (&'static NameInSite, &'static LevelElevation)>,
+    display_level: Res<'w, LevelDisplay>,
+    change_lift_cabin: EventWriter<'w, Change<LiftCabin<Entity>>>,
+    selector: SelectorWidget<'w, 's>,
+    toggle_door_levels: EventWriter<'w, ToggleLiftDoorAvailability>,
+    current_level: Res<'w, CurrentLevel>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(
-        lift: Entity,
-        params: &'a InspectLiftParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            lift,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectLiftCabin<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) -> Option<LiftCabin<Entity>> {
-        let (cabin, recall) = match self.params.cabins.get(self.lift) {
-            Ok(r) => r,
-            Err(_) => return None,
+impl<'w, 's> InspectLiftCabin<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((cabin, recall)) = self.cabins.get(id) else {
+            return;
         };
         let mut new_cabin = cabin.clone();
         match &mut new_cabin {
@@ -85,14 +93,14 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 });
 
                 if let Some(new_t) = InspectOptionF32::new(
-                    "Wall Thickness".to_string(),
+                    "Wall Thickness",
                     params.wall_thickness,
                     recall
                         .wall_thickness
                         .unwrap_or(DEFAULT_CABIN_WALL_THICKNESS),
                 )
                 .clamp_range(0.001..=std::f32::INFINITY)
-                .suffix("m".to_string())
+                .suffix("m")
                 .min_decimals(2)
                 .max_decimals(4)
                 .speed(0.001)
@@ -102,12 +110,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 }
 
                 if let Some(new_gap) = InspectOptionF32::new(
-                    "Gap".to_string(),
+                    "Gap",
                     params.gap,
                     recall.gap.unwrap_or(DEFAULT_CABIN_GAP),
                 )
                 .clamp_range(0.001..=std::f32::INFINITY)
-                .suffix("m".to_string())
+                .suffix("m")
                 .min_decimals(2)
                 .max_decimals(4)
                 .speed(0.001)
@@ -116,16 +124,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                     params.gap = new_gap;
                 }
 
-                if let Some(new_shift) = InspectOptionF32::new(
-                    "Shift".to_string(),
-                    params.shift,
-                    recall.shift.unwrap_or(0.0),
-                )
-                .suffix("m".to_string())
-                .min_decimals(2)
-                .max_decimals(4)
-                .speed(0.001)
-                .show(ui)
+                if let Some(new_shift) =
+                    InspectOptionF32::new("Shift", params.shift, recall.shift.unwrap_or(0.0))
+                        .suffix("m")
+                        .min_decimals(2)
+                        .max_decimals(4)
+                        .speed(0.001)
+                        .show(ui)
                 {
                     params.shift = new_shift;
                 }
@@ -137,14 +142,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                         CollapsingHeader::new(format!("{} Door", face.label()))
                             .default_open(false)
                             .show(ui, |ui| {
-                                SelectionWidget::new(
-                                    placement.door,
-                                    self.params.site_id.get(placement.door).copied().ok(),
-                                    &self.params.icons,
-                                    &mut self.events,
-                                )
-                                .show(ui);
-
+                                self.selector.show_widget(placement.door, ui);
                                 ui.horizontal(|ui| {
                                     ui.label("width");
                                     ui.add(
@@ -157,26 +155,23 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                     );
                                 });
 
-                                if let Some(new_shift) = InspectOptionF32::new(
-                                    "Shifted".to_string(),
-                                    placement.shifted,
-                                    0.0,
-                                )
-                                .suffix("m".to_string())
-                                .min_decimals(2)
-                                .max_decimals(4)
-                                .speed(0.005)
-                                .show(ui)
+                                if let Some(new_shift) =
+                                    InspectOptionF32::new("Shifted", placement.shifted, 0.0)
+                                        .suffix("m")
+                                        .min_decimals(2)
+                                        .max_decimals(4)
+                                        .speed(0.005)
+                                        .show(ui)
                                 {
                                     placement.shifted = new_shift;
                                 }
 
                                 if let Some(new_gap) = InspectOptionF32::new(
-                                    "Custom Gap".to_string(),
+                                    "Custom Gap",
                                     placement.custom_gap,
                                     cabin_gap,
                                 )
-                                .suffix("m".to_string())
+                                .suffix("m")
                                 .clamp_range(0.0..=std::f32::INFINITY)
                                 .min_decimals(2)
                                 .max_decimals(4)
@@ -187,11 +182,11 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                 }
 
                                 if let Some(new_t) = InspectOptionF32::new(
-                                    "Thickness".to_string(),
+                                    "Thickness",
                                     placement.thickness,
                                     DEFAULT_CABIN_DOOR_THICKNESS,
                                 )
-                                .suffix("m".to_string())
+                                .suffix("m")
                                 .clamp_range(0.001..=std::f32::INFINITY)
                                 .min_decimals(2)
                                 .max_decimals(4)
@@ -201,26 +196,25 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                     placement.thickness = new_t;
                                 }
 
-                                if let Ok(visits) = self.params.doors.get(placement.door) {
+                                if let Ok(visits) = self.doors.get(placement.door) {
                                     CollapsingHeader::new(format!("Level Access"))
                                         .default_open(true)
                                         .show(ui, |ui| {
-                                            for level in &self.events.display.level.order {
+                                            for level in &self.display_level.order {
                                                 let mut visits_level = visits.contains(level);
                                                 if ui
                                                     .checkbox(
                                                         &mut visits_level,
-                                                        self.params
-                                                            .levels
+                                                        self.levels
                                                             .get(*level)
                                                             .map(|(n, _)| &n.0)
                                                             .unwrap_or(&"<Unknown>".to_owned()),
                                                     )
                                                     .changed()
                                                 {
-                                                    self.events.request.toggle_door_levels.send(
+                                                    self.toggle_door_levels.send(
                                                         ToggleLiftDoorAvailability {
-                                                            for_lift: self.lift,
+                                                            for_lift: id,
                                                             on_level: *level,
                                                             cabin_door: CabinDoorId::RectFace(face),
                                                             door_available: visits_level,
@@ -231,16 +225,14 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                                         });
                                 }
                             });
-                    } else if let Some(current_level) = **self.events.request.current_level {
+                    } else if let Some(current_level) = **self.current_level {
                         if ui.button(format!("Add {} Door", face.label())).clicked() {
-                            self.events.request.toggle_door_levels.send(
-                                ToggleLiftDoorAvailability {
-                                    for_lift: self.lift,
-                                    on_level: current_level,
-                                    cabin_door: CabinDoorId::RectFace(face),
-                                    door_available: true,
-                                },
-                            );
+                            self.toggle_door_levels.send(ToggleLiftDoorAvailability {
+                                for_lift: id,
+                                on_level: current_level,
+                                cabin_door: CabinDoorId::RectFace(face),
+                                door_available: true,
+                            });
                         }
                     }
                 }
@@ -261,9 +253,8 @@ impl<'a, 'w1, 's1, 'w2, 's2> InspectLiftCabin<'a, 'w1, 's1, 'w2, 's2> {
                 }
             }
 
-            return Some(new_cabin);
+            self.change_lift_cabin.send(Change::new(new_cabin, id));
         }
-
-        return None;
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_light.rs b/rmf_site_editor/src/widgets/inspector/inspect_light.rs
index a3348bad..58769d12 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_light.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_light.rs
@@ -15,12 +15,41 @@
  *
 */
 
-use crate::site::{LightKind, RecallLightKind};
+use crate::{
+    site::{Change, LightKind, RecallLightKind},
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{
     color_picker::{color_edit_button_rgba, Alpha},
     ComboBox, DragValue, Rgba, Ui,
 };
 
+#[derive(SystemParam)]
+pub struct InspectLight<'w, 's> {
+    lights: Query<'w, 's, (&'static LightKind, &'static RecallLightKind)>,
+    change_light: EventWriter<'w, Change<LightKind>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectLight<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((light, recall)) = params.lights.get(selection) else {
+            return;
+        };
+
+        if let Some(new_light) = InspectLightKind::new(light, recall).show(ui) {
+            params.change_light.send(Change::new(new_light, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
 pub struct InspectLightKind<'a> {
     pub kind: &'a LightKind,
     pub recall: &'a RecallLightKind,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_location.rs b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
index aa21a3eb..177260c9 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_location.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
@@ -16,48 +16,42 @@
 */
 
 use crate::{
-    site::{
-        ConsiderLocationTag, DefaultFile, LocationTag, LocationTags, Model, RecallAssetSource,
-        RecallLocationTags,
-    },
-    widgets::{
-        inspector::{InspectAssetSource, InspectName},
-        AppEvents, Icons,
-    },
+    site::{Change, ConsiderLocationTag, LocationTag, LocationTags, RecallLocationTags},
+    widgets::{prelude::*, Icons, Inspect},
 };
 use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, ImageButton, RichText, Ui};
 use smallvec::SmallVec;
 
-pub struct InspectLocationWidget<'a, 'w1, 'w2, 's2> {
-    pub entity: Entity,
-    pub tags: &'a LocationTags,
-    pub recall: &'a RecallLocationTags,
-    pub icons: &'a Res<'w1, Icons>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct InspectLocation<'w, 's> {
+    location_tags: Query<'w, 's, (&'static LocationTags, &'static RecallLocationTags)>,
+    icons: Res<'w, Icons>,
+    consider_tag: EventWriter<'w, ConsiderLocationTag>,
+    change_tags: EventWriter<'w, Change<LocationTags>>,
 }
 
-impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
-    pub fn new(
-        entity: Entity,
-        tags: &'a LocationTags,
-        recall: &'a RecallLocationTags,
-        icons: &'a Res<'w1, Icons>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            tags,
-            recall,
-            icons,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectLocation<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
+
+impl<'w, 's> InspectLocation<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((tags, recall)) = self.location_tags.get(id) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) -> Option<LocationTags> {
         ui.label(RichText::new("Location Tags").size(18.0));
         let mut deleted_tag = None;
-        for (i, tag) in self.tags.0.iter().enumerate() {
+        for (i, tag) in tags.0.iter().enumerate() {
             ui.horizontal(|ui| {
                 if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
                     deleted_tag = Some(i);
@@ -74,19 +68,19 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                 let (add, consider) = ui
                     .horizontal(|ui| {
                         let add = ui.button("Confirm").clicked();
-                        let mut consider = self.recall.assume_tag(self.tags);
+                        let mut consider = recall.assume_tag(tags);
                         let mut variants: SmallVec<[LocationTag; 5]> = SmallVec::new();
-                        if self.tags.iter().find(|t| t.is_charger()).is_none() {
+                        if tags.iter().find(|t| t.is_charger()).is_none() {
                             variants.push(LocationTag::Charger);
                         }
-                        if self.tags.iter().find(|t| t.is_parking_spot()).is_none() {
+                        if tags.iter().find(|t| t.is_parking_spot()).is_none() {
                             variants.push(LocationTag::ParkingSpot);
                         }
-                        if self.tags.iter().find(|t| t.is_holding_point()).is_none() {
+                        if tags.iter().find(|t| t.is_holding_point()).is_none() {
                             variants.push(LocationTag::HoldingPoint);
                         }
-                        variants.push(self.recall.assume_spawn_robot());
-                        variants.push(self.recall.assume_workcell());
+                        variants.push(recall.assume_spawn_robot());
+                        variants.push(recall.assume_workcell());
 
                         ComboBox::from_id_source("Add Location Tag")
                             .selected_text(consider.label())
@@ -101,19 +95,14 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                     })
                     .inner;
 
-                let consider_changed = if let Some(original) = &self.recall.consider_tag {
+                let consider_changed = if let Some(original) = &recall.consider_tag {
                     consider != *original
                 } else {
                     true
                 };
                 if consider_changed {
-                    self.events
-                        .request
-                        .consider_tag
-                        .send(ConsiderLocationTag::new(
-                            Some(consider.clone()),
-                            self.entity,
-                        ));
+                    self.consider_tag
+                        .send(ConsiderLocationTag::new(Some(consider.clone()), id));
                 }
 
                 if add {
@@ -126,7 +115,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
             .flatten();
 
         if deleted_tag.is_some() || added_tag.is_some() {
-            let mut new_tags = self.tags.clone();
+            let mut new_tags = tags.clone();
             if let Some(i) = deleted_tag {
                 new_tags.remove(i);
             }
@@ -135,36 +124,7 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
                 new_tags.push(new_tag);
             }
 
-            Some(new_tags)
-        } else {
-            None
-        }
-    }
-
-    #[allow(dead_code)]
-    fn inspect_model(
-        &self,
-        ui: &mut Ui,
-        model: &Model,
-        recall_asset: &RecallAssetSource,
-        default_file: Option<&'a DefaultFile>,
-    ) -> Option<Model> {
-        let new_name = InspectName::new(&model.name).show(ui);
-        let new_source =
-            InspectAssetSource::new(&model.source, &recall_asset, default_file).show(ui);
-
-        if new_name.is_some() || new_source.is_some() {
-            let mut new_model = model.clone();
-            if let Some(new_name) = new_name {
-                new_model.name = new_name;
-            }
-            if let Some(new_source) = new_source {
-                new_model.source = new_source;
-            }
-
-            Some(new_model)
-        } else {
-            None
+            self.change_tags.send(Change::new(new_tags, id));
         }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs b/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs
new file mode 100644
index 00000000..be1b7aea
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_measurement.rs
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    site::{Change, Distance},
+    widgets::{prelude::*, Inspect, InspectOptionF32},
+};
+use bevy::prelude::*;
+
+#[derive(SystemParam)]
+pub struct InspectMeasurement<'w, 's> {
+    distances: Query<'w, 's, &'static Distance>,
+    change_distance: EventWriter<'w, Change<Distance>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectMeasurement<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(distance) = params.distances.get(selection) else {
+            return;
+        };
+
+        if let Some(new_distance) = InspectOptionF32::new("Distance", distance.0, 10.0)
+            .clamp_range(0.0..=10000.0)
+            .min_decimals(2)
+            .max_decimals(2)
+            .speed(0.01)
+            .suffix(" m")
+            .show(ui)
+        {
+            params
+                .change_distance
+                .send(Change::new(Distance(new_distance), selection));
+        }
+        ui.add_space(10.0);
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs b/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
index a590310a..9197373f 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_mesh_constraint.rs
@@ -15,84 +15,64 @@
  *
 */
 
-use bevy_egui::egui::Ui;
+use crate::widgets::{prelude::*, Inspect, SelectorWidget};
+use bevy::prelude::*;
 use rmf_site_format::*;
-use std::collections::{BTreeMap, HashSet};
+use std::collections::{BTreeMap, BTreeSet};
 
-use crate::{
-    site::{Category, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
-};
-use bevy::{ecs::system::SystemParam, prelude::*};
+use crate::site::Category;
 
 #[derive(SystemParam)]
-pub struct InspectModelDependentsParams<'w, 's> {
-    pub dependents: Query<'w, 's, &'static ConstraintDependents, With<ModelMarker>>,
-    pub info: Query<'w, 's, (&'static Category, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
+pub struct InspectModelDependents<'w, 's> {
+    dependents: Query<'w, 's, &'static ConstraintDependents, With<ModelMarker>>,
+    categories: Query<'w, 's, &'static Category>,
+    selector: SelectorWidget<'w, 's>,
 }
 
-pub struct InspectModelDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub model: Entity,
-    pub params: &'a InspectModelDependentsParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+impl<'w, 's> WidgetSystem<Inspect> for InspectModelDependents<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectModelDependentsWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        model: Entity,
-        params: &'a InspectModelDependentsParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            model,
-            params,
-            events,
-        }
-    }
+impl<'w, 's> InspectModelDependents<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok(dependents) = self.dependents.get(id) else {
+            return;
+        };
 
-    fn show_dependents(
-        dependents: &HashSet<Entity>,
-        params: &InspectModelDependentsParams<'w1, 's1>,
-        events: &mut AppEvents<'w2, 's2>,
-        ui: &mut Ui,
-    ) {
-        ui.heading("Constraint Dependents");
-        let mut category_map: BTreeMap<Category, BTreeMap<Entity, Option<u32>>> = BTreeMap::new();
-        for e in dependents {
-            if let Ok((category, site_id)) = params.info.get(*e) {
-                category_map
-                    .entry(*category)
-                    .or_default()
-                    .insert(*e, site_id.map(|s| s.0));
+        ui.vertical(|ui| {
+            if dependents.0.is_empty() {
+                ui.label("No dependents");
             } else {
-                ui.label(format!("ERROR: Broken reference to entity {e:?}"));
-            }
-        }
-
-        for (category, entities) in &category_map {
-            ui.label(category.label());
+                ui.heading("Constraint Dependents");
+                let mut category_map: BTreeMap<Category, BTreeSet<Entity>> = BTreeMap::new();
+                for e in &dependents.0 {
+                    if let Ok(category) = self.categories.get(*e) {
+                        category_map.entry(*category).or_default().insert(*e);
+                    } else {
+                        ui.label(format!("ERROR: Broken reference to entity {e:?}"));
+                    }
+                }
 
-            for (e, site_id) in entities {
-                ui.horizontal(|ui| {
-                    SelectionWidget::new(*e, site_id.map(SiteID), params.icons.as_ref(), events)
-                        .show(ui);
-                });
-            }
-        }
-    }
+                for (category, entities) in &category_map {
+                    ui.label(category.label());
 
-    pub fn show(mut self, ui: &mut Ui) {
-        ui.vertical(|ui| {
-            if let Ok(dependents) = self.params.dependents.get(self.model) {
-                if dependents.0.is_empty() {
-                    ui.label("No dependents");
-                } else {
-                    Self::show_dependents(&dependents.0, &self.params, &mut self.events, ui);
+                    for e in entities {
+                        ui.horizontal(|ui| {
+                            self.selector.show_widget(*e, ui);
+                        });
+                    }
                 }
-            } else {
-                ui.label("ERROR: Unable to find dependents info for this model");
             }
         });
+
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_motion.rs b/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
index b5810410..73dc1453 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_motion.rs
@@ -15,18 +15,138 @@
  *
 */
 
-use crate::widgets::inspector::{InspectAngle, InspectOptionF32};
+use crate::{
+    site::Change,
+    widgets::{
+        inspector::{InspectAngle, InspectOptionF32},
+        prelude::*,
+        Inspect,
+    },
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{ComboBox, RichText, Ui};
 use rmf_site_format::{
     Angle, Dock, Motion, OrientationConstraint, RecallMotion, RecallReverseLane, ReverseLane,
 };
 
-pub struct InspectMotionWidget<'a> {
+#[derive(SystemParam)]
+pub struct InspectMotion<'w, 's> {
+    forward: InspectForwardMotion<'w, 's>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.forward.show_widget(selection, ui);
+    }
+}
+
+#[derive(SystemParam)]
+pub struct InspectForwardMotion<'w, 's> {
+    motions: Query<'w, 's, (&'static Motion, &'static RecallMotion)>,
+    change_lane_motion: EventWriter<'w, Change<Motion>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectForwardMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
+}
+
+impl<'w, 's> InspectForwardMotion<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((motion, recall)) = self.motions.get(id) else {
+            return;
+        };
+
+        if let Some(new_motion) = InspectMotionComponent::new(motion, recall).show(ui) {
+            self.change_lane_motion.send(Change::new(new_motion, id));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+#[derive(SystemParam)]
+pub struct InspectReverseMotion<'w, 's> {
+    reverse_motions: Query<'w, 's, (&'static ReverseLane, &'static RecallReverseLane)>,
+    change_lane_reverse: EventWriter<'w, Change<ReverseLane>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectReverseMotion<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
+    }
+}
+
+impl<'w, 's> InspectReverseMotion<'w, 's> {
+    fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((reverse, recall)) = self.reverse_motions.get(id) else {
+            return;
+        };
+
+        let assumed_motion = reverse
+            .different_motion()
+            .cloned()
+            .unwrap_or(recall.motion.clone().unwrap_or(Motion::default()));
+
+        let mut new_reverse = reverse.clone();
+        ui.label(RichText::new("Reverse Motion").size(18.0));
+        ComboBox::from_id_source("Reverse Lane")
+            .selected_text(new_reverse.label())
+            .show_ui(ui, |ui| {
+                for variant in &[
+                    ReverseLane::Same,
+                    ReverseLane::Disable,
+                    ReverseLane::Different(assumed_motion),
+                ] {
+                    ui.selectable_value(&mut new_reverse, variant.clone(), variant.label());
+                }
+            });
+
+        match &mut new_reverse {
+            ReverseLane::Different(motion) => {
+                ui.add_space(10.0);
+                if let Some(new_motion) =
+                    InspectMotionComponent::new(motion, &recall.previous).show(ui)
+                {
+                    new_reverse = ReverseLane::Different(new_motion);
+                }
+            }
+            _ => {
+                // Do nothing
+            }
+        }
+
+        if new_reverse != *reverse {
+            self.change_lane_reverse.send(Change::new(new_reverse, id));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectMotionComponent<'a> {
     pub motion: &'a Motion,
     pub recall: &'a RecallMotion,
 }
 
-impl<'a> InspectMotionWidget<'a> {
+impl<'a> InspectMotionComponent<'a> {
     pub fn new(motion: &'a Motion, recall: &'a RecallMotion) -> Self {
         Self { motion, recall }
     }
@@ -84,7 +204,7 @@ impl<'a> InspectMotionWidget<'a> {
 
         ui.add_space(10.0);
         let new_speed = InspectOptionF32::new(
-            "Speed Limit".to_string(),
+            "Speed Limit",
             self.motion.speed_limit,
             self.recall.speed_limit.unwrap_or(1.0),
         )
@@ -92,7 +212,7 @@ impl<'a> InspectMotionWidget<'a> {
         .min_decimals(2)
         .max_decimals(2)
         .speed(0.01)
-        .suffix(" m/s".to_string())
+        .suffix(" m/s")
         .show(ui);
 
         ui.add_space(10.0);
@@ -120,7 +240,7 @@ impl<'a> InspectMotionWidget<'a> {
             });
 
             let new_duration = InspectOptionF32::new(
-                "Duration".to_string(),
+                "Duration",
                 dock.duration,
                 self.recall.dock_duration.unwrap_or(30.0),
             )
@@ -128,8 +248,8 @@ impl<'a> InspectMotionWidget<'a> {
             .min_decimals(0)
             .max_decimals(1)
             .speed(1.0)
-            .suffix(" s".to_string())
-            .tooltip("How long does the docking take?".to_string())
+            .suffix(" s")
+            .tooltip("How long does the docking take?")
             .show(ui);
 
             if let Some(new_duration) = new_duration {
@@ -169,59 +289,3 @@ impl<'a> InspectMotionWidget<'a> {
         return None;
     }
 }
-
-pub struct InspectReverseWidget<'a> {
-    pub reverse: &'a ReverseLane,
-    pub recall: &'a RecallReverseLane,
-}
-
-impl<'a> InspectReverseWidget<'a> {
-    pub fn new(reverse: &'a ReverseLane, previous: &'a RecallReverseLane) -> Self {
-        Self {
-            reverse,
-            recall: previous,
-        }
-    }
-
-    pub fn show(self, ui: &mut Ui) -> Option<ReverseLane> {
-        let assumed_motion = self
-            .reverse
-            .different_motion()
-            .cloned()
-            .unwrap_or(self.recall.motion.clone().unwrap_or(Motion::default()));
-
-        let mut new_reverse = self.reverse.clone();
-        ui.label(RichText::new("Reverse Motion").size(18.0));
-        ComboBox::from_id_source("Reverse Lane")
-            .selected_text(new_reverse.label())
-            .show_ui(ui, |ui| {
-                for variant in &[
-                    ReverseLane::Same,
-                    ReverseLane::Disable,
-                    ReverseLane::Different(assumed_motion),
-                ] {
-                    ui.selectable_value(&mut new_reverse, variant.clone(), variant.label());
-                }
-            });
-
-        match &mut new_reverse {
-            ReverseLane::Different(motion) => {
-                ui.add_space(10.0);
-                if let Some(new_motion) =
-                    InspectMotionWidget::new(motion, &self.recall.previous).show(ui)
-                {
-                    new_reverse = ReverseLane::Different(new_motion);
-                }
-            }
-            _ => {
-                // Do nothing
-            }
-        }
-
-        if new_reverse != *self.reverse {
-            Some(new_reverse)
-        } else {
-            None
-        }
-    }
-}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_name.rs b/rmf_site_editor/src/widgets/inspector/inspect_name.rs
index 9ce0457a..3b5af089 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_name.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_name.rs
@@ -15,78 +15,71 @@
  *
 */
 
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::Ui;
 use rmf_site_format::{NameInSite, NameInWorkcell, NameOfWorkcell};
 
-// TODO(luca) refactor all these into a generic name inspection widget
-pub struct InspectName<'a> {
-    pub name: &'a NameInSite,
+#[derive(SystemParam)]
+pub struct InspectName<'w, 's> {
+    names_in_site: Query<'w, 's, &'static NameInSite>,
+    change_name_in_site: EventWriter<'w, Change<NameInSite>>,
+    names_in_workcell: Query<'w, 's, &'static NameInWorkcell>,
+    change_name_in_workcell: EventWriter<'w, Change<NameInWorkcell>>,
+    names_of_workcells: Query<'w, 's, &'static NameOfWorkcell>,
+    change_name_of_workcell: EventWriter<'w, Change<NameOfWorkcell>>,
 }
 
-impl<'a> InspectName<'a> {
-    pub fn new(name: &'a NameInSite) -> Self {
-        Self { name }
-    }
+impl<'w, 's> ShareableWidget for InspectName<'w, 's> {}
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameInSite> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+impl<'w, 's> WidgetSystem<Inspect> for InspectName<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        if let Ok(name) = params.names_in_site.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_in_site
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
-    }
-}
-
-pub struct InspectNameInWorkcell<'a> {
-    pub name: &'a NameInWorkcell,
-}
-
-impl<'a> InspectNameInWorkcell<'a> {
-    pub fn new(name: &'a NameInWorkcell) -> Self {
-        Self { name }
-    }
+        }
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameInWorkcell> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+        if let Ok(name) = params.names_in_workcell.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_in_workcell
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
-    }
-}
-
-pub struct InspectNameOfWorkcell<'a> {
-    pub name: &'a NameOfWorkcell,
-}
-
-impl<'a> InspectNameOfWorkcell<'a> {
-    pub fn new(name: &'a NameOfWorkcell) -> Self {
-        Self { name }
-    }
+        }
 
-    pub fn show(self, ui: &mut Ui) -> Option<NameOfWorkcell> {
-        ui.horizontal(|ui| {
-            ui.label("Name");
-            let mut new_name = self.name.clone();
-            ui.text_edit_singleline(&mut new_name.0);
-            if new_name != *self.name {
-                Some(new_name)
-            } else {
-                None
+        if let Ok(name) = params.names_of_workcells.get(selection) {
+            let mut new_name = name.clone();
+            ui.horizontal(|ui| {
+                ui.label("Name of workcell");
+                ui.text_edit_singleline(&mut new_name.0);
+            });
+            if new_name != *name {
+                params
+                    .change_name_of_workcell
+                    .send(Change::new(new_name, selection));
             }
-        })
-        .inner
+        }
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs b/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
index 9582cca3..d67c0264 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_option_f32.rs
@@ -18,20 +18,20 @@
 use bevy_egui::egui::{DragValue, Ui};
 use std::ops::RangeInclusive;
 
-pub struct InspectOptionF32 {
-    title: String,
+pub struct InspectOptionF32<'a> {
+    title: &'a str,
     current_value: Option<f32>,
     assumed_value: f32,
     range: RangeInclusive<f32>,
     min_decimals: usize,
     max_decimals: Option<usize>,
     speed: f64,
-    suffix: String,
-    tooltip: Option<String>,
+    suffix: &'a str,
+    tooltip: Option<&'a str>,
 }
 
-impl InspectOptionF32 {
-    pub fn new(title: String, current_value: Option<f32>, assumed_value: f32) -> Self {
+impl<'a> InspectOptionF32<'a> {
+    pub fn new(title: &'a str, current_value: Option<f32>, assumed_value: f32) -> Self {
         Self {
             title,
             current_value,
@@ -65,12 +65,12 @@ impl InspectOptionF32 {
         self
     }
 
-    pub fn suffix(mut self, suffix: String) -> Self {
+    pub fn suffix(mut self, suffix: &'a str) -> Self {
         self.suffix = suffix;
         self
     }
 
-    pub fn tooltip(mut self, tooltip: String) -> Self {
+    pub fn tooltip(mut self, tooltip: &'a str) -> Self {
         self.tooltip = Some(tooltip);
         self
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs b/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
index e6992e40..3100e1ad 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_physical_camera_properties.rs
@@ -15,46 +15,56 @@
  *
 */
 
-use crate::inspector::{InspectAngle, InspectValue};
-use crate::widgets::egui::RichText;
+use crate::{
+    inspector::{Inspect, InspectAngle, InspectValue},
+    site::Change,
+    widgets::{egui::RichText, prelude::*},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{Grid, Ui};
 use rmf_site_format::PhysicalCameraProperties;
 
-pub struct InspectPhysicalCameraProperties<'a> {
-    pub properties: &'a PhysicalCameraProperties,
+#[derive(SystemParam)]
+pub struct InspectPhysicalCameraProperties<'w, 's> {
+    physical_camera_properties: Query<'w, 's, &'static PhysicalCameraProperties>,
+    change_physical_camera_properties: EventWriter<'w, Change<PhysicalCameraProperties>>,
 }
 
-impl<'a> InspectPhysicalCameraProperties<'a> {
-    pub fn new(properties: &'a PhysicalCameraProperties) -> Self {
-        Self { properties }
-    }
+impl<'w, 's> WidgetSystem<Inspect> for InspectPhysicalCameraProperties<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(properties) = params.physical_camera_properties.get(selection) else {
+            return;
+        };
 
-    pub fn show(self, ui: &mut Ui) -> Option<PhysicalCameraProperties> {
-        let mut new_properties = self.properties.clone();
+        let mut new_properties = properties.clone();
         ui.label(RichText::new("Camera Properties").size(18.0));
         Grid::new("physical_camera_properties").show(ui, |ui| {
-            if let Some(new_width) =
-                InspectValue::<u32>::new(String::from("Width"), new_properties.width)
-                    .clamp_range(1..=std::u32::MAX)
-                    .tooltip("Image width in pixels".to_string())
-                    .show(ui)
+            if let Some(new_width) = InspectValue::<u32>::new("Width", new_properties.width)
+                .clamp_range(1..=std::u32::MAX)
+                .tooltip("Image width in pixels")
+                .show(ui)
             {
                 new_properties.width = new_width;
             }
             ui.end_row();
-            if let Some(new_height) =
-                InspectValue::<u32>::new(String::from("Height"), new_properties.height)
-                    .clamp_range(1..=std::u32::MAX)
-                    .tooltip("Image height in pixels".to_string())
-                    .show(ui)
+            if let Some(new_height) = InspectValue::<u32>::new("Height", new_properties.height)
+                .clamp_range(1..=std::u32::MAX)
+                .tooltip("Image height in pixels")
+                .show(ui)
             {
                 new_properties.height = new_height;
             }
             ui.end_row();
             if let Some(new_frame_rate) =
-                InspectValue::<f32>::new(String::from("Frame rate"), new_properties.frame_rate)
+                InspectValue::<f32>::new("Frame rate", new_properties.frame_rate)
                     .clamp_range(0.0..=std::f32::MAX)
-                    .tooltip("Frame rate in images per second".to_string())
+                    .tooltip("Frame rate in images per second")
                     .show(ui)
             {
                 new_properties.frame_rate = new_frame_rate;
@@ -68,14 +78,15 @@ impl<'a> InspectPhysicalCameraProperties<'a> {
                 .range_degrees(0.0..=180.0)
                 .show(ui);
         });
-        if new_properties.width != self.properties.width
-            || new_properties.height != self.properties.height
-            || new_properties.horizontal_fov != self.properties.horizontal_fov
-            || new_properties.frame_rate != self.properties.frame_rate
+        if new_properties.width != properties.width
+            || new_properties.height != properties.height
+            || new_properties.horizontal_fov != properties.horizontal_fov
+            || new_properties.frame_rate != properties.frame_rate
         {
-            Some(new_properties)
-        } else {
-            None
+            params
+                .change_physical_camera_properties
+                .send(Change::new(new_properties, selection));
         }
+        ui.add_space(10.0);
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_pose.rs b/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
index 36f5b77e..86491c7b 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_pose.rs
@@ -15,17 +15,44 @@
  *
 */
 
-use crate::widgets::inspector::InspectAngle;
-use bevy::math::Quat;
+use crate::{
+    site::Change,
+    widgets::{inspector::InspectAngle, prelude::*, Inspect},
+};
+use bevy::{math::Quat, prelude::*};
 use bevy_egui::egui::{ComboBox, DragValue, Grid, Ui};
 use rmf_site_format::{Pose, Rotation};
 
-pub struct InspectPose<'a> {
+#[derive(SystemParam)]
+pub struct InspectPose<'w, 's> {
+    poses: Query<'w, 's, &'static Pose>,
+    change_pose: EventWriter<'w, Change<Pose>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPose<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(pose) = params.poses.get(selection) else {
+            return;
+        };
+        if let Some(new_pose) = InspectPoseComponent::new(pose).show(ui) {
+            params.change_pose.send(Change::new(new_pose, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectPoseComponent<'a> {
     pub pose: &'a Pose,
     pub for_rotation: &'a bool,
 }
 
-impl<'a> InspectPose<'a> {
+impl<'a> InspectPoseComponent<'a> {
     pub fn new(pose: &'a Pose) -> Self {
         Self {
             pose,
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_preview.rs b/rmf_site_editor/src/widgets/inspector/inspect_preview.rs
new file mode 100644
index 00000000..dddee4cf
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_preview.rs
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::SpawnPreview,
+    site::PreviewableMarker,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
+
+#[derive(SystemParam)]
+pub struct InspectPreview<'w, 's> {
+    previewable: Query<'w, 's, &'static PreviewableMarker>,
+    spawn_preview: EventWriter<'w, SpawnPreview>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPreview<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        if params.previewable.contains(selection) {
+            if ui.button("Preview").clicked() {
+                params
+                    .spawn_preview
+                    .send(SpawnPreview::new(Some(selection)));
+            }
+            ui.add_space(10.0);
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
index 919578ff..a5500d8e 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_primitive_shape.rs
@@ -15,15 +15,46 @@
  *
 */
 
-use bevy_egui::egui::Ui;
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use rmf_site_format::{PrimitiveShape, RecallPrimitiveShape};
 
-pub struct InspectPrimitiveShape<'a> {
+#[derive(SystemParam)]
+pub struct InspectPrimitiveShape<'w, 's> {
+    primitive_shapes: Query<'w, 's, (&'static PrimitiveShape, &'static RecallPrimitiveShape)>,
+    change_primitive_shape: EventWriter<'w, Change<PrimitiveShape>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPrimitiveShape<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok((shape, recall)) = params.primitive_shapes.get(selection) else {
+            return;
+        };
+
+        if let Some(new_shape) = InspectPrimitiveShapeComponent::new(shape, recall).show(ui) {
+            params
+                .change_primitive_shape
+                .send(Change::new(new_shape, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectPrimitiveShapeComponent<'a> {
     pub primitive: &'a PrimitiveShape,
     pub recall: &'a RecallPrimitiveShape,
 }
 
-impl<'a> InspectPrimitiveShape<'a> {
+impl<'a> InspectPrimitiveShapeComponent<'a> {
     pub fn new(primitive: &'a PrimitiveShape, recall: &'a RecallPrimitiveShape) -> Self {
         Self { primitive, recall }
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_scale.rs b/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
index 46d11c79..173dd319 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_scale.rs
@@ -15,14 +15,44 @@
  *
 */
 
+use crate::{
+    site::Change,
+    widgets::{prelude::*, Inspect},
+};
+use bevy::prelude::*;
 use bevy_egui::egui::{DragValue, Grid, Ui};
 use rmf_site_format::Scale;
 
-pub struct InspectScale<'a> {
+#[derive(SystemParam)]
+pub struct InspectScale<'w, 's> {
+    scales: Query<'w, 's, &'static Scale>,
+    change_scale: EventWriter<'w, Change<Scale>>,
+}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectScale<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        let Ok(scale) = params.scales.get(selection) else {
+            return;
+        };
+
+        if let Some(new_scale) = InspectScaleComponent::new(scale).show(ui) {
+            params.change_scale.send(Change::new(new_scale, selection));
+        }
+        ui.add_space(10.0);
+    }
+}
+
+pub struct InspectScaleComponent<'a> {
     pub scale: &'a Scale,
 }
 
-impl<'a> InspectScale<'a> {
+impl<'a> InspectScaleComponent<'a> {
     pub fn new(scale: &'a Scale) -> Self {
         Self { scale }
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
index ab87e3d5..9bf6dbce 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_texture.rs
@@ -16,9 +16,10 @@
 */
 
 use crate::{
-    inspector::{InspectAssetSource, InspectValue, SearchResult},
+    inspector::{InspectAssetSourceComponent, InspectValue, SearchResult},
     site::{Category, Change, DefaultFile},
-    AppEvents, Icons, WorkspaceMarker,
+    widgets::{prelude::*, Inspect, InspectionPlugin},
+    Icons, WorkspaceMarker,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ComboBox, Grid, ImageButton, Ui};
@@ -27,11 +28,18 @@ use rmf_site_format::{
     WallMarker,
 };
 
-#[derive(Resource, Default)]
-pub struct SearchForTexture(pub String);
+#[derive(Default)]
+pub struct InspectTexturePlugin {}
+
+impl Plugin for InspectTexturePlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<SearchForTexture>()
+            .add_plugins(InspectionPlugin::<InspectTextureAffiliation>::new());
+    }
+}
 
 #[derive(SystemParam)]
-pub struct InspectTextureAffiliationParams<'w, 's> {
+pub struct InspectTextureAffiliation<'w, 's> {
     with_texture: Query<
         'w,
         's,
@@ -42,38 +50,35 @@ pub struct InspectTextureAffiliationParams<'w, 's> {
     parents: Query<'w, 's, &'static Parent>,
     sites: Query<'w, 's, &'static Children, With<WorkspaceMarker>>,
     icons: Res<'w, Icons>,
+    search_for_texture: ResMut<'w, SearchForTexture>,
+    commands: Commands<'w, 's>,
+    change_affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
 }
 
-pub struct InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
-    entity: Entity,
-    params: &'a InspectTextureAffiliationParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectTextureAffiliationParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectTextureAffiliation<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Ok((category, affiliation)) = self.params.with_texture.get(self.entity) else {
+impl<'w, 's> InspectTextureAffiliation<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
+        let Ok((category, affiliation)) = self.with_texture.get(id) else {
             return;
         };
-        let mut site = self.entity;
+        let mut site = id;
         let children = loop {
-            if let Ok(children) = self.params.sites.get(site) {
+            if let Ok(children) = self.sites.get(site) {
                 break children;
             }
 
-            if let Ok(parent) = self.params.parents.get(site) {
+            if let Ok(parent) = self.parents.get(site) {
                 site = parent.get();
             } else {
                 return;
@@ -81,12 +86,12 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         };
         let site = site;
 
-        let search = &mut self.events.change.search_for_texture.0;
+        let search = &mut self.search_for_texture.0;
 
         let mut any_partial_matches = false;
         let mut result = SearchResult::NoMatch;
         for child in children {
-            let Ok((name, _)) = self.params.texture_groups.get(*child) else {
+            let Ok((name, _)) = self.texture_groups.get(*child) else {
                 continue;
             };
             if name.0.contains(&*search) {
@@ -114,21 +119,21 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         ui.horizontal(|ui| {
             if any_partial_matches {
                 if ui
-                    .add(ImageButton::new(self.params.icons.search.egui()))
+                    .add(ImageButton::new(self.icons.search.egui()))
                     .on_hover_text("Search results for this text can be found below")
                     .clicked()
                 {
                     info!("Use the drop-down box to choose a texture");
                 }
             } else {
-                ui.add(ImageButton::new(self.params.icons.empty.egui()))
+                ui.add(ImageButton::new(self.icons.empty.egui()))
                     .on_hover_text("No search results can be found for this text");
             }
 
             match result {
                 SearchResult::Empty => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.hidden.egui()))
+                        .add(ImageButton::new(self.icons.hidden.egui()))
                         .on_hover_text("An empty string is not a good texture name")
                         .clicked()
                     {
@@ -137,7 +142,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::Current => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.selected.egui()))
+                        .add(ImageButton::new(self.icons.selected.egui()))
                         .on_hover_text("This is the name of the currently selected texture")
                         .clicked()
                     {
@@ -146,7 +151,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                 }
                 SearchResult::NoMatch => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.add.egui()))
+                        .add(ImageButton::new(self.icons.add.egui()))
                         .on_hover_text(if affiliation.0.is_some() {
                             "Create a new copy of the current texture"
                         } else {
@@ -156,7 +161,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                     {
                         let new_texture = if let Some((_, t)) = affiliation
                             .0
-                            .map(|a| self.params.texture_groups.get(a).ok())
+                            .map(|a| self.texture_groups.get(a).ok())
                             .flatten()
                         {
                             t.clone()
@@ -165,7 +170,6 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                         };
 
                         let new_texture_group = self
-                            .events
                             .commands
                             .spawn(TextureGroup {
                                 name: NameInSite(search.clone()),
@@ -174,27 +178,23 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                             })
                             .set_parent(site)
                             .id();
-                        self.events.change.affiliation.send(Change::new(
-                            Affiliation(Some(new_texture_group)),
-                            self.entity,
-                        ));
+                        self.change_affiliation
+                            .send(Change::new(Affiliation(Some(new_texture_group)), id));
                     }
                 }
                 SearchResult::Match(group) => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.confirm.egui()))
+                        .add(ImageButton::new(self.icons.confirm.egui()))
                         .on_hover_text("Select this texture")
                         .clicked()
                     {
-                        self.events
-                            .change
-                            .affiliation
-                            .send(Change::new(Affiliation(Some(group)), self.entity));
+                        self.change_affiliation
+                            .send(Change::new(Affiliation(Some(group)), id));
                     }
                 }
                 SearchResult::Conflict(text) => {
                     if ui
-                        .add(ImageButton::new(self.params.icons.reject.egui()))
+                        .add(ImageButton::new(self.icons.reject.egui()))
                         .on_hover_text(text)
                         .clicked()
                     {
@@ -208,8 +208,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         });
 
         let (current_texture_name, _current_texture) = if let Some(a) = affiliation.0 {
-            self.params
-                .texture_groups
+            self.texture_groups
                 .get(a)
                 .ok()
                 .map(|(n, t)| (n.0.as_str(), Some((a, t))))
@@ -221,7 +220,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         let mut new_affiliation = affiliation.clone();
         ui.horizontal(|ui| {
             if ui
-                .add(ImageButton::new(self.params.icons.exit.egui()))
+                .add(ImageButton::new(self.icons.exit.egui()))
                 .on_hover_text(format!("Remove this texture from the {}", category.label()))
                 .clicked()
             {
@@ -237,34 +236,35 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                             continue;
                         }
 
-                        if let Ok((n, _)) = self.params.texture_groups.get(*child) {
-                            if n.0.contains(&self.events.change.search_for_texture.0) {
+                        if let Ok((n, _)) = self.texture_groups.get(*child) {
+                            if n.0.contains(&self.search_for_texture.0) {
                                 let select_affiliation = Affiliation(Some(*child));
                                 ui.selectable_value(&mut new_affiliation, select_affiliation, &n.0);
                             }
                         }
                     }
 
-                    if !self.events.change.search_for_texture.0.is_empty() {
+                    if !self.search_for_texture.0.is_empty() {
                         ui.selectable_value(&mut clear_filter, true, "more...");
                     }
                 });
 
             if clear_filter {
-                self.events.change.search_for_texture.0.clear();
+                self.search_for_texture.0.clear();
             }
         });
 
         if new_affiliation != *affiliation {
-            self.events
-                .change
-                .affiliation
-                .send(Change::new(new_affiliation, self.entity));
+            self.change_affiliation
+                .send(Change::new(new_affiliation, id));
         }
         ui.add_space(10.0);
     }
 }
 
+#[derive(Resource, Default)]
+pub struct SearchForTexture(pub String);
+
 pub struct InspectTexture<'a> {
     texture: &'a Texture,
     default_file: Option<&'a DefaultFile>,
@@ -282,7 +282,7 @@ impl<'a> InspectTexture<'a> {
         let mut new_texture = self.texture.clone();
 
         // TODO(luca) recall
-        if let Some(new_source) = InspectAssetSource::new(
+        if let Some(new_source) = InspectAssetSourceComponent::new(
             &new_texture.source,
             &RecallAssetSource::default(),
             self.default_file,
@@ -294,10 +294,10 @@ impl<'a> InspectTexture<'a> {
         ui.add_space(10.0);
         Grid::new("texture_properties").show(ui, |ui| {
             if let Some(width) = new_texture.width {
-                if let Some(new_width) = InspectValue::<f32>::new(String::from("Width"), width)
+                if let Some(new_width) = InspectValue::<f32>::new("Width", width)
                     .clamp_range(0.001..=std::f32::MAX)
                     .speed(0.01)
-                    .tooltip("Texture width in meters".to_string())
+                    .tooltip("Texture width in meters")
                     .show(ui)
                 {
                     new_texture.width = Some(new_width);
@@ -305,10 +305,10 @@ impl<'a> InspectTexture<'a> {
                 ui.end_row();
             }
             if let Some(height) = new_texture.height {
-                if let Some(new_height) = InspectValue::<f32>::new(String::from("Height"), height)
+                if let Some(new_height) = InspectValue::<f32>::new("Height", height)
                     .clamp_range(0.001..=std::f32::MAX)
                     .speed(0.01)
-                    .tooltip("Texture height in meters".to_string())
+                    .tooltip("Texture height in meters")
                     .show(ui)
                 {
                     new_texture.height = Some(new_height);
@@ -316,10 +316,10 @@ impl<'a> InspectTexture<'a> {
                 ui.end_row();
             }
             if let Some(alpha) = new_texture.alpha {
-                if let Some(new_alpha) = InspectValue::<f32>::new(String::from("Alpha"), alpha)
+                if let Some(new_alpha) = InspectValue::<f32>::new("Alpha", alpha)
                     .clamp_range(0.0..=1.0)
                     .speed(0.1)
-                    .tooltip("Transparency (0 = transparent, 1 = opaque)".to_string())
+                    .tooltip("Transparency (0 = transparent, 1 = opaque)")
                     .show(ui)
                 {
                     new_texture.alpha = Some(new_alpha);
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_value.rs b/rmf_site_editor/src/widgets/inspector/inspect_value.rs
index e0a7b975..0b1ff2a1 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_value.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_value.rs
@@ -19,19 +19,19 @@ use bevy_egui::egui::emath::Numeric;
 use bevy_egui::egui::{DragValue, Ui};
 use std::ops::RangeInclusive;
 
-pub struct InspectValue<T> {
-    title: String,
+pub struct InspectValue<'a, T> {
+    title: &'a str,
     current_value: T,
     range: RangeInclusive<T>,
     min_decimals: usize,
     max_decimals: Option<usize>,
     speed: f64,
-    suffix: String,
-    tooltip: Option<String>,
+    suffix: &'a str,
+    tooltip: Option<&'a str>,
 }
 
-impl<T: Numeric> InspectValue<T> {
-    pub fn new(title: String, current_value: T) -> Self {
+impl<'a, T: Numeric> InspectValue<'a, T> {
+    pub fn new(title: &'a str, current_value: T) -> Self {
         Self {
             title,
             current_value,
@@ -68,12 +68,12 @@ impl<T: Numeric> InspectValue<T> {
     }
 
     #[allow(dead_code)]
-    pub fn suffix(mut self, suffix: String) -> Self {
+    pub fn suffix(mut self, suffix: &'a str) -> Self {
         self.suffix = suffix;
         self
     }
 
-    pub fn tooltip(mut self, tooltip: String) -> Self {
+    pub fn tooltip(mut self, tooltip: &'a str) -> Self {
         self.tooltip = Some(tooltip);
         self
     }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
index 74693344..4f8fd877 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
@@ -17,16 +17,16 @@
 
 use crate::{
     interaction::{ChangeMode, Hover, SelectAnchor3D},
-    site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell, SiteID},
-    widgets::{inspector::SelectionWidget, AppEvents, Icons},
+    site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell},
+    widgets::{prelude::*, Icons, Inspect, SelectorWidget},
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ImageButton, Ui};
 
 #[derive(SystemParam)]
-pub struct InspectWorkcellParentParams<'w, 's> {
-    pub parents: Query<'w, 's, &'static Parent>,
-    pub workcell_elements: Query<
+pub struct InspectWorkcellParent<'w, 's> {
+    parents: Query<'w, 's, &'static Parent>,
+    workcell_elements: Query<
         'w,
         's,
         Entity,
@@ -36,62 +36,42 @@ pub struct InspectWorkcellParentParams<'w, 's> {
             With<NameOfWorkcell>,
         )>,
     >,
-    pub mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
-    pub site_id: Query<'w, 's, &'static SiteID>,
-    pub icons: Res<'w, Icons>,
+    mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
+    icons: Res<'w, Icons>,
+    selector: SelectorWidget<'w, 's>,
+    change_mode: ResMut<'w, Events<ChangeMode>>,
 }
 
-pub struct InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub entity: Entity,
-    pub params: &'a InspectWorkcellParentParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 'w2, 's1, 's2> InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(
-        entity: Entity,
-        params: &'a InspectWorkcellParentParams<'w1, 's1>,
-        events: &'a mut AppEvents<'w2, 's2>,
-    ) -> Self {
-        Self {
-            entity,
-            params,
-            events,
-        }
+impl<'w, 's> WidgetSystem<Inspect> for InspectWorkcellParent<'w, 's> {
+    fn show(
+        Inspect { selection, .. }: Inspect,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        let mut params = state.get_mut(world);
+        params.show_widget(selection, ui);
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w, 's> InspectWorkcellParent<'w, 's> {
+    pub fn show_widget(&mut self, id: Entity, ui: &mut Ui) {
         // If the parent is a frame it should be reassignable
         if let Ok(parent) = self
-            .params
             .parents
-            .get(self.entity)
-            .and_then(|p| self.params.workcell_elements.get(**p))
+            .get(id)
+            .and_then(|p| self.workcell_elements.get(**p))
         {
             ui.vertical(|ui| {
-                if let Ok(c) = self.params.mesh_constraints.get(self.entity) {
+                if let Ok(c) = self.mesh_constraints.get(id) {
                     ui.label("Mesh Parent");
-                    SelectionWidget::new(
-                        c.entity,
-                        self.params.site_id.get(c.entity).ok().cloned(),
-                        self.params.icons.as_ref(),
-                        self.events,
-                    )
-                    .show(ui);
+                    self.selector.show_widget(c.entity, ui);
                 }
                 ui.label("Parent Frame");
-                SelectionWidget::new(
-                    parent,
-                    self.params.site_id.get(parent).ok().cloned(),
-                    self.params.icons.as_ref(),
-                    self.events,
-                )
-                .show(ui);
-
-                let assign_response = ui.add(ImageButton::new(self.params.icons.edit.egui()));
-
+                self.selector.show_widget(parent, ui);
+                let assign_response = ui.add(ImageButton::new(self.icons.edit.egui()));
                 if assign_response.hovered() {
-                    self.events.request.hover.send(Hover(Some(self.entity)));
+                    self.selector.hover.send(Hover(Some(id)));
                 }
 
                 let parent_replace = assign_response.clicked();
@@ -99,11 +79,8 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectWorkcellParentWidget<'a, 'w1, 'w2, 's1, 's2>
 
                 if parent_replace {
                     let request =
-                        SelectAnchor3D::replace_point(self.entity, parent).for_anchor(Some(parent));
-                    self.events
-                        .request
-                        .change_mode
-                        .send(ChangeMode::To(request.into()));
+                        SelectAnchor3D::replace_point(id, parent).for_anchor(Some(parent));
+                    self.change_mode.send(ChangeMode::To(request.into()));
                 }
             });
         }
diff --git a/rmf_site_editor/src/widgets/inspector/mod.rs b/rmf_site_editor/src/widgets/inspector/mod.rs
index 74b0447e..544549de 100644
--- a/rmf_site_editor/src/widgets/inspector/mod.rs
+++ b/rmf_site_editor/src/widgets/inspector/mod.rs
@@ -30,12 +30,18 @@ pub use inspect_asset_source::*;
 pub mod inspect_door;
 pub use inspect_door::*;
 
+pub mod inspect_drawing;
+pub use inspect_drawing::*;
+
 pub mod inspect_edge;
 pub use inspect_edge::*;
 
 pub mod inspect_fiducial;
 pub use inspect_fiducial::*;
 
+pub mod inspect_geography;
+pub use inspect_geography::*;
+
 pub mod inspect_group;
 pub use inspect_group::*;
 
@@ -66,6 +72,9 @@ pub use inspect_mesh_constraint::*;
 pub mod inspect_primitive_shape;
 pub use inspect_primitive_shape::*;
 
+pub mod inspect_measurement;
+pub use inspect_measurement::*;
+
 pub mod inspect_motion;
 pub use inspect_motion::*;
 
@@ -81,6 +90,9 @@ pub use inspect_physical_camera_properties::*;
 pub mod inspect_pose;
 pub use inspect_pose::*;
 
+pub mod inspect_preview;
+pub use inspect_preview::*;
+
 pub mod inspect_scale;
 pub use inspect_scale::*;
 
@@ -96,545 +108,242 @@ pub use inspect_value::*;
 pub mod inspect_workcell_parent;
 pub use inspect_workcell_parent::*;
 
-pub mod selection_widget;
-pub use selection_widget::*;
-
-use super::move_layer::MoveLayer;
-
 use crate::{
-    interaction::{Selection, SpawnPreview},
-    site::{
-        AlignSiteDrawings, BeginEditDrawing, Category, Change, DefaultFile, DrawingMarker,
-        EdgeLabels, LayerVisibility, Original, SiteID,
-    },
-    widgets::AppEvents,
+    interaction::Selection,
+    site::{Category, SiteID},
+    widgets::prelude::*,
     AppState,
 };
-use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{Button, RichText, Ui};
+use bevy::{
+    ecs::system::{SystemParam, SystemState},
+    prelude::*,
+};
+use bevy_egui::egui::{CollapsingHeader, Ui};
 use rmf_site_format::*;
+use smallvec::SmallVec;
+
+/// Use this plugin to add a single inspection tile into the [`MainInspector`]
+/// widget.
+///
+/// ```no_run
+/// use bevy::prelude::{App, Query, Entity, Res};
+/// use librmf_site_editor::{SiteEditor, site::NameInSite, widgets::prelude::*};
+///
+/// #[derive(SystemParam)]
+/// pub struct HelloSelection<'w, 's> {
+///     names: Query<'w, 's, &'static NameInSite>,
+/// }
+///
+/// impl<'w, 's> WidgetSystem<Inspect> for HelloSelection<'w, 's> {
+///     fn show(
+///         Inspect { selection, .. }: Inspect,
+///         ui: &mut Ui,
+///         state: &mut SystemState<Self>,
+///         world: &mut World,
+///     ) {
+///         let mut params = state.get_mut(world);
+///         let name = params.names.get(selection)
+///             .map(|name| name.as_str())
+///             .unwrap_or("<unknown>");
+///         ui.add_space(20.0);
+///         ui.heading(format!("Hello, {name}!"));
+///         ui.add_space(20.0);
+///     }
+/// }
+///
+/// fn main() {
+///     let mut app = App::new();
+///     app.add_plugins((
+///         SiteEditor::default(),
+///         InspectionPlugin::<HelloSelection>::new(),
+///     ));
+///
+///     app.run();
+/// }
+/// ```
+pub struct InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    _ignore: std::marker::PhantomData<W>,
+}
 
-// Bevy seems to have a limit of 16 fields in a SystemParam struct, so we split
-// some of the InspectorParams fields into the InspectorComponentParams struct.
-#[derive(SystemParam)]
-pub struct InspectorParams<'w, 's> {
-    pub selection: Res<'w, Selection>,
-    pub heading: Query<'w, 's, (Option<&'static Category>, Option<&'static SiteID>)>,
-    pub anchor_params: InspectAnchorParams<'w, 's>,
-    pub anchor_dependents_params: InspectAnchorDependentsParams<'w, 's>,
-    pub workcell_params: InspectorWorkcellParams<'w, 's>,
-    pub component: InspectorComponentParams<'w, 's>,
-    pub drawing: InspectDrawingParams<'w, 's>,
-    // TODO(luca) move to new systemparam, reached 16 limit on main one
-    pub primitive_shapes: Query<'w, 's, (&'static PrimitiveShape, &'static RecallPrimitiveShape)>,
-    pub scales: Query<'w, 's, &'static Scale>,
-    pub layer: InspectorLayerParams<'w, 's>,
-    pub texture: InspectTextureAffiliationParams<'w, 's>,
-    pub groups: InspectGroupParams<'w, 's>,
-    pub default_file: Query<'w, 's, &'static DefaultFile>,
+/// Use this to create a standard inspector plugin that covers the common use
+/// cases of the site editor.
+#[derive(Default)]
+pub struct StandardInspectorPlugin {}
+
+impl Plugin for StandardInspectorPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(MinimalInspectorPlugin::default())
+            .add_plugins((
+                InspectionPlugin::<InspectName>::new(),
+                InspectionPlugin::<InspectAnchor>::new(),
+                InspectionPlugin::<InspectAnchorDependents>::new(),
+                InspectionPlugin::<InspectEdge>::new(),
+                InspectionPlugin::<InspectGeography>::new(),
+                InspectFiducialPlugin::default(),
+                InspectionPlugin::<InspectLayer>::new(),
+                InspectionPlugin::<InspectDrawing>::new(),
+                InspectionPlugin::<InspectAssociatedGraphs>::new(),
+                InspectionPlugin::<InspectLocation>::new(),
+                InspectTexturePlugin::default(),
+                InspectionPlugin::<InspectMotion>::new(),
+                InspectionPlugin::<InspectPose>::new(),
+                InspectionPlugin::<InspectScale>::new(),
+                InspectionPlugin::<InspectLight>::new(),
+                // Reached the tuple limit
+            ))
+            .add_plugins((
+                InspectionPlugin::<InspectDoor>::new(),
+                InspectionPlugin::<InspectAssetSource>::new(),
+                InspectionPlugin::<InspectPrimitiveShape>::new(),
+                InspectionPlugin::<InspectModelDependents>::new(),
+                InspectionPlugin::<InspectWorkcellParent>::new(),
+                InspectionPlugin::<InspectJoint>::new(),
+                InspectionPlugin::<InspectMeasurement>::new(),
+                InspectionPlugin::<InspectPhysicalCameraProperties>::new(),
+                InspectLiftPlugin::default(),
+                InspectionPlugin::<InspectPreview>::new(),
+                InspectionPlugin::<InspectGroup>::new(),
+            ));
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectorWorkcellParams<'w, 's> {
-    pub joints: InspectJointParams<'w, 's>,
-    pub constraint_dependents_params: InspectModelDependentsParams<'w, 's>,
-    pub names_in_workcell: Query<'w, 's, &'static NameInWorkcell>,
-    pub workcell_names: Query<'w, 's, &'static NameOfWorkcell>,
-    pub parent_params: InspectWorkcellParentParams<'w, 's>,
+/// Use this to create a minimal inspector plugin. You will be able to add your
+/// own [`InspectionPlugin`]s to the application, but none of the standard
+/// inspection plugins will be included.
+#[derive(Default)]
+pub struct MinimalInspectorPlugin {}
+
+impl Plugin for MinimalInspectorPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<MainInspector>();
+    }
 }
 
-// NOTE: We may need to split this struct into multiple structs if we ever need
-// it to have more than 16 fields.
-#[derive(SystemParam)]
-pub struct InspectorComponentParams<'w, 's> {
-    pub edges: Query<
-        'w,
-        's,
-        (
-            &'static Edge<Entity>,
-            Option<&'static Original<Edge<Entity>>>,
-            Option<&'static EdgeLabels>,
-            &'static Category,
-        ),
-    >,
-    pub associated_graphs: InspectAssociatedGraphsParams<'w, 's>,
-    pub location_tags: Query<'w, 's, (&'static LocationTags, &'static RecallLocationTags)>,
-    pub motions: Query<'w, 's, (&'static Motion, &'static RecallMotion)>,
-    pub reverse_motions: Query<'w, 's, (&'static ReverseLane, &'static RecallReverseLane)>,
-    pub names: Query<'w, 's, &'static NameInSite>,
-    pub doors: Query<'w, 's, (&'static DoorType, &'static RecallDoorType)>,
-    pub lifts: InspectLiftParams<'w, 's>,
-    pub poses: Query<'w, 's, &'static Pose>,
-    pub asset_sources:
-        Query<'w, 's, (&'static AssetSource, &'static RecallAssetSource), Without<Pending>>,
-    pub constraint_dependents: Query<'w, 's, With<ConstraintDependents>>,
-    pub pixels_per_meter: Query<'w, 's, &'static PixelsPerMeter>,
-    pub physical_camera_properties: Query<'w, 's, &'static PhysicalCameraProperties>,
-    pub lights: Query<'w, 's, (&'static LightKind, &'static RecallLightKind)>,
-    pub previewable: Query<'w, 's, &'static PreviewableMarker>,
+impl<W> InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    pub fn new() -> Self {
+        Self {
+            _ignore: Default::default(),
+        }
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectDrawingParams<'w, 's> {
-    pub distance: Query<'w, 's, &'static Distance>,
-    pub fiducial: InspectFiducialParams<'w, 's>,
+impl<W> Plugin for InspectionPlugin<W>
+where
+    W: WidgetSystem<Inspect, ()> + 'static + Send + Sync,
+{
+    fn build(&self, app: &mut App) {
+        let inspector = app.world.resource::<MainInspector>().id;
+        let widget = Widget::<Inspect>::new::<W>(&mut app.world);
+        app.world.spawn(widget).set_parent(inspector);
+    }
 }
 
-#[derive(SystemParam)]
-pub struct InspectorLayerParams<'w, 's> {
-    pub floors: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-        With<FloorMarker>,
-    >,
-    pub drawings: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-        With<DrawingMarker>,
-    >,
-    pub levels: Query<
-        'w,
-        's,
-        (
-            &'static GlobalFloorVisibility,
-            &'static GlobalDrawingVisibility,
-        ),
-    >,
+/// This is the input type for inspection widgets. Use [`InspectionPlugin`] to
+/// add the widget to the application.
+#[derive(Clone, Copy)]
+pub struct Inspect {
+    /// What entity should be treated as selected.
+    pub selection: Entity,
+    /// What entity is the current inspection widget attached to.
+    pub inspection: Entity,
+    /// What kind of panel is the inspector rendered on.
+    pub panel: PanelSide,
 }
 
-pub struct InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub params: &'a InspectorParams<'w1, 's1>,
-    pub events: &'a mut AppEvents<'w2, 's2>,
+/// This contains a reference to the main inspector widget of the application.
+#[derive(Resource)]
+pub struct MainInspector {
+    id: Entity,
 }
 
-impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
-    pub fn new(params: &'a InspectorParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl MainInspector {
+    pub fn get(&self) -> Entity {
+        self.id
     }
+}
 
-    fn heading(&self, selection: Entity, ui: &mut Ui) {
-        let (label, site_id) = if let Ok((category, site_id)) = self.params.heading.get(selection) {
-            (
-                category.map(|x| x.label()).unwrap_or("<Unknown Type>"),
-                site_id,
-            )
-        } else {
-            ("<Unknown Type>", None)
-        };
-
-        if let Some(site_id) = site_id {
-            ui.heading(format!("{} #{}", label, site_id.0));
-        } else {
-            ui.heading(format!("{} (unsaved)", label));
-        }
+impl FromWorld for MainInspector {
+    fn from_world(world: &mut World) -> Self {
+        let widget = Widget::new::<Inspector>(world);
+        let properties_panel = world.resource::<PropertiesPanel>().id();
+        let id = world.spawn(widget).set_parent(properties_panel).id();
+        Self { id }
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) {
-        let default_file = self
-            .events
-            .request
-            .current_workspace
-            .root
-            .map(|e| self.params.default_file.get(e).ok())
-            .flatten();
-
-        if let Some(selection) = self.params.selection.0 {
-            self.heading(selection, ui);
-            if self.params.anchor_params.anchors.contains(selection) {
-                ui.horizontal(|ui| {
-                    InspectAnchorWidget::new(selection, &self.params.anchor_params, self.events)
-                        .show(ui);
-                });
-                ui.separator();
-                InspectAnchorDependentsWidget::new(
-                    selection,
-                    &self.params.anchor_dependents_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectFiducialWidget::new(selection, &self.params.drawing.fiducial, &mut self.events)
-                .show(ui);
-
-            if let Ok(name) = self.params.component.names.get(selection) {
-                if let Some(new_name) = InspectName::new(name).show(ui) {
-                    self.events
-                        .change
-                        .name
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(name) = self.params.workcell_params.names_in_workcell.get(selection) {
-                if let Some(new_name) = InspectNameInWorkcell::new(name).show(ui) {
-                    self.events
-                        .workcell_change
-                        .name_in_workcell
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(name) = self.params.workcell_params.workcell_names.get(selection) {
-                if let Some(new_name) = InspectNameOfWorkcell::new(name).show(ui) {
-                    self.events
-                        .workcell_change
-                        .workcell_name
-                        .send(Change::new(new_name, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((floor_vis, alpha)) = self.params.layer.floors.get(selection) {
-                ui.horizontal(|ui| {
-                    MoveLayer::new(
-                        selection,
-                        &mut self.events.layers.floors,
-                        &self.events.layers.icons,
-                    )
-                    .show(ui);
-                });
-                ui.horizontal(|ui| {
-                    InspectLayer::new(
-                        selection,
-                        &self.params.anchor_params.icons,
-                        self.events,
-                        floor_vis.copied(),
-                        alpha.0,
-                        true,
-                    )
-                    .show(ui);
-                });
-            }
-
-            if let Ok((drawing_vis, alpha)) = self.params.layer.drawings.get(selection) {
-                ui.horizontal(|ui| {
-                    MoveLayer::new(
-                        selection,
-                        &mut self.events.layers.drawings,
-                        &self.events.layers.icons,
-                    )
-                    .show(ui);
-                });
-                ui.horizontal(|ui| {
-                    InspectLayer::new(
-                        selection,
-                        &self.params.anchor_params.icons,
-                        self.events,
-                        drawing_vis.copied(),
-                        alpha.0,
-                        false,
-                    )
-                    .show(ui);
-                });
-            }
-
-            if let Ok(ppm) = self.params.component.pixels_per_meter.get(selection) {
-                if *self.events.app_state.get() == AppState::SiteEditor {
-                    ui.add_space(10.0);
-                    if ui
-                        .add(Button::image_and_text(
-                            self.events.layers.icons.edit.egui(),
-                            "Edit Drawing",
-                        ))
-                        .clicked()
-                    {
-                        self.events
-                            .layers
-                            .begin_edit_drawing
-                            .send(BeginEditDrawing(selection));
-                    }
-                }
-                ui.add_space(10.0);
-                if ui
-                    .add(Button::image_and_text(
-                        self.events.layers.icons.alignment.egui(),
-                        "Align Drawings",
-                    ))
-                    .on_hover_text(
-                        "Align all drawings in the site based on their fiducials and measurements",
-                    )
-                    .clicked()
-                {
-                    if let Some(site) = self.events.request.current_workspace.root {
-                        self.events.request.align_site.send(AlignSiteDrawings(site));
-                    }
-                }
-                ui.add_space(10.0);
-                if let Some(new_ppm) =
-                    InspectValue::<f32>::new(String::from("Pixels per meter"), ppm.0)
-                        .clamp_range(0.0001..=std::f32::INFINITY)
-                        .tooltip("How many image pixels per meter".to_string())
-                        .show(ui)
-                {
-                    self.events
-                        .change
-                        .pixels_per_meter
-                        .send(Change::new(PixelsPerMeter(new_ppm), selection));
-                }
-            }
-
-            if let Ok((edge, original, labels, category)) =
-                self.params.component.edges.get(selection)
-            {
-                InspectEdgeWidget::new(
-                    selection,
-                    category,
-                    edge,
-                    original,
-                    labels,
-                    &self.params.anchor_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectAssociatedGraphsWidget::new(
-                selection,
-                &self.params.component.associated_graphs,
-                self.events,
-            )
-            .show(ui);
-
-            if let Ok((tags, recall)) = self.params.component.location_tags.get(selection) {
-                if let Some(new_tags) = InspectLocationWidget::new(
-                    selection,
-                    tags,
-                    recall,
-                    &self.params.anchor_params.icons,
-                    self.events,
-                )
-                .show(ui)
-                {
-                    self.events
-                        .change
-                        .location_tags
-                        .send(Change::new(new_tags, selection));
-                }
-            }
+#[derive(SystemParam)]
+pub struct Inspector<'w, 's> {
+    children: Query<'w, 's, &'static Children>,
+    heading: Query<'w, 's, (Option<&'static Category>, Option<&'static SiteID>)>,
+}
 
-            InspectTextureAffiliation::new(selection, &self.params.texture, self.events).show(ui);
+impl<'w, 's> WidgetSystem<Tile> for Inspector<'w, 's> {
+    fn show(
+        Tile { id, panel }: Tile,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) {
+        match world.resource::<State<AppState>>().get() {
+            AppState::SiteEditor | AppState::SiteDrawingEditor | AppState::WorkcellEditor => {}
+            _ => return,
+        }
 
-            if let Ok((motion, recall)) = self.params.component.motions.get(selection) {
-                ui.label(RichText::new("Forward Motion").size(18.0));
-                if let Some(new_motion) = InspectMotionWidget::new(motion, recall).show(ui) {
-                    self.events
-                        .change
-                        .lane_motion
-                        .send(Change::new(new_motion, selection));
+        CollapsingHeader::new("Inspect")
+            .default_open(true)
+            .show(ui, |ui| {
+                let Some(selection) = world.get_resource::<Selection>() else {
+                    ui.label("ERROR: Selection resource is not available");
+                    return;
+                };
+
+                let Some(selection) = selection.0 else {
+                    ui.label("Nothing selected");
+                    return;
+                };
+
+                let params = state.get(world);
+
+                let (label, site_id) =
+                    if let Ok((category, site_id)) = params.heading.get(selection) {
+                        (
+                            category.map(|x| x.label()).unwrap_or("<Unknown Type>"),
+                            site_id,
+                        )
+                    } else {
+                        ("<Unknown Type>", None)
+                    };
+
+                if let Some(site_id) = site_id {
+                    ui.heading(format!("{} #{}", label, site_id.0));
+                } else {
+                    ui.heading(format!("{} (unsaved)", label));
                 }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((reverse, recall)) = self.params.component.reverse_motions.get(selection) {
-                ui.separator();
-                ui.push_id("Reverse Motion", |ui| {
-                    if let Some(new_reverse) = InspectReverseWidget::new(reverse, recall).show(ui) {
-                        self.events
-                            .change
-                            .lane_reverse
-                            .send(Change::new(new_reverse, selection));
+
+                let children: Result<SmallVec<[_; 16]>, _> = params
+                    .children
+                    .get(id)
+                    .map(|children| children.iter().copied().collect());
+                let Ok(children) = children else {
+                    return;
+                };
+
+                panel.align(ui, |ui| {
+                    for child in children {
+                        let inspect = Inspect {
+                            selection,
+                            inspection: child,
+                            panel,
+                        };
+                        let _ = world.try_show_in(child, inspect, ui);
                     }
                 });
-                ui.add_space(10.0);
-            }
-
-            if let Ok(pose) = self.params.component.poses.get(selection) {
-                if let Some(new_pose) = InspectPose::new(pose).show(ui) {
-                    self.events
-                        .change
-                        .pose
-                        .send(Change::new(new_pose, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(scale) = self.params.scales.get(selection) {
-                if let Some(new_scale) = InspectScale::new(scale).show(ui) {
-                    self.events
-                        .workcell_change
-                        .scale
-                        .send(Change::new(new_scale, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((light, recall)) = self.params.component.lights.get(selection) {
-                if let Some(new_light) = InspectLightKind::new(light, recall).show(ui) {
-                    self.events
-                        .change
-                        .light
-                        .send(Change::new(new_light, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((door, recall)) = self.params.component.doors.get(selection) {
-                if let Some(new_door) = InspectDoorType::new(door, recall).show(ui) {
-                    self.events
-                        .change
-                        .door
-                        .send(Change::new(new_door, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((source, recall)) = self.params.component.asset_sources.get(selection) {
-                if let Some(new_asset_source) =
-                    InspectAssetSource::new(source, recall, default_file).show(ui)
-                {
-                    self.events
-                        .change
-                        .asset_source
-                        .send(Change::new(new_asset_source, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok((source, recall)) = self.params.primitive_shapes.get(selection) {
-                if let Some(new_primitive_shape) =
-                    InspectPrimitiveShape::new(source, recall).show(ui)
-                {
-                    self.events
-                        .workcell_change
-                        .primitive_shapes
-                        .send(Change::new(new_primitive_shape, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if self
-                .params
-                .component
-                .constraint_dependents
-                .get(selection)
-                .is_ok()
-            {
-                InspectModelDependentsWidget::new(
-                    selection,
-                    &self.params.workcell_params.constraint_dependents_params,
-                    self.events,
-                )
-                .show(ui);
-                ui.add_space(10.0);
-            }
-
-            InspectWorkcellParentWidget::new(
-                selection,
-                &self.params.workcell_params.parent_params,
-                &mut self.events,
-            )
-            .show(ui);
-            InspectJointWidget::new(
-                selection,
-                &self.params.workcell_params.joints,
-                &mut self.events,
-            )
-            .show(ui);
-
-            if let Ok(distance) = self.params.drawing.distance.get(selection) {
-                if let Some(new_distance) =
-                    InspectOptionF32::new("Distance".to_string(), distance.0, 10.0)
-                        .clamp_range(0.0..=10000.0)
-                        .min_decimals(2)
-                        .max_decimals(2)
-                        .speed(0.01)
-                        .suffix(" m".to_string())
-                        .show(ui)
-                {
-                    self.events
-                        .change
-                        .distance
-                        .send(Change::new(Distance(new_distance), selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(camera_properties) = self
-                .params
-                .component
-                .physical_camera_properties
-                .get(selection)
-            {
-                if let Some(new_camera_properties) =
-                    InspectPhysicalCameraProperties::new(camera_properties).show(ui)
-                {
-                    self.events
-                        .change
-                        .physical_camera_properties
-                        .send(Change::new(new_camera_properties, selection));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Some(new_cabin) =
-                InspectLiftCabin::new(selection, &self.params.component.lifts, &mut self.events)
-                    .show(ui)
-            {
-                self.events
-                    .change
-                    .lift_cabin
-                    .send(Change::new(new_cabin, selection));
-                ui.add_space(10.0);
-            }
-
-            if let Ok(_previewable) = self.params.component.previewable.get(selection) {
-                if ui.button("Preview").clicked() {
-                    self.events
-                        .request
-                        .spawn_preview
-                        .send(SpawnPreview::new(Some(selection)));
-                }
-                ui.add_space(10.0);
-            }
-
-            if let Ok(Affiliation(Some(group))) = self.params.groups.affiliation.get(selection) {
-                ui.separator();
-                let empty = String::new();
-                let name = self
-                    .params
-                    .component
-                    .names
-                    .get(*group)
-                    .map(|n| &n.0)
-                    .unwrap_or(&empty);
-
-                ui.label(RichText::new(format!("Group Properties of [{}]", name)).size(18.0));
-                ui.add_space(5.0);
-                InspectGroup::new(
-                    *group,
-                    selection,
-                    default_file,
-                    &self.params.groups,
-                    self.events,
-                )
-                .show(ui);
-            }
-
-            if self.params.groups.is_group.contains(selection) {
-                InspectGroup::new(
-                    selection,
-                    selection,
-                    default_file,
-                    &self.params.groups,
-                    self.events,
-                )
-                .show(ui);
-            }
-        } else {
-            ui.label("Nothing selected");
-        }
+            });
     }
 }
diff --git a/rmf_site_editor/src/widgets/inspector/selection_widget.rs b/rmf_site_editor/src/widgets/inspector/selection_widget.rs
deleted file mode 100644
index 7d05c4aa..00000000
--- a/rmf_site_editor/src/widgets/inspector/selection_widget.rs
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright (C) 2022 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-use crate::{
-    interaction::{Hover, Select},
-    site::SiteID,
-    widgets::{AppEvents, Icons},
-};
-use bevy::prelude::*;
-use bevy_egui::egui::{Button, Ui};
-
-pub struct SelectionWidget<'a, 'w, 's> {
-    entity: Entity,
-    site_id: Option<SiteID>,
-    icons: &'a Icons,
-    events: &'a mut AppEvents<'w, 's>,
-    as_selected: bool,
-}
-
-impl<'a, 'w, 's> SelectionWidget<'a, 'w, 's> {
-    pub fn new(
-        entity: Entity,
-        site_id: Option<SiteID>,
-        icons: &'a Icons,
-        events: &'a mut AppEvents<'w, 's>,
-    ) -> Self {
-        Self {
-            entity,
-            site_id,
-            icons,
-            events,
-            as_selected: false,
-        }
-    }
-
-    pub fn as_selected(mut self, as_selected: bool) -> Self {
-        self.as_selected = as_selected;
-        self
-    }
-
-    pub fn show(self, ui: &mut Ui) {
-        let text = match self.site_id {
-            Some(id) => format!("#{}", id.0),
-            None => "*".to_string(),
-        };
-
-        let icon = if self.as_selected {
-            self.icons.selected.egui()
-        } else {
-            self.icons.select.egui()
-        };
-
-        let response = ui.add(Button::image_and_text(icon, text));
-
-        if response.clicked() {
-            self.events.request.select.send(Select(Some(self.entity)));
-        } else if response.hovered() {
-            self.events.request.hover.send(Hover(Some(self.entity)));
-        }
-
-        response.on_hover_text("Select");
-    }
-}
diff --git a/rmf_site_editor/src/widgets/menu_bar.rs b/rmf_site_editor/src/widgets/menu_bar.rs
index dfcb9a40..98d2bc4f 100644
--- a/rmf_site_editor/src/widgets/menu_bar.rs
+++ b/rmf_site_editor/src/widgets/menu_bar.rs
@@ -15,16 +15,32 @@
  *
 */
 
-use crate::{AppState, CreateNewWorkspace, FileEvents, LoadWorkspace, MenuParams, SaveWorkspace};
+use crate::{widgets::prelude::*, AppState, CreateNewWorkspace, LoadWorkspace, SaveWorkspace};
 
 use bevy::ecs::query::Has;
 use bevy::prelude::*;
-use bevy_egui::egui::{self, Button, Context, Ui};
+use bevy_egui::egui::{self, Button, Ui};
 
 use std::collections::HashSet;
 
-/// Adding this to an entity to an entity with the MenuItem component
-/// will grey out and disable a MenuItem.
+/// Add the standard menu bar to the application.
+#[derive(Default)]
+pub struct MenuBarPlugin {}
+
+impl Plugin for MenuBarPlugin {
+    fn build(&self, app: &mut App) {
+        let widget = PanelWidget::new(top_menu_bar, &mut app.world);
+        app.world.spawn(widget);
+
+        app.add_event::<MenuEvent>()
+            .init_resource::<FileMenu>()
+            .init_resource::<ToolMenu>()
+            .init_resource::<ViewMenu>();
+    }
+}
+
+/// Adding this to an entity to an entity with the [`MenuItem`] component
+/// will grey out and disable a [`MenuItem`].
 #[derive(Component)]
 pub struct MenuDisabled;
 
@@ -165,17 +181,6 @@ impl MenuEvent {
     }
 }
 
-pub struct MenuPluginManager;
-
-impl Plugin for MenuPluginManager {
-    fn build(&self, app: &mut App) {
-        app.add_event::<MenuEvent>()
-            .init_resource::<FileMenu>()
-            .init_resource::<ToolMenu>()
-            .init_resource::<ViewMenu>();
-    }
-}
-
 /// Helper function to render a submenu starting at the entity.
 fn render_sub_menu(
     state: &State<AppState>,
@@ -258,19 +263,31 @@ fn render_sub_menu(
     }
 }
 
-pub fn top_menu_bar(
-    egui_context: &mut Context,
-    file_events: &mut FileEvents,
-    file_menu: &Res<FileMenu>,
-    top_level_components: &Query<(), Without<Parent>>,
-    children: &Query<&Children>,
-    menu_params: &mut MenuParams,
+#[derive(SystemParam)]
+struct MenuParams<'w, 's> {
+    state: Res<'w, State<AppState>>,
+    menus: Query<'w, 's, (&'static Menu, Entity)>,
+    menu_items: Query<'w, 's, (&'static mut MenuItem, Has<MenuDisabled>)>,
+    menu_states: Query<'w, 's, Option<&'static MenuVisualizationStates>>,
+    extension_events: EventWriter<'w, MenuEvent>,
+    view_menu: Res<'w, ViewMenu>,
+}
+
+fn top_menu_bar(
+    In(input): In<PanelWidgetInput>,
+    mut new_workspace: EventWriter<CreateNewWorkspace>,
+    mut save: EventWriter<SaveWorkspace>,
+    mut load_workspace: EventWriter<LoadWorkspace>,
+    file_menu: Res<FileMenu>,
+    top_level_components: Query<(), Without<Parent>>,
+    children: Query<&Children>,
+    mut menu_params: MenuParams,
 ) {
-    egui::TopBottomPanel::top("top_panel").show(egui_context, |ui| {
+    egui::TopBottomPanel::top("top_panel").show(&input.context, |ui| {
         egui::menu::bar(ui, |ui| {
             ui.menu_button("File", |ui| {
                 if ui.add(Button::new("New").shortcut_text("Ctrl+N")).clicked() {
-                    file_events.new_workspace.send(CreateNewWorkspace);
+                    new_workspace.send(CreateNewWorkspace);
                 }
                 #[cfg(not(target_arch = "wasm32"))]
                 {
@@ -278,29 +295,27 @@ pub fn top_menu_bar(
                         .add(Button::new("Save").shortcut_text("Ctrl+S"))
                         .clicked()
                     {
-                        file_events
-                            .save
-                            .send(SaveWorkspace::new().to_default_file());
+                        save.send(SaveWorkspace::new().to_default_file());
                     }
                     if ui
                         .add(Button::new("Save As").shortcut_text("Ctrl+Shift+S"))
                         .clicked()
                     {
-                        file_events.save.send(SaveWorkspace::new().to_dialog());
+                        save.send(SaveWorkspace::new().to_dialog());
                     }
                 }
                 if ui
                     .add(Button::new("Open").shortcut_text("Ctrl+O"))
                     .clicked()
                 {
-                    file_events.load_workspace.send(LoadWorkspace::Dialog);
+                    load_workspace.send(LoadWorkspace::Dialog);
                 }
 
                 render_sub_menu(
                     &menu_params.state,
                     ui,
                     &file_menu.get(),
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
@@ -313,7 +328,7 @@ pub fn top_menu_bar(
                     &menu_params.state,
                     ui,
                     &menu_params.view_menu.get(),
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
@@ -330,7 +345,7 @@ pub fn top_menu_bar(
                     &menu_params.state,
                     ui,
                     &entity,
-                    children,
+                    &children,
                     &menu_params.menus,
                     &menu_params.menu_items,
                     &menu_params.menu_states,
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index df662e6f..f331e210 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -15,47 +15,100 @@
  *
 */
 
+//! The site editor allows you to insert your own egui widgets into the UI.
+//! Simple examples of custom widgets can be found in the docs for
+//! [`PropertiesTilePlugin`] and [`InspectionPlugin`].
+//!
+//! There are three categories of widgets that the site editor provides
+//! out-of-the-box support for inserting, but the widget system itself is
+//! highly extensible, allowing you to define your own categories of widgets.
+//!
+//! The three categories provided out of the box include:
+//! - [Panel widget][1]: Add a new panel to the UI.
+//! - Tile widget: Add a tile into a [panel of tiles][2] such as the [`PropertiesPanel`]. Use [`PropertiesTilePlugin`] to make a new tile widget that goes inside of the standard `PropertiesPanel`.
+//! - [`InspectionPlugin`]: Add a widget to the [`MainInspector`] to display more information about the currently selected entity.
+//!
+//! In our terminology, there are two kinds of panels:
+//! - Side panels: A vertical column widget on the left or right side of the screen.
+//!   - [`PropertiesPanel`] is usually a side panel placed on the right side of the screen.
+//!   - [`FuelAssetBrowser`] is a side panel typically placed on the left side of the screen.
+//!   - [`Diagnostics`] is a side panel that interactively flags issues that have been found in the site.
+//! - Top / Bottom Panels:
+//!   - The [`MenuBarPlugin`] provides a menu bar at the top of the screen.
+//!     - Create an entity with a [`Menu`] component to create a new menu inside the menu bar.
+//!     - Add an entity with a [`MenuItem`] component as a child to a menu entity to add a new item into a menu.
+//!     - The [`FileMenu`], [`ToolMenu`], and [`ViewMenu`] are resources that provide access to various standard menus.
+//!   - The [`ConsoleWidgetPlugin`] provides a console at the bottom of the screen to display information, warning, and error messages.
+//!
+//! [1]: crate::widgets::PanelWidget
+//! [2]: crate::widgets::show_panel_of_tiles
+
 use crate::{
-    interaction::{
-        ChangeMode, HeadlightToggle, Hover, MoveTo, PickingBlockers, Select, SpawnPreview,
-    },
-    log::LogHistory,
-    occupancy::CalculateGrid,
-    recency::ChangeRank,
-    site::{
-        AlignSiteDrawings, AssociatedGraphs, BeginEditDrawing, Change, ConsiderAssociatedGraph,
-        ConsiderLocationTag, CurrentLevel, Delete, DrawingMarker, ExportLights, FinishEditDrawing,
-        GlobalDrawingVisibility, GlobalFloorVisibility, JointProperties, LayerVisibility,
-        MergeGroups, PhysicalLightToggle, SaveNavGraphs, Texture, ToggleLiftDoorAvailability,
+    interaction::{Hover, PickingBlockers},
+    AppState,
+};
+use bevy::{
+    ecs::{
+        system::{SystemParam, SystemState},
+        world::EntityWorldMut,
     },
-    workcell::CreateJoint,
-    AppState, CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
-    ValidateWorkspace,
+    prelude::*,
 };
-use bevy::{asset::embedded_asset, ecs::query::Has, ecs::system::SystemParam, prelude::*};
 use bevy_egui::{
-    egui::{self, Button, CollapsingHeader},
+    egui::{self, Ui},
     EguiContexts,
 };
-use rmf_site_format::*;
 
-pub mod create;
-use create::*;
+pub mod building_preview;
+use building_preview::*;
+
+pub mod console;
+use console::*;
+
+pub mod creation;
+use creation::*;
+
+pub mod diagnostics;
+use diagnostics::*;
+
+pub mod fuel_asset_browser;
+pub use fuel_asset_browser::*;
+
+pub mod icons;
+pub use icons::*;
+
+pub mod inspector;
+pub use inspector::*;
 
 pub mod menu_bar;
-use menu_bar::*;
+pub use menu_bar::*;
+
+pub mod move_layer;
+pub use move_layer::*;
+
+pub mod panel_of_tiles;
+pub use panel_of_tiles::*;
+
+pub mod panel;
+pub use panel::*;
+
+pub mod properties_panel;
+pub use properties_panel::*;
+
+pub mod sdf_export_menu;
+pub use sdf_export_menu::*;
+
+pub mod selector_widget;
+pub use selector_widget::*;
 
 pub mod view_groups;
 use view_groups::*;
 
-pub mod diagnostic_window;
-use diagnostic_window::*;
-
 pub mod view_layers;
 use view_layers::*;
 
 pub mod view_levels;
-use view_levels::{LevelDisplay, LevelParams, ViewLevels};
+use view_levels::*;
 
 pub mod view_lights;
 use view_lights::*;
@@ -66,633 +119,298 @@ use view_nav_graphs::*;
 pub mod view_occupancy;
 use view_occupancy::*;
 
-pub mod console;
-pub use console::*;
-
-pub mod icons;
-pub use icons::*;
-
-pub mod inspector;
-use inspector::{InspectorParams, InspectorWidget, SearchForFiducial, SearchForTexture};
-
-pub mod move_layer;
-pub use move_layer::*;
-
-pub mod new_model;
-pub use new_model::*;
-
-#[derive(Resource, Clone, Default)]
-pub struct PendingDrawing {
-    pub source: AssetSource,
-    pub recall_source: RecallAssetSource,
-}
-
-#[derive(Resource, Clone, Default)]
-pub struct PendingModel {
-    pub source: AssetSource,
-    pub recall_source: RecallAssetSource,
-    pub scale: Scale,
+pub mod prelude {
+    //! This module gives easy access to the traits, structs, and plugins that
+    //! we expect downstream users are likely to want easy access to if they are
+    //! implementing and inserting their own widgets.
+
+    pub use super::{
+        properties_panel::*, Inspect, InspectionPlugin, PanelSide, PanelWidget, PanelWidgetInput,
+        PropertiesPanel, PropertiesTilePlugin, ShareableWidget, ShowError, ShowResult,
+        ShowSharedWidget, Tile, TryShowWidgetEntity, TryShowWidgetWorld, Widget, WidgetSystem,
+    };
+    pub use bevy::ecs::{
+        system::{SystemParam, SystemState},
+        world::World,
+    };
+    pub use bevy_egui::egui::Ui;
 }
 
+/// This plugin provides the standard UI layout that was designed for the common
+/// use cases of the site editor.
 #[derive(Default)]
-pub struct StandardUiLayout {
-    pub headless: bool,
-}
+pub struct StandardUiPlugin {}
 
-fn add_widgets_icons(app: &mut App) {
-    // Taken from https://github.com/bevyengine/bevy/issues/10377#issuecomment-1858797002
-    // TODO(luca) remove once we migrate to Bevy 0.13 that includes the fix
-    #[cfg(any(not(target_family = "windows"), target_env = "gnu"))]
-    {
-        embedded_asset!(app, "src/", "icons/add.png");
-        embedded_asset!(app, "src/", "icons/alignment.png");
-        embedded_asset!(app, "src/", "icons/alpha.png");
-        embedded_asset!(app, "src/", "icons/confirm.png");
-        embedded_asset!(app, "src/", "icons/down.png");
-        embedded_asset!(app, "src/", "icons/edit.png");
-        embedded_asset!(app, "src/", "icons/empty.png");
-        embedded_asset!(app, "src/", "icons/exit.png");
-        embedded_asset!(app, "src/", "icons/global.png");
-        embedded_asset!(app, "src/", "icons/hidden.png");
-        embedded_asset!(app, "src/", "icons/hide.png");
-        embedded_asset!(app, "src/", "icons/merge.png");
-        embedded_asset!(app, "src/", "icons/opaque.png");
-        embedded_asset!(app, "src/", "icons/reject.png");
-        embedded_asset!(app, "src/", "icons/search.png");
-        embedded_asset!(app, "src/", "icons/select.png");
-        embedded_asset!(app, "src/", "icons/selected.png");
-        embedded_asset!(app, "src/", "icons/to_bottom.png");
-        embedded_asset!(app, "src/", "icons/to_top.png");
-        embedded_asset!(app, "src/", "icons/trash.png");
-        embedded_asset!(app, "src/", "icons/up.png");
-    }
-    #[cfg(all(target_family = "windows", not(target_env = "gnu")))]
-    {
-        embedded_asset!(app, "src\\", "icons\\add.png");
-        embedded_asset!(app, "src\\", "icons\\alignment.png");
-        embedded_asset!(app, "src\\", "icons\\alpha.png");
-        embedded_asset!(app, "src\\", "icons\\confirm.png");
-        embedded_asset!(app, "src\\", "icons\\down.png");
-        embedded_asset!(app, "src\\", "icons\\edit.png");
-        embedded_asset!(app, "src\\", "icons\\empty.png");
-        embedded_asset!(app, "src\\", "icons\\exit.png");
-        embedded_asset!(app, "src\\", "icons\\global.png");
-        embedded_asset!(app, "src\\", "icons\\hidden.png");
-        embedded_asset!(app, "src\\", "icons\\hide.png");
-        embedded_asset!(app, "src\\", "icons\\merge.png");
-        embedded_asset!(app, "src\\", "icons\\opaque.png");
-        embedded_asset!(app, "src\\", "icons\\reject.png");
-        embedded_asset!(app, "src\\", "icons\\search.png");
-        embedded_asset!(app, "src\\", "icons\\select.png");
-        embedded_asset!(app, "src\\", "icons\\selected.png");
-        embedded_asset!(app, "src\\", "icons\\to_bottom.png");
-        embedded_asset!(app, "src\\", "icons\\to_top.png");
-        embedded_asset!(app, "src\\", "icons\\trash.png");
-        embedded_asset!(app, "src\\", "icons\\up.png");
+impl Plugin for StandardUiPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((
+            IconsPlugin::default(),
+            MenuBarPlugin::default(),
+            SdfExportMenuPlugin::default(),
+            StandardPropertiesPanelPlugin::default(),
+            FuelAssetBrowserPlugin::default(),
+            DiagnosticsPlugin::default(),
+            ConsoleWidgetPlugin::default(),
+        ))
+        .add_systems(Startup, init_ui_style)
+        .add_systems(
+            Update,
+            site_ui_layout.run_if(AppState::in_displaying_mode()),
+        )
+        .add_systems(
+            PostUpdate,
+            (
+                resolve_light_export_file,
+                resolve_nav_graph_import_export_files,
+            )
+                .run_if(AppState::in_site_mode()),
+        );
     }
 }
 
-impl Plugin for StandardUiLayout {
-    fn build(&self, app: &mut App) {
-        add_widgets_icons(app);
-        app.init_resource::<Icons>()
-            .init_resource::<LevelDisplay>()
-            .init_resource::<NavGraphDisplay>()
-            .init_resource::<LightDisplay>()
-            .init_resource::<AssetGalleryStatus>()
-            .init_resource::<OccupancyDisplay>()
-            .init_resource::<DiagnosticWindowState>()
-            .init_resource::<PendingDrawing>()
-            .init_resource::<PendingModel>()
-            .init_resource::<SearchForFiducial>()
-            .add_plugins(MenuPluginManager)
-            .init_resource::<SearchForTexture>()
-            .init_resource::<GroupViewModes>();
-        if !self.headless {
-            app.add_systems(Startup, init_ui_style)
-                .add_systems(
-                    Update,
-                    site_ui_layout.run_if(in_state(AppState::SiteEditor)),
-                )
-                .add_systems(
-                    Update,
-                    workcell_ui_layout.run_if(in_state(AppState::WorkcellEditor)),
-                )
-                .add_systems(
-                    Update,
-                    site_drawing_ui_layout.run_if(in_state(AppState::SiteDrawingEditor)),
-                )
-                .add_systems(
-                    Update,
-                    site_visualizer_ui_layout.run_if(in_state(AppState::SiteVisualizer)),
-                )
-                .add_systems(
-                    PostUpdate,
-                    (
-                        resolve_light_export_file,
-                        resolve_nav_graph_import_export_files,
-                    )
-                        .run_if(AppState::in_site_mode()),
-                );
+/// This component should be given to an entity that needs to be rendered as a
+/// nested widget in the UI.
+///
+/// For standard types of widgets you don't need to create this component yourself,
+/// instead use one of the generic convenience plugins:
+/// - [`InspectionPlugin`]
+/// - [`PropertiesTilePlugin`]
+#[derive(Component)]
+pub struct Widget<Input = (), Output = ()> {
+    inner: Option<Box<dyn ExecuteWidget<Input, Output> + 'static + Send + Sync>>,
+    _ignore: std::marker::PhantomData<(Input, Output)>,
+}
+
+impl<Input, Output> Widget<Input, Output>
+where
+    Input: 'static + Send + Sync,
+    Output: 'static + Send + Sync,
+{
+    pub fn new<W>(world: &mut World) -> Self
+    where
+        W: WidgetSystem<Input, Output> + 'static + Send + Sync,
+    {
+        let inner = InnerWidget::<Input, Output, W> {
+            state: SystemState::new(world),
+            _ignore: Default::default(),
+        };
+
+        Self {
+            inner: Some(Box::new(inner)),
+            _ignore: Default::default(),
         }
     }
 }
 
-#[derive(SystemParam)]
-pub struct ChangeEvents<'w> {
-    pub lane_motion: EventWriter<'w, Change<Motion>>,
-    pub lane_reverse: EventWriter<'w, Change<ReverseLane>>,
-    pub name: EventWriter<'w, Change<NameInSite>>,
-    pub pose: EventWriter<'w, Change<Pose>>,
-    pub door: EventWriter<'w, Change<DoorType>>,
-    pub lift_cabin: EventWriter<'w, Change<LiftCabin<Entity>>>,
-    pub asset_source: EventWriter<'w, Change<AssetSource>>,
-    pub pixels_per_meter: EventWriter<'w, Change<PixelsPerMeter>>,
-    pub physical_camera_properties: EventWriter<'w, Change<PhysicalCameraProperties>>,
-    pub light: EventWriter<'w, Change<LightKind>>,
-    pub level_elevation: EventWriter<'w, Change<LevelElevation>>,
-    pub color: EventWriter<'w, Change<DisplayColor>>,
-    pub visibility: EventWriter<'w, Change<Visibility>>,
-    pub associated_graphs: EventWriter<'w, Change<AssociatedGraphs<Entity>>>,
-    pub location_tags: EventWriter<'w, Change<LocationTags>>,
-    pub affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
-    pub search_for_fiducial: ResMut<'w, SearchForFiducial>,
-    pub search_for_texture: ResMut<'w, SearchForTexture>,
-    pub distance: EventWriter<'w, Change<Distance>>,
-    pub texture: EventWriter<'w, Change<Texture>>,
-    pub joint_properties: EventWriter<'w, Change<JointProperties>>,
-    pub merge_groups: EventWriter<'w, MergeGroups>,
-    pub filtered_issues: EventWriter<'w, Change<FilteredIssues<Entity>>>,
-    pub filtered_issue_kinds: EventWriter<'w, Change<FilteredIssueKinds>>,
+/// Do not implement this widget directly. Instead create a struct that derives
+/// [`SystemParam`] and then implement [`WidgetSystem`] for that struct.
+pub trait ExecuteWidget<Input, Output> {
+    fn show(&mut self, input: Input, ui: &mut Ui, world: &mut World) -> Output;
 }
 
-#[derive(SystemParam)]
-pub struct WorkcellChangeEvents<'w> {
-    pub mesh_constraints: EventWriter<'w, Change<MeshConstraint<Entity>>>,
-    pub name_in_workcell: EventWriter<'w, Change<NameInWorkcell>>,
-    pub workcell_name: EventWriter<'w, Change<NameOfWorkcell>>,
-    pub scale: EventWriter<'w, Change<Scale>>,
-    pub primitive_shapes: EventWriter<'w, Change<PrimitiveShape>>,
+/// Implement this on a [`SystemParam`] struct to make it a widget that can be
+/// plugged into the site editor UI.
+///
+/// See documentation of [`PropertiesTilePlugin`] or [`InspectionPlugin`] to see
+/// examples of using this.
+pub trait WidgetSystem<Input = (), Output = ()>: SystemParam {
+    fn show(input: Input, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> Output;
 }
 
-#[derive(SystemParam)]
-pub struct FileEvents<'w> {
-    pub save: EventWriter<'w, SaveWorkspace>,
-    pub load_workspace: EventWriter<'w, LoadWorkspace>,
-    pub new_workspace: EventWriter<'w, CreateNewWorkspace>,
-    pub diagnostic_window: ResMut<'w, DiagnosticWindowState>,
+struct InnerWidget<Input, Output, W: WidgetSystem<Input, Output> + 'static> {
+    state: SystemState<W>,
+    _ignore: std::marker::PhantomData<(Input, Output)>,
 }
 
-#[derive(SystemParam)]
-pub struct PanelResources<'w> {
-    pub level: ResMut<'w, LevelDisplay>,
-    pub nav_graph: ResMut<'w, NavGraphDisplay>,
-    pub light: ResMut<'w, LightDisplay>,
-    pub occupancy: ResMut<'w, OccupancyDisplay>,
-    pub log_history: ResMut<'w, LogHistory>,
-    pub pending_model: ResMut<'w, PendingModel>,
-    pub pending_drawings: ResMut<'w, PendingDrawing>,
+impl<Input, Output, W> ExecuteWidget<Input, Output> for InnerWidget<Input, Output, W>
+where
+    W: WidgetSystem<Input, Output>,
+{
+    fn show(&mut self, input: Input, ui: &mut Ui, world: &mut World) -> Output {
+        let u = W::show(input, ui, &mut self.state, world);
+        self.state.apply(world);
+        u
+    }
 }
 
-#[derive(SystemParam)]
-pub struct Requests<'w> {
-    pub hover: ResMut<'w, Events<Hover>>,
-    pub select: ResMut<'w, Events<Select>>,
-    pub move_to: EventWriter<'w, MoveTo>,
-    pub current_level: ResMut<'w, CurrentLevel>,
-    pub current_workspace: ResMut<'w, CurrentWorkspace>,
-    pub change_mode: ResMut<'w, Events<ChangeMode>>,
-    pub delete: EventWriter<'w, Delete>,
-    pub toggle_door_levels: EventWriter<'w, ToggleLiftDoorAvailability>,
-    pub toggle_headlights: ResMut<'w, HeadlightToggle>,
-    pub toggle_physical_lights: ResMut<'w, PhysicalLightToggle>,
-    pub spawn_preview: EventWriter<'w, SpawnPreview>,
-    pub export_lights: EventWriter<'w, ExportLights>,
-    pub save_nav_graphs: EventWriter<'w, SaveNavGraphs>,
-    pub calculate_grid: EventWriter<'w, CalculateGrid>,
-    pub consider_tag: EventWriter<'w, ConsiderLocationTag>,
-    pub consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
-    pub align_site: EventWriter<'w, AlignSiteDrawings>,
-    pub validate_workspace: EventWriter<'w, ValidateWorkspace>,
-    pub create_joint: EventWriter<'w, CreateJoint>,
+pub type ShowResult<T = ()> = Result<T, ShowError>;
+
+/// Errors that can happen while attempting to show a widget.
+#[derive(Debug)]
+pub enum ShowError {
+    /// The entity whose widget you are trying to show is missing from the world
+    EntityMissing,
+    /// There is no [`Widget`] component for the entity
+    WidgetMissing,
+    /// The entity has a [`Widget`] component, but the widget is already in use,
+    /// which implies that we are trying to render the widget recursively, and
+    /// that is not supported due to soundness issues.
+    Recursion,
 }
 
-#[derive(SystemParam)]
-pub struct LayerEvents<'w> {
-    pub floors: EventWriter<'w, ChangeRank<FloorMarker>>,
-    pub drawings: EventWriter<'w, ChangeRank<DrawingMarker>>,
-    pub nav_graphs: EventWriter<'w, ChangeRank<NavGraphMarker>>,
-    pub layer_vis: EventWriter<'w, Change<LayerVisibility>>,
-    pub preferred_alpha: EventWriter<'w, Change<PreferredSemiTransparency>>,
-    pub global_floor_vis: EventWriter<'w, Change<GlobalFloorVisibility>>,
-    pub global_drawing_vis: EventWriter<'w, Change<GlobalDrawingVisibility>>,
-    pub begin_edit_drawing: EventWriter<'w, BeginEditDrawing>,
-    pub finish_edit_drawing: EventWriter<'w, FinishEditDrawing>,
-    pub icons: Res<'w, Icons>,
-}
+/// Trait implemented on [`World`] to let it render child widgets. Note that
+/// this is not able to render widgets recursively, so you should make sure not
+/// to have circular dependencies in your widget structure.
+pub trait TryShowWidgetWorld {
+    /// Try to show a widget that has `()` for input and output belonging to the
+    /// specified entity.
+    fn try_show(&mut self, entity: Entity, ui: &mut Ui) -> ShowResult<()> {
+        self.try_show_out(entity, (), ui)
+    }
 
-#[derive(SystemParam)]
-pub struct MenuParams<'w, 's> {
-    state: Res<'w, State<AppState>>,
-    menus: Query<'w, 's, (&'static Menu, Entity)>,
-    menu_items: Query<'w, 's, (&'static mut MenuItem, Has<MenuDisabled>)>,
-    menu_states: Query<'w, 's, Option<&'static MenuVisualizationStates>>,
-    extension_events: EventWriter<'w, MenuEvent>,
-    view_menu: Res<'w, ViewMenu>,
-}
+    /// Same as [`Self::try_show`] but takes an input that will be fed to the widget.
+    fn try_show_in<Input>(&mut self, entity: Entity, input: Input, ui: &mut Ui) -> ShowResult<()>
+    where
+        Input: 'static + Send + Sync,
+    {
+        self.try_show_out(entity, input, ui)
+    }
 
-/// We collect all the events into its own SystemParam because we are not
-/// allowed to receive more than one EventWriter of a given type per system call
-/// (for borrow-checker reasons). Bundling them all up into an AppEvents
-/// parameter at least makes the EventWriters easy to pass around.
-#[derive(SystemParam)]
-pub struct AppEvents<'w, 's> {
-    pub commands: Commands<'w, 's>,
-    pub change: ChangeEvents<'w>,
-    pub workcell_change: WorkcellChangeEvents<'w>,
-    pub display: PanelResources<'w>,
-    pub request: Requests<'w>,
-    pub file_events: FileEvents<'w>,
-    pub layers: LayerEvents<'w>,
-    pub new_model: NewModelParams<'w>,
-    pub app_state: Res<'w, State<AppState>>,
-    pub next_app_state: ResMut<'w, NextState<AppState>>,
+    /// Same as [`Self::try_show`] but takes an input for the widget and provides
+    /// an output from the widget.
+    fn try_show_out<Output, Input>(
+        &mut self,
+        entity: Entity,
+        input: Input,
+        ui: &mut Ui,
+    ) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync;
 }
 
-fn site_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    open_sites: Query<Entity, With<NameOfSite>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    levels: LevelParams,
-    lights: LightParams,
-    nav_graphs: NavGraphParams,
-    diagnostic_params: DiagnosticParams,
-    layers: LayersParams,
-    mut groups: GroupParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    children: Query<&Children>,
-    top_level_components: Query<(), Without<Parent>>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .default_width(300.0)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Levels")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewLevels::new(&levels, &mut events)
-                                    .for_editing_visibility()
-                                    .show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Navigation Graphs")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewNavGraphs::new(&nav_graphs, &mut events).show(ui, &open_sites);
-                            });
-                        ui.separator();
-                        // TODO(MXG): Consider combining Nav Graphs and Layers
-                        CollapsingHeader::new("Layers")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewLayers::new(&layers, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Groups")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewGroups::new(&mut groups, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Lights")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewLights::new(&lights, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Occupancy")
-                            .default_open(false)
-                            .show(ui, |ui| {
-                                ViewOccupancy::new(&mut events).show(ui);
-                            });
-                        if ui.add(Button::new("Building preview")).clicked() {
-                            events.next_app_state.set(AppState::SiteVisualizer);
-                        }
-                    });
-                });
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    if events.file_events.diagnostic_window.show {
-        egui::SidePanel::left("diagnostic_window")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                DiagnosticWindow::new(&mut events, &diagnostic_params).show(ui);
-            });
-    }
-    if events.new_model.asset_gallery_status.show {
-        egui::SidePanel::left("asset_gallery")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                NewModel::new(&mut events).show(ui);
-            });
+impl TryShowWidgetWorld for World {
+    fn try_show_out<Output, Input>(
+        &mut self,
+        entity: Entity,
+        input: Input,
+        ui: &mut Ui,
+    ) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync,
+    {
+        let Some(mut entity_mut) = self.get_entity_mut(entity) else {
+            return Err(ShowError::EntityMissing);
+        };
+        entity_mut.try_show_out(input, ui)
     }
+}
 
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
-
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
+/// Same as [`TryShowWidgetWorld`] but is implemented for [`EntityWorldMut`] so
+/// you do not need to specify the target entity.
+pub trait TryShowWidgetEntity {
+    /// Try to show a widget that has `()` for input and output
+    fn try_show(&mut self, ui: &mut Ui) -> ShowResult<()> {
+        self.try_show_out((), ui)
     }
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
-        }
+    fn try_show_in<Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<()>
+    where
+        Input: 'static + Send + Sync,
+    {
+        self.try_show_out(input, ui)
     }
+
+    fn try_show_out<Output, Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync;
 }
 
-fn site_drawing_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    children: Query<&Children>,
-    top_level_components: Query<(), Without<Parent>>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        if ui
-                            .add(Button::image_and_text(
-                                events.layers.icons.exit.egui(),
-                                "Return to site editor",
-                            ))
-                            .clicked()
-                        {
-                            events
-                                .layers
-                                .finish_edit_drawing
-                                .send(FinishEditDrawing(None));
-                        }
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
-
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
-    }
+impl<'w> TryShowWidgetEntity for EntityWorldMut<'w> {
+    fn try_show_out<Output, Input>(&mut self, input: Input, ui: &mut Ui) -> ShowResult<Output>
+    where
+        Input: 'static + Send + Sync,
+        Output: 'static + Send + Sync,
+    {
+        let Some(mut widget) = self.get_mut::<Widget<Input, Output>>() else {
+            return Err(ShowError::WidgetMissing);
+        };
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+        let Some(mut inner) = widget.inner.take() else {
+            return Err(ShowError::Recursion);
+        };
+
+        let output = self.world_scope(|world| inner.show(input, ui, world));
+
+        if let Some(mut widget) = self.get_mut::<Widget<Input, Output>>() {
+            widget.inner = Some(inner);
         }
+
+        Ok(output)
     }
 }
 
-fn site_visualizer_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    mut events: AppEvents,
-    levels: LevelParams,
-    file_menu: Res<FileMenu>,
-    top_level_components: Query<(), Without<Parent>>,
-    children: Query<&Children>,
-    mut menu_params: MenuParams,
-) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .default_width(300.0)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Levels")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                ViewLevels::new(&levels, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        if ui.add(Button::image_and_text(
-                            events.layers.icons.alignment.egui(),
-                            "Align Drawings",
-                        ))
-                            .on_hover_text("Align all drawings in the site based on their fiducials and measurements")
-                            .clicked()
-                        {
-                            if let Some(site) = events.request.current_workspace.root {
-                                events.request.align_site.send(AlignSiteDrawings(site));
-                            }
-                        }
-                        if ui.add(Button::image_and_text(
-                            events.layers.icons.exit.egui(),
-                            "Return to site editor"
-                        )).clicked() {
-                            events.next_app_state.set(AppState::SiteEditor);
-                        }
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
-
-    if let Some(picking_blocker) = &mut picking_blocker {
-        picking_blocker.ui = ui_has_focus;
-    }
+/// This is a marker trait to indicate that the system state of a widget can be
+/// safely shared across multiple renders of the widget. For example, the system
+/// parameters do not use the [`Changed`] filter. It is the responsibility of
+/// the user to ensure that sharing this widget will not have any bad side
+/// effects.
+///
+/// [`ShareableWidget`]s can be used by the [`ShowSharedWidget`] trait which is
+/// implemented for the [`World`] struct.
+pub trait ShareableWidget {}
+
+/// A resource to store a widget so that it can be reused multiple times in one
+/// render pass.
+#[derive(Resource)]
+pub struct SharedWidget<W: SystemParam + ShareableWidget + 'static> {
+    state: SystemState<W>,
+}
 
-    if ui_has_focus {
-        // If the UI has focus and there were no hover events emitted by the UI,
-        // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+/// This gives a convenient function for rendering a widget using a world.
+pub trait ShowSharedWidget {
+    fn show<W, Output, Input>(&mut self, input: Input, ui: &mut Ui) -> Output
+    where
+        W: ShareableWidget + WidgetSystem<Input, Output> + 'static;
+}
+
+impl ShowSharedWidget for World {
+    fn show<W, Output, Input>(&mut self, input: Input, ui: &mut Ui) -> Output
+    where
+        W: ShareableWidget + WidgetSystem<Input, Output> + 'static,
+    {
+        if !self.contains_resource::<SharedWidget<W>>() {
+            let widget = SharedWidget::<W> {
+                state: SystemState::new(self),
+            };
+            self.insert_resource(widget);
         }
+
+        self.resource_scope::<SharedWidget<W>, Output>(|world, mut widget| {
+            let u = W::show(input, ui, &mut widget.state, world);
+            widget.state.apply(world);
+            u
+        })
     }
 }
 
-fn workcell_ui_layout(
-    mut egui_context: EguiContexts,
-    mut picking_blocker: Option<ResMut<PickingBlockers>>,
-    inspector_params: InspectorParams,
-    create_params: CreateParams,
-    mut events: AppEvents,
-    file_menu: Res<FileMenu>,
-    top_level_components: Query<(), Without<Parent>>,
-    children: Query<&Children>,
-    mut menu_params: MenuParams,
+/// This system renders all UI panels in the application and makes sure that the
+/// UI rendering works correctly with the picking system, and any other systems
+/// as needed.
+pub fn site_ui_layout(
+    world: &mut World,
+    panel_widgets: &mut QueryState<(Entity, &mut PanelWidget)>,
+    egui_context_state: &mut SystemState<EguiContexts>,
 ) {
-    egui::SidePanel::right("right_panel")
-        .resizable(true)
-        .show(egui_context.ctx_mut(), |ui| {
-            egui::ScrollArea::both()
-                .auto_shrink([false, false])
-                .show(ui, |ui| {
-                    ui.vertical(|ui| {
-                        CollapsingHeader::new("Inspect")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                InspectorWidget::new(&inspector_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                        CollapsingHeader::new("Create")
-                            .default_open(true)
-                            .show(ui, |ui| {
-                                CreateWidget::new(&create_params, &mut events).show(ui);
-                            });
-                        ui.separator();
-                    });
-                });
-        });
-
-    egui::TopBottomPanel::bottom("log_console")
-        .resizable(true)
-        .min_height(30.)
-        .max_height(300.)
-        .show(egui_context.ctx_mut(), |ui| {
-            ui.add_space(10.0);
-            ConsoleWidget::new(&mut events).show(ui);
-        });
-
-    top_menu_bar(
-        egui_context.ctx_mut(),
-        &mut events.file_events,
-        &file_menu,
-        &top_level_components,
-        &children,
-        &mut menu_params,
-    );
-
-    if events.new_model.asset_gallery_status.show {
-        egui::SidePanel::left("asset_gallery")
-            .resizable(true)
-            .exact_width(320.0)
-            .show(egui_context.ctx_mut(), |ui| {
-                NewModel::new(&mut events).show(ui);
-            });
-    }
+    render_panels(world, panel_widgets, egui_context_state);
 
-    let egui_context = egui_context.ctx_mut();
-    let ui_has_focus = egui_context.wants_pointer_input()
-        || egui_context.wants_keyboard_input()
-        || egui_context.is_pointer_over_area();
+    let mut egui_context = egui_context_state.get_mut(world);
+    let ctx = egui_context.ctx_mut();
+    let ui_has_focus =
+        ctx.wants_pointer_input() || ctx.wants_keyboard_input() || ctx.is_pointer_over_area();
 
-    if let Some(picking_blocker) = &mut picking_blocker {
+    if let Some(mut picking_blocker) = world.get_resource_mut::<PickingBlockers>() {
         picking_blocker.ui = ui_has_focus;
     }
 
     if ui_has_focus {
         // If the UI has focus and there were no hover events emitted by the UI,
         // then we should emit a None hover event
-        if events.request.hover.is_empty() {
-            events.request.hover.send(Hover(None));
+        let mut hover = world.resource_mut::<Events<Hover>>();
+        if hover.is_empty() {
+            hover.send(Hover(None));
         }
     }
 }
diff --git a/rmf_site_editor/src/widgets/move_layer.rs b/rmf_site_editor/src/widgets/move_layer.rs
index b8f018b2..c85940dd 100644
--- a/rmf_site_editor/src/widgets/move_layer.rs
+++ b/rmf_site_editor/src/widgets/move_layer.rs
@@ -22,6 +22,7 @@ use crate::{
 use bevy::prelude::*;
 use bevy_egui::egui::{ImageButton, Ui};
 
+/// A widget that helps move layers up or down in their ranking.
 pub struct MoveLayer<'a, 'w, T: Component> {
     entity: Entity,
     rank_events: &'a mut EventWriter<'w, ChangeRank<T>>,
@@ -43,11 +44,8 @@ impl<'a, 'w, 's, T: Component> MoveLayer<'a, 'w, T> {
 
     pub fn show(self, ui: &mut Ui) {
         MoveLayerButton::to_top(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::up(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::down(self.entity, self.rank_events, self.icons).show(ui);
-
         MoveLayerButton::to_bottom(self.entity, self.rank_events, self.icons).show(ui);
     }
 }
diff --git a/rmf_site_editor/src/widgets/panel.rs b/rmf_site_editor/src/widgets/panel.rs
new file mode 100644
index 00000000..f60d6636
--- /dev/null
+++ b/rmf_site_editor/src/widgets/panel.rs
@@ -0,0 +1,197 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::{
+    ecs::system::{BoxedSystem, SystemState},
+    prelude::*,
+};
+use bevy_egui::{
+    egui::{self, Ui},
+    EguiContexts,
+};
+use smallvec::SmallVec;
+
+/// To create a panel widget (a widget that renders itself directly to one of
+/// the egui side or top/bottom panels), add this component to an entity.
+///
+/// Use the context field of the input to create a panel with one of the following:
+/// - [`EguiPanel::show`]
+/// - [`egui::SidePanel::left`]
+/// - [`egui::SidePanel::right`]
+/// - [`egui::TopBottomPanel::top`]
+/// - [`egui::TopBottomPanel::bottom`]
+#[derive(Component)]
+pub struct PanelWidget {
+    inner: Option<BoxedSystem<PanelWidgetInput>>,
+}
+
+/// Input provided to panel widgets.
+pub struct PanelWidgetInput {
+    /// The entity of the panel widget.
+    pub id: Entity,
+    /// The context that the panel should use for rendering.
+    pub context: egui::Context,
+}
+
+impl PanelWidget {
+    /// Pass in a system that takes takes [`PanelWidgetInput`] as its input parameter.
+    pub fn new<M, S: IntoSystem<PanelWidgetInput, (), M>>(system: S, world: &mut World) -> Self {
+        let mut system = Box::new(IntoSystem::into_system(system));
+        system.initialize(world);
+        Self {
+            inner: Some(system),
+        }
+    }
+}
+
+/// This function can be used to render all panels in an application, either by
+/// adding this function to a schedule as a system or by calling it from inside
+/// of an exclusive system. Note that this is automatically run by
+/// [`site_ui_layout`][1] so there is no need to use this function yourself
+/// unless you are not using the [`StandardUiPlugin`][2].
+///
+/// [1]: crate::widgets::site_ui_layout
+/// [2]: crate::widgets::StandardUiPlugin
+pub fn render_panels(
+    world: &mut World,
+    panel_widgets: &mut QueryState<(Entity, &mut PanelWidget)>,
+    egui_contexts: &mut SystemState<EguiContexts>,
+) {
+    let context = egui_contexts.get_mut(world).ctx_mut().clone();
+    let mut panels: SmallVec<[_; 16]> = panel_widgets
+        .iter_mut(world)
+        .map(|(entity, mut widget)| {
+            (
+                entity,
+                widget
+                    .inner
+                    .take()
+                    .expect("Inner system of PanelWidget is missing"),
+            )
+        })
+        .collect();
+
+    for (e, inner) in &mut panels {
+        inner.run(
+            PanelWidgetInput {
+                id: *e,
+                context: context.clone(),
+            },
+            world,
+        );
+        inner.apply_deferred(world);
+    }
+
+    for (e, inner) in panels {
+        if let Some(mut widget) = world.get_mut::<PanelWidget>(e) {
+            let _ = widget.inner.insert(inner);
+        }
+    }
+}
+
+/// Indicate which side a panel is on
+#[derive(Clone, Copy, Debug, Component)]
+pub enum PanelSide {
+    Top,
+    Bottom,
+    Left,
+    Right,
+}
+
+/// Wrapper to hold either a vertical or horizontal egui panel
+pub enum EguiPanel {
+    Vertical(egui::SidePanel),
+    Horizontal(egui::TopBottomPanel),
+}
+
+impl EguiPanel {
+    /// Modify this panel if it's a vertical panel
+    pub fn map_vertical(self, f: impl FnOnce(egui::SidePanel) -> egui::SidePanel) -> Self {
+        match self {
+            Self::Vertical(panel) => Self::Vertical(f(panel)),
+            other => other,
+        }
+    }
+
+    /// Modify this panel if it's a horizontal panel
+    pub fn map_horizontal(
+        self,
+        f: impl FnOnce(egui::TopBottomPanel) -> egui::TopBottomPanel,
+    ) -> Self {
+        match self {
+            Self::Horizontal(panel) => Self::Horizontal(f(panel)),
+            other => other,
+        }
+    }
+
+    /// Display something in this panel.
+    pub fn show<R>(
+        self,
+        ctx: &egui::Context,
+        add_content: impl FnOnce(&mut Ui) -> R,
+    ) -> egui::InnerResponse<R> {
+        match self {
+            Self::Vertical(panel) => panel.show(ctx, add_content),
+            Self::Horizontal(panel) => panel.show(ctx, add_content),
+        }
+    }
+}
+
+impl PanelSide {
+    /// Is the long direction of the panel horizontal
+    pub fn is_horizontal(&self) -> bool {
+        matches!(self, Self::Top | Self::Bottom)
+    }
+
+    /// Is the long direction of the panel vertical
+    pub fn is_vertical(&self) -> bool {
+        matches!(self, Self::Left | Self::Right)
+    }
+
+    /// Align the Ui to line up with the long direction of the panel
+    pub fn align<R>(self, ui: &mut Ui, f: impl FnOnce(&mut Ui) -> R) -> egui::InnerResponse<R> {
+        if self.is_horizontal() {
+            ui.horizontal(f)
+        } else {
+            ui.vertical(f)
+        }
+    }
+
+    /// Align the Ui to run orthogonal to long direction of the panel,
+    /// i.e. the Ui will run along the short direction of the panel.
+    pub fn orthogonal<R>(
+        self,
+        ui: &mut Ui,
+        f: impl FnOnce(&mut Ui) -> R,
+    ) -> egui::InnerResponse<R> {
+        if self.is_horizontal() {
+            ui.vertical(f)
+        } else {
+            ui.horizontal(f)
+        }
+    }
+
+    /// Get the egui panel that is associated with this panel type.
+    pub fn get_panel(self) -> EguiPanel {
+        match self {
+            Self::Left => EguiPanel::Vertical(egui::SidePanel::left("left_panel")),
+            Self::Right => EguiPanel::Vertical(egui::SidePanel::right("right_panel")),
+            Self::Top => EguiPanel::Horizontal(egui::TopBottomPanel::top("top_panel")),
+            Self::Bottom => EguiPanel::Horizontal(egui::TopBottomPanel::bottom("bottom_panel")),
+        }
+    }
+}
diff --git a/rmf_site_editor/src/widgets/panel_of_tiles.rs b/rmf_site_editor/src/widgets/panel_of_tiles.rs
new file mode 100644
index 00000000..57f5d40b
--- /dev/null
+++ b/rmf_site_editor/src/widgets/panel_of_tiles.rs
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::widgets::prelude::*;
+use bevy::prelude::*;
+use bevy_egui::egui;
+use smallvec::SmallVec;
+
+/// Input type for [`WidgetSystem`]s that can be put into a "Panel of Tiles"
+/// widget, such as the [`PropertiesPanel`]. See [`PropertiesTilePlugin`] for a
+/// usage example.
+pub struct Tile {
+    /// The entity of the tile widget which is being rendered. This lets you
+    /// store additional component data inside the entity which may be relevant
+    /// to your widget.
+    pub id: Entity,
+    /// What kind of panel is this tile inside of. Use this if you want your
+    /// widget layout to be different based on what kind of panel it was placed
+    /// in.
+    pub panel: PanelSide,
+}
+
+/// Reusable widget that defines a panel with "tiles" where each tile is a child widget.
+pub fn show_panel_of_tiles(
+    In(PanelWidgetInput { id, context }): In<PanelWidgetInput>,
+    world: &mut World,
+) {
+    let children: Option<SmallVec<[Entity; 16]>> = world
+        .get::<Children>(id)
+        .map(|children| children.iter().copied().collect());
+
+    let Some(children) = children else {
+        return;
+    };
+    if children.is_empty() {
+        // Do not even begin to create a panel if there are no children to render
+        return;
+    }
+
+    let Some(side) = world.get::<PanelSide>(id) else {
+        error!("Side component missing for panel_of_tiles_widget {id:?}");
+        return;
+    };
+
+    let side = *side;
+    side.get_panel()
+        .map_vertical(|panel| {
+            // TODO(@mxgrey): Make this configurable via a component
+            panel.resizable(true).default_width(300.0)
+        })
+        .show(&context, |ui| {
+            egui::ScrollArea::both()
+                .auto_shrink([false, false])
+                .show(ui, |ui| {
+                    for child in children {
+                        let tile = Tile {
+                            id: child,
+                            panel: side,
+                        };
+                        if let Err(err) = world.try_show_in(child, tile, ui) {
+                            error!(
+                                "Could not render child widget {child:?} in \
+                                tile panel {id:?} on side {side:?}: {err:?}"
+                            );
+                        }
+                    }
+                });
+        });
+}
diff --git a/rmf_site_editor/src/widgets/properties_panel.rs b/rmf_site_editor/src/widgets/properties_panel.rs
new file mode 100644
index 00000000..f99e218b
--- /dev/null
+++ b/rmf_site_editor/src/widgets/properties_panel.rs
@@ -0,0 +1,158 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::widgets::{
+    show_panel_of_tiles, BuildingPreviewPlugin, CreationPlugin, PanelSide, PanelWidget,
+    StandardInspectorPlugin, Tile, ViewGroupsPlugin, ViewLayersPlugin, ViewLevelsPlugin,
+    ViewLightsPlugin, ViewNavGraphsPlugin, ViewOccupancyPlugin, Widget, WidgetSystem,
+};
+use bevy::prelude::*;
+
+/// This plugins produces the standard properties panel. This is the panel which
+/// includes widgets to display and edit all the properties in a site that we
+/// expect are needed by common use cases of the editor.
+#[derive(Default)]
+pub struct StandardPropertiesPanelPlugin {}
+
+impl Plugin for StandardPropertiesPanelPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((
+            PropertiesPanelPlugin::new(PanelSide::Right),
+            ViewLevelsPlugin::default(),
+            ViewNavGraphsPlugin::default(),
+            ViewLayersPlugin::default(),
+            StandardInspectorPlugin::default(),
+            CreationPlugin::default(),
+            ViewGroupsPlugin::default(),
+            ViewLightsPlugin::default(),
+            ViewOccupancyPlugin::default(),
+            BuildingPreviewPlugin::default(),
+        ));
+    }
+}
+
+/// Use this plugin to add a single tile into the properties panel.
+///
+/// ```no_run
+/// use bevy::prelude::{App, Query, Entity, Res};
+/// use librmf_site_editor::{
+///     SiteEditor, workspace::CurrentWorkspace,
+///     site::NameOfSite,
+///     widgets::prelude::*,
+/// };
+///
+/// #[derive(SystemParam)]
+/// pub struct HelloSiteWidget<'w, 's> {
+///     sites: Query<'w, 's, &'static NameOfSite>,
+///     current: Res<'w, CurrentWorkspace>,
+/// }
+///
+/// impl<'w, 's> WidgetSystem<Tile> for HelloSiteWidget<'w, 's> {
+///     fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+///         let mut params = state.get_mut(world);
+///         if let Some(name) = params.current.root.map(|e| params.sites.get(e).ok()).flatten() {
+///             ui.add_space(20.0);
+///             ui.heading(format!("Hello, {}!", name.0));
+///         }
+///     }
+/// }
+///
+/// fn main() {
+///     let mut app = App::new();
+///     app.add_plugins((
+///         SiteEditor::default(),
+///         PropertiesTilePlugin::<HelloSiteWidget>::new(),
+///     ));
+///
+///     app.run();
+/// }
+/// ```
+pub struct PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    _ignore: std::marker::PhantomData<W>,
+}
+
+impl<W> PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    pub fn new() -> Self {
+        Self {
+            _ignore: Default::default(),
+        }
+    }
+}
+
+impl<W> Plugin for PropertiesTilePlugin<W>
+where
+    W: WidgetSystem<Tile> + 'static + Send + Sync,
+{
+    fn build(&self, app: &mut App) {
+        let widget = Widget::<Tile>::new::<W>(&mut app.world);
+        let properties_panel = app.world.resource::<PropertiesPanel>().id;
+        app.world.spawn(widget).set_parent(properties_panel);
+    }
+}
+
+/// Get the ID of the properties panel.
+#[derive(Resource)]
+pub struct PropertiesPanel {
+    side: PanelSide,
+    id: Entity,
+}
+
+impl PropertiesPanel {
+    pub fn side(&self) -> PanelSide {
+        self.side
+    }
+
+    pub fn id(&self) -> Entity {
+        self.id
+    }
+}
+
+/// This plugin builds a properties panel for the editor. It is usually recommended
+/// to use [`StandardPropertiesPanelPlugin`] unless you need very specific
+/// customization of the properties panel.
+pub struct PropertiesPanelPlugin {
+    side: PanelSide,
+}
+
+impl PropertiesPanelPlugin {
+    pub fn new(side: PanelSide) -> Self {
+        Self { side }
+    }
+}
+
+impl Default for PropertiesPanelPlugin {
+    fn default() -> Self {
+        Self::new(PanelSide::Right)
+    }
+}
+
+impl Plugin for PropertiesPanelPlugin {
+    fn build(&self, app: &mut App) {
+        let widget = PanelWidget::new(show_panel_of_tiles, &mut app.world);
+        let id = app.world.spawn((widget, self.side)).id();
+        app.world.insert_resource(PropertiesPanel {
+            side: self.side,
+            id,
+        });
+    }
+}
diff --git a/rmf_site_editor/src/site/file_menu.rs b/rmf_site_editor/src/widgets/sdf_export_menu.rs
similarity index 86%
rename from rmf_site_editor/src/site/file_menu.rs
rename to rmf_site_editor/src/widgets/sdf_export_menu.rs
index c73516f8..4b8ff591 100644
--- a/rmf_site_editor/src/site/file_menu.rs
+++ b/rmf_site_editor/src/widgets/sdf_export_menu.rs
@@ -22,17 +22,17 @@ use std::collections::HashSet;
 
 /// Keeps track of which entity is associated to the export sdf button.
 #[derive(Resource)]
-pub struct ExportSdfMenu {
+pub struct SdfExportMenu {
     export_sdf: Entity,
 }
 
-impl ExportSdfMenu {
+impl SdfExportMenu {
     pub fn get(&self) -> Entity {
         self.export_sdf
     }
 }
 
-impl FromWorld for ExportSdfMenu {
+impl FromWorld for SdfExportMenu {
     fn from_world(world: &mut World) -> Self {
         let site_states = HashSet::from([
             AppState::SiteEditor,
@@ -48,13 +48,13 @@ impl FromWorld for ExportSdfMenu {
             .set_parent(file_header)
             .id();
 
-        ExportSdfMenu { export_sdf }
+        SdfExportMenu { export_sdf }
     }
 }
 
-pub fn handle_export_sdf_menu_events(
+fn handle_export_sdf_menu_events(
     mut menu_events: EventReader<MenuEvent>,
-    sdf_menu: Res<ExportSdfMenu>,
+    sdf_menu: Res<SdfExportMenu>,
     mut save_events: EventWriter<SaveWorkspace>,
 ) {
     for event in menu_events.read() {
@@ -68,11 +68,11 @@ pub fn handle_export_sdf_menu_events(
 }
 
 #[derive(Default)]
-pub struct SiteFileMenuPlugin;
+pub struct SdfExportMenuPlugin {}
 
-impl Plugin for SiteFileMenuPlugin {
+impl Plugin for SdfExportMenuPlugin {
     fn build(&self, app: &mut App) {
-        app.init_resource::<ExportSdfMenu>().add_systems(
+        app.init_resource::<SdfExportMenu>().add_systems(
             Update,
             handle_export_sdf_menu_events.run_if(AppState::in_site_mode()),
         );
diff --git a/rmf_site_editor/src/widgets/selector_widget.rs b/rmf_site_editor/src/widgets/selector_widget.rs
new file mode 100644
index 00000000..5db89737
--- /dev/null
+++ b/rmf_site_editor/src/widgets/selector_widget.rs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{
+    interaction::{Hover, Select, Selection},
+    site::SiteID,
+    widgets::{prelude::*, Icons},
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{Button, Ui};
+
+/// A widget that can be used to select entities.
+#[derive(SystemParam)]
+pub struct SelectorWidget<'w, 's> {
+    pub site_id: Query<'w, 's, &'static SiteID>,
+    pub icons: Res<'w, Icons>,
+    pub selection: Res<'w, Selection>,
+    pub select: EventWriter<'w, Select>,
+    pub hover: EventWriter<'w, Hover>,
+}
+
+impl<'w, 's> WidgetSystem<Entity, ()> for SelectorWidget<'w, 's> {
+    fn show(entity: Entity, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        params.show_widget(entity, ui);
+    }
+}
+
+impl<'w, 's> SelectorWidget<'w, 's> {
+    pub fn show_widget(&mut self, entity: Entity, ui: &mut Ui) {
+        let site_id = self.site_id.get(entity).ok().cloned();
+        let is_selected = self.selection.0.is_some_and(|s| s == entity);
+
+        let text = match site_id {
+            Some(id) => format!("#{}", id.0),
+            None => "*".to_owned(),
+        };
+
+        let icon = if is_selected {
+            self.icons.selected.egui()
+        } else {
+            self.icons.select.egui()
+        };
+
+        let response = ui.add(Button::image_and_text(icon, text));
+
+        if response.clicked() {
+            self.select.send(Select(Some(entity)));
+        } else if response.hovered() {
+            self.hover.send(Hover(Some(entity)));
+        }
+
+        response.on_hover_text("Select");
+    }
+}
+
+impl<'w, 's> ShareableWidget for SelectorWidget<'w, 's> {}
diff --git a/rmf_site_editor/src/widgets/view_groups.rs b/rmf_site_editor/src/widgets/view_groups.rs
index f6f0ceaf..b495462a 100644
--- a/rmf_site_editor/src/widgets/view_groups.rs
+++ b/rmf_site_editor/src/widgets/view_groups.rs
@@ -17,82 +17,86 @@
 
 use crate::{
     site::{Change, FiducialMarker, MergeGroups, NameInSite, SiteID, Texture},
-    widgets::{inspector::SelectionWidget, AppEvents},
-    Icons,
+    widgets::{prelude::*, SelectorWidget},
+    AppState, CurrentWorkspace, Icons,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{Button, CollapsingHeader, Ui};
 
-#[derive(Default, Clone, Copy)]
-pub enum GroupViewMode {
-    #[default]
-    View,
-    SelectMergeFrom,
-    MergeFrom(Entity),
-    Delete,
-}
-
-#[derive(Default, Resource)]
-pub struct GroupViewModes {
-    site: Option<Entity>,
-    textures: GroupViewMode,
-    fiducials: GroupViewMode,
-}
+/// Add a widget for viewing different kinds of groups.
+#[derive(Default)]
+pub struct ViewGroupsPlugin {}
 
-impl GroupViewModes {
-    pub fn reset(&mut self, site: Entity) {
-        *self = GroupViewModes::default();
-        self.site = Some(site);
+impl Plugin for ViewGroupsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<GroupViewModes>()
+            .add_plugins(PropertiesTilePlugin::<ViewGroups>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct GroupParams<'w, 's> {
+pub struct ViewGroups<'w, 's> {
     children: Query<'w, 's, &'static Children>,
     textures: Query<'w, 's, (&'static NameInSite, Option<&'static SiteID>), With<Texture>>,
     fiducials: Query<'w, 's, (&'static NameInSite, Option<&'static SiteID>), With<FiducialMarker>>,
     icons: Res<'w, Icons>,
     group_view_modes: ResMut<'w, GroupViewModes>,
+    app_state: Res<'w, State<AppState>>,
+    events: ViewGroupsEvents<'w, 's>,
 }
 
-pub struct ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a mut GroupParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct ViewGroupsEvents<'w, 's> {
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    selector: SelectorWidget<'w, 's>,
+    merge_groups: EventWriter<'w, MergeGroups>,
+    name: EventWriter<'w, Change<NameInSite>>,
+    commands: Commands<'w, 's>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a mut GroupParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewGroups<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Groups")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let Some(site) = self.events.request.current_workspace.root else {
+impl<'w, 's> ViewGroups<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let Some(site) = self.events.current_workspace.root else {
             return;
         };
-        let modes = &mut *self.params.group_view_modes;
+        let modes = &mut *self.group_view_modes;
         if !modes.site.is_some_and(|s| s == site) {
             modes.reset(site);
         }
-        let Ok(children) = self.params.children.get(site) else {
+        let Ok(children) = self.children.get(site) else {
             return;
         };
         CollapsingHeader::new("Textures").show(ui, |ui| {
             Self::show_groups(
                 children,
-                &self.params.textures,
+                &self.textures,
                 &mut modes.textures,
-                &self.params.icons,
-                self.events,
+                &self.icons,
+                &mut self.events,
                 ui,
             );
         });
         CollapsingHeader::new("Fiducials").show(ui, |ui| {
             Self::show_groups(
                 children,
-                &self.params.fiducials,
+                &self.fiducials,
                 &mut modes.fiducials,
-                &self.params.icons,
-                self.events,
+                &self.icons,
+                &mut self.events,
                 ui,
             );
         });
@@ -103,7 +107,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
         q_groups: &Query<(&NameInSite, Option<&SiteID>), With<T>>,
         mode: &mut GroupViewMode,
         icons: &Res<Icons>,
-        events: &mut AppEvents,
+        events: &mut ViewGroupsEvents,
         ui: &mut Ui,
     ) {
         ui.horizontal(|ui| match mode {
@@ -155,7 +159,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
             ui.horizontal(|ui| {
                 match mode.clone() {
                     GroupViewMode::View => {
-                        SelectionWidget::new(*child, site_id.cloned(), &icons, events).show(ui);
+                        events.selector.show_widget(*child, ui);
                     }
                     GroupViewMode::SelectMergeFrom => {
                         if ui
@@ -181,7 +185,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                                 .on_hover_text("Merge into this group")
                                 .clicked()
                             {
-                                events.change.merge_groups.send(MergeGroups {
+                                events.merge_groups.send(MergeGroups {
                                     from_group: merge_from,
                                     into_group: *child,
                                 });
@@ -203,12 +207,32 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
 
                 let mut new_name = name.0.clone();
                 if ui.text_edit_singleline(&mut new_name).changed() {
-                    events
-                        .change
-                        .name
-                        .send(Change::new(NameInSite(new_name), *child));
+                    events.name.send(Change::new(NameInSite(new_name), *child));
                 }
             });
         }
     }
 }
+
+#[derive(Default, Clone, Copy)]
+pub enum GroupViewMode {
+    #[default]
+    View,
+    SelectMergeFrom,
+    MergeFrom(Entity),
+    Delete,
+}
+
+#[derive(Default, Resource)]
+pub struct GroupViewModes {
+    site: Option<Entity>,
+    textures: GroupViewMode,
+    fiducials: GroupViewMode,
+}
+
+impl GroupViewModes {
+    pub fn reset(&mut self, site: Entity) {
+        *self = GroupViewModes::default();
+        self.site = Some(site);
+    }
+}
diff --git a/rmf_site_editor/src/widgets/view_layers.rs b/rmf_site_editor/src/widgets/view_layers.rs
index 5ca14202..3b159f7d 100644
--- a/rmf_site_editor/src/widgets/view_layers.rs
+++ b/rmf_site_editor/src/widgets/view_layers.rs
@@ -19,14 +19,29 @@ use crate::{
     interaction::Selection,
     recency::RecencyRanking,
     site::*,
-    widgets::{inspector::InspectLayer, AppEvents, Icons, MoveLayer},
+    widgets::{
+        inspector::{InspectLayer, InspectLayerInput},
+        prelude::*,
+        Icons, MoveLayer,
+    },
+    AppState,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{Button, CollapsingHeader, DragValue, ScrollArea, Ui};
 
+/// Add a widget for viewing a list of layers
+#[derive(Default)]
+pub struct ViewLayersPlugin {}
+
+impl Plugin for ViewLayersPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins(PropertiesTilePlugin::<ViewLayers>::new());
+    }
+}
+
 #[derive(SystemParam)]
-pub struct LayersParams<'w, 's> {
-    pub floors: Query<
+pub struct ViewLayers<'w, 's> {
+    floors: Query<
         'w,
         's,
         (
@@ -34,7 +49,7 @@ pub struct LayersParams<'w, 's> {
             &'static GlobalFloorVisibility,
         ),
     >,
-    pub drawings: Query<
+    drawings: Query<
         'w,
         's,
         (
@@ -42,51 +57,43 @@ pub struct LayersParams<'w, 's> {
             &'static GlobalDrawingVisibility,
         ),
     >,
-    pub layer_visibility: Query<
-        'w,
-        's,
-        (
-            Option<&'static LayerVisibility>,
-            &'static PreferredSemiTransparency,
-        ),
-    >,
-    pub levels: Query<
-        'w,
-        's,
-        (
-            &'static GlobalFloorVisibility,
-            &'static GlobalDrawingVisibility,
-        ),
-    >,
-    pub site_id: Query<'w, 's, Option<&'static SiteID>>,
-    pub icons: Res<'w, Icons>,
-    pub selection: Res<'w, Selection>,
+    icons: Res<'w, Icons>,
+    selection: Res<'w, Selection>,
+    current_level: Res<'w, CurrentLevel>,
+    global_floor_vis: EventWriter<'w, Change<GlobalFloorVisibility>>,
+    global_drawing_vis: EventWriter<'w, Change<GlobalDrawingVisibility>>,
+    view_layer: InspectLayer<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-pub struct ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LayersParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-}
-
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LayersParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewLayers<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        ui.separator();
+        CollapsingHeader::new("Layers")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(mut self, ui: &mut Ui) {
-        let current_level = match &self.events.request.current_level.0 {
-            Some(s) => *s,
-            None => return,
+impl<'w, 's> ViewLayers<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let Some(current_level) = self.current_level.0 else {
+            return;
         };
 
         let has_drawings = self
-            .params
             .drawings
             .get(current_level)
             .ok()
             .is_some_and(|(ranking, _)| !ranking.is_empty());
 
-        if let Ok((ranking, global)) = self.params.floors.get(current_level) {
+        if let Ok((ranking, global)) = self.floors.get(current_level) {
             CollapsingHeader::new("Floors")
                 .default_open(true)
                 .show(ui, |ui| {
@@ -101,22 +108,25 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                             )
                         };
                         let default_alpha = &mut shown_global.preferred_semi_transparency;
-                        self.show_global(text, vis, default_alpha, ui);
+                        Self::show_global(text, &self.icons, vis, default_alpha, ui);
 
                         if shown_global != *global {
-                            self.events
-                                .layers
-                                .global_floor_vis
+                            self.global_floor_vis
                                 .send(Change::new(shown_global, current_level));
                         }
                     });
                     ui.separator();
-                    if let Some(selected) = self.show_rankings(ranking.entities(), true, ui) {
+                    if let Some(selected) = Self::show_rankings(
+                        ranking.entities(),
+                        &self.selection,
+                        &mut self.view_layer,
+                        ui,
+                    ) {
                         ui.horizontal(|ui| {
                             MoveLayer::new(
                                 selected,
-                                &mut self.events.layers.floors,
-                                &self.events.layers.icons,
+                                &mut self.view_layer.floor_change_rank,
+                                &self.icons,
                             )
                             .show(ui);
                         });
@@ -125,7 +135,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                 });
         }
 
-        if let Ok((ranking, global)) = self.params.drawings.get(current_level) {
+        if let Ok((ranking, global)) = self.drawings.get(current_level) {
             CollapsingHeader::new("Drawings")
                 .default_open(true)
                 .show(ui, |ui| {
@@ -133,12 +143,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                     ui.horizontal(|ui| {
                         let vis = &mut shown_global.general;
                         let default_alpha = &mut shown_global.preferred_general_semi_transparency;
-                        self.show_global("Global (general)", vis, default_alpha, ui);
+                        Self::show_global("Global (general)", &self.icons, vis, default_alpha, ui);
                     });
                     ui.horizontal(|ui| {
                         let vis = &mut shown_global.bottom;
                         let default_alpha = &mut shown_global.preferred_bottom_semi_transparency;
-                        self.show_global("Global (bottom)", vis, default_alpha, ui);
+                        Self::show_global("Global (bottom)", &self.icons, vis, default_alpha, ui);
                     });
                     ui.horizontal(|ui| {
                         ui.label("Bottom Count").on_hover_text(
@@ -155,18 +165,21 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
                     });
 
                     if shown_global != *global {
-                        self.events
-                            .layers
-                            .global_drawing_vis
+                        self.global_drawing_vis
                             .send(Change::new(shown_global, current_level));
                     }
 
-                    if let Some(selected) = self.show_rankings(ranking.entities(), false, ui) {
+                    if let Some(selected) = Self::show_rankings(
+                        ranking.entities(),
+                        &self.selection,
+                        &mut self.view_layer,
+                        ui,
+                    ) {
                         ui.horizontal(|ui| {
                             MoveLayer::new(
                                 selected,
-                                &mut self.events.layers.drawings,
-                                &self.events.layers.icons,
+                                &mut self.view_layer.drawing_change_rank,
+                                &self.icons,
                             )
                             .show(ui);
                         });
@@ -176,13 +189,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
     }
 
     fn show_global(
-        &self,
         text: &str,
+        icons: &Icons,
         vis: &mut LayerVisibility,
         default_alpha: &mut f32,
         ui: &mut Ui,
     ) {
-        let icon = self.params.icons.layer_visibility_of(Some(*vis));
+        let icon = icons.layer_visibility_of(Some(*vis));
         if ui
             .add(Button::image_and_text(icon, text))
             .on_hover_text(format!("Change to {}", vis.next(*default_alpha).label()))
@@ -202,35 +215,20 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLayers<'a, 'w1, 's1, 'w2, 's2> {
     }
 
     fn show_rankings(
-        &mut self,
         ranking: &Vec<Entity>,
-        is_floor: bool,
+        selection: &Selection,
+        view_layer: &mut InspectLayer,
         ui: &mut Ui,
     ) -> Option<Entity> {
         let mut layer_selected = None;
         ui.vertical(|ui| {
             ScrollArea::vertical().show(ui, |ui| {
-                for e in ranking.iter().rev() {
-                    let mut as_selected = false;
-                    if self.params.selection.0.is_some_and(|sel| sel == *e) {
-                        as_selected = true;
-                        layer_selected = Some(*e);
+                for id in ranking.iter().rev().copied() {
+                    if selection.0.is_some_and(|s| s == id) {
+                        layer_selected = Some(id);
                     }
-                    let Ok((vis, alpha)) = self.params.layer_visibility.get(*e) else {
-                        continue;
-                    };
                     ui.horizontal(|ui| {
-                        InspectLayer::new(
-                            *e,
-                            &self.params.icons,
-                            &mut self.events,
-                            vis.copied(),
-                            alpha.0,
-                            is_floor,
-                        )
-                        .with_selecting(self.params.site_id.get(*e).ok().flatten().copied())
-                        .as_selected(as_selected)
-                        .show(ui);
+                        view_layer.show_widget(InspectLayerInput::new(id).with_selecting(), ui);
                     });
                 }
             });
diff --git a/rmf_site_editor/src/widgets/view_levels.rs b/rmf_site_editor/src/widgets/view_levels.rs
index b65c5770..ef7ebb84 100644
--- a/rmf_site_editor/src/widgets/view_levels.rs
+++ b/rmf_site_editor/src/widgets/view_levels.rs
@@ -17,106 +17,106 @@
 
 use crate::{
     site::{
-        Category, Change, Delete, DrawingMarker, FloorMarker, LevelElevation, LevelProperties,
-        NameInSite,
+        Category, Change, CurrentLevel, Delete, DrawingMarker, FloorMarker, LevelElevation,
+        LevelProperties, NameInSite,
     },
-    widgets::{AppEvents, Icons},
-    RecencyRanking,
+    widgets::{prelude::*, Icons},
+    AppState, CurrentWorkspace, RecencyRanking,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use bevy_egui::egui::{DragValue, ImageButton, Ui};
+use bevy_egui::egui::{CollapsingHeader, DragValue, ImageButton, Ui};
 use std::cmp::{Ordering, Reverse};
 
-#[derive(Resource)]
-pub struct LevelDisplay {
-    pub new_elevation: f32,
-    pub new_name: String,
-    pub order: Vec<Entity>,
-    pub freeze: bool,
-    pub removing: bool,
-}
+/// Add a plugin for viewing and editing a list of all levels
+#[derive(Default)]
+pub struct ViewLevelsPlugin {}
 
-impl Default for LevelDisplay {
-    fn default() -> Self {
-        Self {
-            new_elevation: 0.0,
-            new_name: "<Unnamed>".to_string(),
-            order: Vec::new(),
-            freeze: false,
-            removing: false,
-        }
+impl Plugin for ViewLevelsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LevelDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewLevels>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct LevelParams<'w, 's> {
-    pub levels: Query<'w, 's, (Entity, &'static NameInSite, &'static LevelElevation)>,
-    pub parents: Query<'w, 's, &'static Parent>,
-    pub icons: Res<'w, Icons>,
+pub struct ViewLevels<'w, 's> {
+    levels: Query<'w, 's, (Entity, &'static NameInSite, &'static LevelElevation)>,
+    parents: Query<'w, 's, &'static Parent>,
+    icons: Res<'w, Icons>,
+    display_levels: ResMut<'w, LevelDisplay>,
+    current_level: ResMut<'w, CurrentLevel>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    change_name: EventWriter<'w, Change<NameInSite>>,
+    change_level_elevation: EventWriter<'w, Change<LevelElevation>>,
+    delete: EventWriter<'w, Delete>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-pub struct ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LevelParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
-    edit_visibility: bool,
+impl<'w, 's> WidgetSystem<Tile> for ViewLevels<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) -> () {
+        let mut params = state.get_mut(world);
+        CollapsingHeader::new("Levels")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
+    }
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LevelParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self {
-            params,
-            events,
-            edit_visibility: false,
-        }
-    }
+impl<'w, 's> ViewLevels<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let editing = match self.app_state.get() {
+            AppState::SiteEditor => true,
+            AppState::SiteVisualizer => false,
+            _ => return,
+        };
 
-    pub fn for_editing_visibility(mut self) -> Self {
-        self.edit_visibility = true;
-        self
-    }
+        if !editing {
+            self.display_levels.removing = false;
+        }
 
-    pub fn show(self, ui: &mut Ui) {
-        ui.horizontal(|ui| {
-            let make_new_level = ui.button("Add").clicked();
-            let mut show_elevation = self.events.display.level.new_elevation;
-            ui.add(DragValue::new(&mut show_elevation).suffix("m"))
-                .on_hover_text("Elevation for the new level");
-
-            let mut show_name = self.events.display.level.new_name.clone();
-            ui.text_edit_singleline(&mut show_name)
-                .on_hover_text("Name for the new level");
-
-            if make_new_level {
-                let new_level = self
-                    .events
-                    .commands
-                    .spawn((
-                        SpatialBundle::default(),
-                        LevelProperties {
-                            elevation: LevelElevation(show_elevation),
-                            name: NameInSite(show_name.clone()),
-                            ..Default::default()
-                        },
-                        Category::Level,
-                        RecencyRanking::<DrawingMarker>::default(),
-                        RecencyRanking::<FloorMarker>::default(),
-                    ))
-                    .id();
-                self.events.request.current_level.0 = Some(new_level);
-            }
+        if editing {
+            ui.horizontal(|ui| {
+                let make_new_level = ui.button("Add").clicked();
+                let mut show_elevation = self.display_levels.new_elevation;
+                ui.add(DragValue::new(&mut show_elevation).suffix("m"))
+                    .on_hover_text("Elevation for the new level");
+
+                let mut show_name = self.display_levels.new_name.clone();
+                ui.text_edit_singleline(&mut show_name)
+                    .on_hover_text("Name for the new level");
+
+                if make_new_level {
+                    let new_level = self
+                        .commands
+                        .spawn((
+                            SpatialBundle::default(),
+                            LevelProperties {
+                                elevation: LevelElevation(show_elevation),
+                                name: NameInSite(show_name.clone()),
+                                ..Default::default()
+                            },
+                            Category::Level,
+                            RecencyRanking::<DrawingMarker>::default(),
+                            RecencyRanking::<FloorMarker>::default(),
+                        ))
+                        .id();
+                    self.current_level.0 = Some(new_level);
+                }
 
-            self.events.display.level.new_elevation = show_elevation;
-            self.events.display.level.new_name = show_name;
-        });
+                self.display_levels.new_elevation = show_elevation;
+                self.display_levels.new_name = show_name;
+            });
+        }
 
-        if !self.events.display.level.freeze {
+        if !self.display_levels.freeze {
             let mut ordered_level_list: Vec<_> = self
-                .params
                 .levels
                 .iter()
                 .filter(|(e, _, _)| {
-                    AncestorIter::new(&self.params.parents, *e)
-                        .any(|e| Some(e) == self.events.request.current_workspace.root)
+                    AncestorIter::new(&self.parents, *e)
+                        .any(|e| Some(e) == self.current_workspace.root)
                 })
                 .map(|(e, _, elevation)| (Reverse(elevation.0), e))
                 .collect();
@@ -132,51 +132,44 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
                 }
             });
 
-            self.events.display.level.order =
-                ordered_level_list.into_iter().map(|(_, e)| e).collect();
+            self.display_levels.order = ordered_level_list.into_iter().map(|(_, e)| e).collect();
         }
 
-        if self.events.display.level.removing {
+        if self.display_levels.removing {
             ui.horizontal(|ui| {
                 if ui.button("Select").clicked() {
-                    self.events.display.level.removing = false;
+                    self.display_levels.removing = false;
                 }
                 ui.label("Remove");
             });
-        } else {
+        } else if editing {
             ui.horizontal(|ui| {
                 ui.label("Select");
                 if ui.button("Remove").clicked() {
-                    self.events.display.level.removing = true;
+                    self.display_levels.removing = true;
                 }
             });
         }
 
         let mut any_dragging = false;
         let mut any_deleted = false;
-        for e in self.events.display.level.order.iter().copied() {
-            if let Ok((_, name, elevation)) = self.params.levels.get(e) {
+        for e in self.display_levels.order.iter().copied() {
+            if let Ok((_, name, elevation)) = self.levels.get(e) {
                 let mut shown_elevation = elevation.clone().0;
                 let mut shown_name = name.clone().0;
                 ui.horizontal(|ui| {
-                    if self.events.display.level.removing {
+                    if self.display_levels.removing {
                         if ui
-                            .add(ImageButton::new(self.params.icons.trash.egui()))
+                            .add(ImageButton::new(self.icons.trash.egui()))
                             .on_hover_text("Remove this level")
                             .clicked()
                         {
-                            self.events
-                                .request
-                                .delete
-                                .send(Delete::new(e).and_dependents());
+                            self.delete.send(Delete::new(e).and_dependents());
                             any_deleted = true;
                         }
-                    } else if self.edit_visibility == true {
-                        if ui
-                            .radio(Some(e) == **self.events.request.current_level, "")
-                            .clicked()
-                        {
-                            self.events.request.current_level.0 = Some(e);
+                    } else if editing {
+                        if ui.radio(Some(e) == **self.current_level, "").clicked() {
+                            self.current_level.0 = Some(e);
                         }
                     }
 
@@ -192,24 +185,41 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLevels<'a, 'w1, 's1, 'w2, 's2> {
                 });
 
                 if shown_name != name.0 {
-                    self.events
-                        .change
-                        .name
+                    self.change_name
                         .send(Change::new(NameInSite(shown_name), e));
                 }
 
                 if shown_elevation != elevation.0 {
-                    self.events
-                        .change
-                        .level_elevation
+                    self.change_level_elevation
                         .send(Change::new(LevelElevation(shown_elevation), e));
                 }
             }
         }
 
-        self.events.display.level.freeze = any_dragging;
+        self.display_levels.freeze = any_dragging;
         if any_deleted {
-            self.events.display.level.removing = false;
+            self.display_levels.removing = false;
+        }
+    }
+}
+
+#[derive(Resource)]
+pub struct LevelDisplay {
+    pub new_elevation: f32,
+    pub new_name: String,
+    pub order: Vec<Entity>,
+    pub freeze: bool,
+    pub removing: bool,
+}
+
+impl Default for LevelDisplay {
+    fn default() -> Self {
+        Self {
+            new_elevation: 0.0,
+            new_name: "<Unnamed>".to_string(),
+            order: Vec::new(),
+            freeze: false,
+            removing: false,
         }
     }
 }
diff --git a/rmf_site_editor/src/widgets/view_lights.rs b/rmf_site_editor/src/widgets/view_lights.rs
index 84a87ab5..aa2df1c4 100644
--- a/rmf_site_editor/src/widgets/view_lights.rs
+++ b/rmf_site_editor/src/widgets/view_lights.rs
@@ -16,84 +16,79 @@
 */
 
 use crate::{
-    icons::Icons,
-    interaction::Select,
+    interaction::{HeadlightToggle, Select},
     site::{
-        Angle, Category, ExportLights, Light, LightKind, Pose, Recall, RecallLightKind, Rotation,
-        SiteID,
+        Angle, Category, ExportLights, Light, LightKind, PhysicalLightToggle, Pose, Recall,
+        RecallLightKind, Rotation, SiteID,
     },
     widgets::{
-        inspector::{InspectLightKind, InspectPose, SelectionWidget},
-        AppEvents,
+        inspector::{InspectLightKind, InspectPoseComponent},
+        prelude::*,
+        SelectorWidget,
     },
+    AppState,
 };
 use bevy::{
     ecs::system::SystemParam,
     prelude::*,
     tasks::{AsyncComputeTaskPool, Task},
 };
-use bevy_egui::egui::Ui;
+use bevy_egui::egui::{CollapsingHeader, Ui};
 use futures_lite::future;
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::AsyncFileDialog;
 use std::cmp::Reverse;
 use std::collections::BTreeMap;
 
-#[derive(Resource)]
-pub struct LightDisplay {
-    pub pose: Pose,
-    pub kind: LightKind,
-    pub recall: RecallLightKind,
-    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
-    pub export_file: Option<std::path::PathBuf>,
-}
+/// Add a plugin for viewing and editing a list of all lights
+#[derive(Default)]
+pub struct ViewLightsPlugin {}
 
-impl Default for LightDisplay {
-    fn default() -> Self {
-        Self {
-            pose: Pose {
-                trans: [0.0, 0.0, 2.6],
-                rot: Rotation::EulerExtrinsicXYZ([
-                    Angle::Deg(0.0),
-                    Angle::Deg(0.0),
-                    Angle::Deg(0.0),
-                ]),
-            },
-            kind: Default::default(),
-            recall: Default::default(),
-            choosing_file_for_export: None,
-            export_file: None,
-        }
+impl Plugin for ViewLightsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<LightDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewLights>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct LightParams<'w, 's> {
-    pub lights: Query<'w, 's, (Entity, &'static LightKind, Option<&'static SiteID>)>,
-    pub icons: Res<'w, Icons>,
-}
-
-pub struct ViewLights<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a LightParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+pub struct ViewLights<'w, 's> {
+    lights: Query<'w, 's, (Entity, &'static LightKind, Option<&'static SiteID>)>,
+    toggle_headlights: ResMut<'w, HeadlightToggle>,
+    toggle_physical_lights: ResMut<'w, PhysicalLightToggle>,
+    export_lights: EventWriter<'w, ExportLights>,
+    display_light: ResMut<'w, LightDisplay>,
+    selector: SelectorWidget<'w, 's>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a LightParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewLights<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Lights")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
-        let mut use_headlight = self.events.request.toggle_headlights.0;
+impl<'w, 's> ViewLights<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let mut use_headlight = self.toggle_headlights.0;
         ui.checkbox(&mut use_headlight, "Use Headlight");
-        if use_headlight != self.events.request.toggle_headlights.0 {
-            self.events.request.toggle_headlights.0 = use_headlight;
+        if use_headlight != self.toggle_headlights.0 {
+            self.toggle_headlights.0 = use_headlight;
         }
 
-        let mut use_physical_lights = self.events.request.toggle_physical_lights.0;
+        let mut use_physical_lights = self.toggle_physical_lights.0;
         ui.checkbox(&mut use_physical_lights, "Use Physical Lights");
-        if use_physical_lights != self.events.request.toggle_physical_lights.0 {
-            self.events.request.toggle_physical_lights.0 = use_physical_lights;
+        if use_physical_lights != self.toggle_physical_lights.0 {
+            self.toggle_physical_lights.0 = use_physical_lights;
         }
 
         ui.separator();
@@ -101,16 +96,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
         #[cfg(not(target_arch = "wasm32"))]
         {
             ui.horizontal(|ui| {
-                if let Some(export_file) = &self.events.display.light.export_file {
+                if let Some(export_file) = &self.display_light.export_file {
                     if ui.button("Export").clicked() {
-                        self.events
-                            .request
-                            .export_lights
-                            .send(ExportLights(export_file.clone()));
+                        self.export_lights.send(ExportLights(export_file.clone()));
                     }
                 }
                 if ui.button("Export Lights As...").clicked() {
-                    match &self.events.display.light.choosing_file_for_export {
+                    match &self.display_light.choosing_file_for_export {
                         Some(_) => {
                             warn!("A file is already being chosen!");
                         }
@@ -123,12 +115,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
 
                                 Some(file.path().to_path_buf())
                             });
-                            self.events.display.light.choosing_file_for_export = Some(future);
+                            self.display_light.choosing_file_for_export = Some(future);
                         }
                     }
                 }
             });
-            match &self.events.display.light.export_file {
+            match &self.display_light.export_file {
                 Some(path) => match path.to_str() {
                     Some(s) => {
                         ui.label(s);
@@ -145,41 +137,37 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
         }
 
         ui.heading("Create new light");
-        if let Some(new_pose) = InspectPose::new(&self.events.display.light.pose).show(ui) {
-            self.events.display.light.pose = new_pose;
+        if let Some(new_pose) = InspectPoseComponent::new(&self.display_light.pose).show(ui) {
+            self.display_light.pose = new_pose;
         }
 
         ui.push_id("Add Light", |ui| {
-            if let Some(new_kind) = InspectLightKind::new(
-                &self.events.display.light.kind,
-                &self.events.display.light.recall,
-            )
-            .show(ui)
+            if let Some(new_kind) =
+                InspectLightKind::new(&self.display_light.kind, &self.display_light.recall).show(ui)
             {
-                self.events.display.light.recall.remember(&new_kind);
-                self.events.display.light.kind = new_kind;
+                self.display_light.recall.remember(&new_kind);
+                self.display_light.kind = new_kind;
             }
         });
 
         // TODO(MXG): Add a + icon to this button to make it more visible
         if ui.button("Add").clicked() {
             let new_light = self
-                .events
                 .commands
                 .spawn(Light {
-                    pose: self.events.display.light.pose,
-                    kind: self.events.display.light.kind,
+                    pose: self.display_light.pose,
+                    kind: self.display_light.kind,
                 })
                 .insert(Category::Light)
                 .id();
-            self.events.request.select.send(Select(Some(new_light)));
+            self.selector.select.send(Select(Some(new_light)));
         }
 
         ui.separator();
 
         let mut unsaved_lights = BTreeMap::new();
         let mut saved_lights = BTreeMap::new();
-        for (e, kind, site_id) in &self.params.lights {
+        for (e, kind, site_id) in &self.lights {
             if let Some(site_id) = site_id {
                 saved_lights.insert(Reverse(site_id.0), (e, kind.label()));
             } else {
@@ -189,26 +177,48 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewLights<'a, 'w1, 's1, 'w2, 's2> {
 
         for (e, label) in unsaved_lights {
             ui.horizontal(|ui| {
-                SelectionWidget::new(e.0, None, self.params.icons.as_ref(), self.events).show(ui);
+                self.selector.show_widget(e.0, ui);
                 ui.label(label);
             });
         }
 
-        for (site_id, (e, label)) in saved_lights {
+        for (_, (e, label)) in saved_lights {
             ui.horizontal(|ui| {
-                SelectionWidget::new(
-                    e,
-                    Some(SiteID(site_id.0)),
-                    self.params.icons.as_ref(),
-                    self.events,
-                )
-                .show(ui);
+                self.selector.show_widget(e, ui);
                 ui.label(label);
             });
         }
     }
 }
 
+#[derive(Resource)]
+pub struct LightDisplay {
+    pub pose: Pose,
+    pub kind: LightKind,
+    pub recall: RecallLightKind,
+    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
+    pub export_file: Option<std::path::PathBuf>,
+}
+
+impl Default for LightDisplay {
+    fn default() -> Self {
+        Self {
+            pose: Pose {
+                trans: [0.0, 0.0, 2.6],
+                rot: Rotation::EulerExtrinsicXYZ([
+                    Angle::Deg(0.0),
+                    Angle::Deg(0.0),
+                    Angle::Deg(0.0),
+                ]),
+            },
+            kind: Default::default(),
+            recall: Default::default(),
+            choosing_file_for_export: None,
+            export_file: None,
+        }
+    }
+}
+
 pub fn resolve_light_export_file(
     mut light_display: ResMut<LightDisplay>,
     mut export_lights: EventWriter<ExportLights>,
diff --git a/rmf_site_editor/src/widgets/view_nav_graphs.rs b/rmf_site_editor/src/widgets/view_nav_graphs.rs
index 6752717d..80f51bcf 100644
--- a/rmf_site_editor/src/widgets/view_nav_graphs.rs
+++ b/rmf_site_editor/src/widgets/view_nav_graphs.rs
@@ -16,87 +16,82 @@
 */
 
 use crate::{
-    interaction::Selection,
     recency::RecencyRanking,
     site::{
         Change, Delete, DisplayColor, ImportNavGraphs, NameInSite, NameOfSite, NavGraph,
-        NavGraphMarker, SaveNavGraphs, SiteID, DEFAULT_NAV_GRAPH_COLORS,
+        NavGraphMarker, SaveNavGraphs, DEFAULT_NAV_GRAPH_COLORS,
     },
-    widgets::{
-        inspector::{color_edit, selection_widget::SelectionWidget},
-        AppEvents, Icons, MoveLayerButton,
-    },
-    Autoload, CurrentWorkspace,
+    widgets::{inspector::color_edit, prelude::*, Icons, MoveLayerButton, SelectorWidget},
+    AppState, Autoload, ChangeRank, CurrentWorkspace,
 };
 use bevy::{
     ecs::system::SystemParam,
     prelude::*,
     tasks::{AsyncComputeTaskPool, Task},
 };
-use bevy_egui::egui::{ImageButton, Ui};
+use bevy_egui::egui::{CollapsingHeader, ImageButton, Ui};
 use futures_lite::future;
 
 #[cfg(not(target_arch = "wasm32"))]
 use rfd::AsyncFileDialog;
 
-#[derive(Resource)]
-pub struct NavGraphDisplay {
-    pub color: Option<[f32; 4]>,
-    pub name: String,
-    pub removing: bool,
-    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
-    pub export_file: Option<std::path::PathBuf>,
-    pub choosing_file_to_import: Option<Task<Option<(std::path::PathBuf, ImportNavGraphs)>>>,
-}
+/// Add a widget for viewing and editing navigation graphs.
+#[derive(Default)]
+pub struct ViewNavGraphsPlugin {}
 
-impl FromWorld for NavGraphDisplay {
-    fn from_world(world: &mut World) -> Self {
-        let export_file = world
-            .get_resource::<Autoload>()
-            .map(|a| a.import.clone())
-            .flatten();
-        Self {
-            color: None,
-            name: "<Unnamed>".to_string(),
-            removing: false,
-            choosing_file_for_export: None,
-            export_file,
-            choosing_file_to_import: None,
-        }
+impl Plugin for ViewNavGraphsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<NavGraphDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewNavGraphs>::new());
     }
 }
 
 #[derive(SystemParam)]
-pub struct NavGraphParams<'w, 's> {
-    pub ranking: Query<'w, 's, &'static RecencyRanking<NavGraphMarker>>,
-    pub graphs: Query<
+pub struct ViewNavGraphs<'w, 's> {
+    ranking: Query<'w, 's, &'static RecencyRanking<NavGraphMarker>>,
+    graphs: Query<
         'w,
         's,
         (
             &'static NameInSite,
             &'static DisplayColor,
             &'static Visibility,
-            Option<&'static SiteID>,
         ),
         With<NavGraphMarker>,
     >,
-    pub icons: Res<'w, Icons>,
-    pub selection: Res<'w, Selection>,
-}
-
-pub struct ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
-    params: &'a NavGraphParams<'w1, 's1>,
-    events: &'a mut AppEvents<'w2, 's2>,
+    icons: Res<'w, Icons>,
+    open_sites: Query<'w, 's, Entity, With<NameOfSite>>,
+    current_workspace: ResMut<'w, CurrentWorkspace>,
+    display_nav_graph: ResMut<'w, NavGraphDisplay>,
+    delete: EventWriter<'w, Delete>,
+    change_visibility: EventWriter<'w, Change<Visibility>>,
+    change_name: EventWriter<'w, Change<NameInSite>>,
+    change_color: EventWriter<'w, Change<DisplayColor>>,
+    change_rank: EventWriter<'w, ChangeRank<NavGraphMarker>>,
+    save_nav_graphs: EventWriter<'w, SaveNavGraphs>,
+    selector: SelectorWidget<'w, 's>,
+    commands: Commands<'w, 's>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
-    pub fn new(params: &'a NavGraphParams<'w1, 's1>, events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { params, events }
+impl<'w, 's> WidgetSystem<Tile> for ViewNavGraphs<'w, 's> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Navigation")
+            .default_open(true)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui, open_sites: &Query<Entity, With<NameOfSite>>) {
-        let ranking = match self.events.request.current_workspace.root {
-            Some(c) => match self.params.ranking.get(c) {
+impl<'w, 's> ViewNavGraphs<'w, 's> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
+        let ranking = match self.current_workspace.root {
+            Some(c) => match self.ranking.get(c) {
                 Ok(r) => r,
                 Err(_) => return,
             },
@@ -105,13 +100,13 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
         let graph_count = ranking.len();
 
         ui.horizontal(|ui| {
-            if self.events.display.nav_graph.removing {
+            if self.display_nav_graph.removing {
                 if ui
                     .button("View")
                     .on_hover_text("Toggle visibility of graphs")
                     .clicked()
                 {
-                    self.events.display.nav_graph.removing = false;
+                    self.display_nav_graph.removing = false;
                 }
                 ui.label("Remove");
             } else {
@@ -121,53 +116,48 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                     .on_hover_text("Choose a graph to remove")
                     .clicked()
                 {
-                    self.events.display.nav_graph.removing = true;
+                    self.display_nav_graph.removing = true;
                 }
             }
         });
 
         ui.horizontal(|ui| {
             let add = ui.button("Add").clicked();
-            if self.events.display.nav_graph.color.is_none() {
+            if self.display_nav_graph.color.is_none() {
                 let next_color_index = graph_count % DEFAULT_NAV_GRAPH_COLORS.len();
-                self.events.display.nav_graph.color =
-                    Some(DEFAULT_NAV_GRAPH_COLORS[next_color_index]);
+                self.display_nav_graph.color = Some(DEFAULT_NAV_GRAPH_COLORS[next_color_index]);
             }
-            if let Some(color) = &mut self.events.display.nav_graph.color {
+            if let Some(color) = &mut self.display_nav_graph.color {
                 color_edit(ui, color);
             }
-            ui.text_edit_singleline(&mut self.events.display.nav_graph.name);
+            ui.text_edit_singleline(&mut self.display_nav_graph.name);
             if add {
-                self.events
-                    .commands
+                self.commands
                     .spawn(SpatialBundle::default())
                     .insert(NavGraph {
-                        name: NameInSite(self.events.display.nav_graph.name.clone()),
-                        color: DisplayColor(self.events.display.nav_graph.color.unwrap().clone()),
+                        name: NameInSite(self.display_nav_graph.name.clone()),
+                        color: DisplayColor(self.display_nav_graph.color.unwrap().clone()),
                         marker: Default::default(),
                     });
-                self.events.display.nav_graph.color = None;
+                self.display_nav_graph.color = None;
             }
         });
 
         let mut selected_graph = None;
         for e in ranking.iter().rev() {
             let e = *e;
-            if self.params.selection.0.is_some_and(|sel| sel == e) {
+            if self.selector.selection.0.is_some_and(|sel| sel == e) {
                 selected_graph = Some(e);
             }
-            let (name, color, vis, site_id) = match self.params.graphs.get(e) {
+            let (name, color, vis) = match self.graphs.get(e) {
                 Ok(g) => g,
                 Err(_) => continue,
             };
             ui.horizontal(|ui| {
-                if self.events.display.nav_graph.removing {
-                    if ui
-                        .add(ImageButton::new(self.params.icons.trash.egui()))
-                        .clicked()
-                    {
-                        self.events.request.delete.send(Delete::new(e));
-                        self.events.display.nav_graph.removing = false;
+                if self.display_nav_graph.removing {
+                    if ui.add(ImageButton::new(self.icons.trash.egui())).clicked() {
+                        self.delete.send(Delete::new(e));
+                        self.display_nav_graph.removing = false;
                     }
                 } else {
                     let mut is_visible = !matches!(vis, Visibility::Hidden);
@@ -185,51 +175,32 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                         } else {
                             Visibility::Hidden
                         };
-                        self.events
-                            .change
-                            .visibility
-                            .send(Change::new(visibility, e));
+                        self.change_visibility.send(Change::new(visibility, e));
                     }
                 }
 
-                SelectionWidget::new(e, site_id.copied(), &self.params.icons, self.events).show(ui);
+                self.selector.show_widget(e, ui);
 
                 let mut new_color = color.0;
                 color_edit(ui, &mut new_color);
                 if new_color != color.0 {
-                    self.events
-                        .change
-                        .color
+                    self.change_color
                         .send(Change::new(DisplayColor(new_color), e));
                 }
 
                 let mut new_name = name.0.clone();
                 if ui.text_edit_singleline(&mut new_name).changed() {
-                    self.events
-                        .change
-                        .name
-                        .send(Change::new(NameInSite(new_name), e));
+                    self.change_name.send(Change::new(NameInSite(new_name), e));
                 }
             });
         }
 
         if let Some(e) = selected_graph {
             ui.horizontal(|ui| {
-                MoveLayerButton::to_top(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::up(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::down(e, &mut self.events.layers.nav_graphs, &self.params.icons)
-                    .show(ui);
-
-                MoveLayerButton::to_bottom(
-                    e,
-                    &mut self.events.layers.nav_graphs,
-                    &self.params.icons,
-                )
-                .show(ui);
+                MoveLayerButton::to_top(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::up(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::down(e, &mut self.change_rank, &self.icons).show(ui);
+                MoveLayerButton::to_bottom(e, &mut self.change_rank, &self.icons).show(ui);
             });
         }
 
@@ -237,40 +208,35 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
         {
             ui.separator();
             if ui.button("Import Graphs...").clicked() {
-                match self.events.request.current_workspace.to_site(open_sites) {
-                    Some(into_site) => {
-                        match &self.events.display.nav_graph.choosing_file_to_import {
-                            Some(_) => {
-                                warn!("A file is already being chosen!");
-                            }
-                            None => {
-                                let future = AsyncComputeTaskPool::get().spawn(async move {
-                                    let file = match AsyncFileDialog::new().pick_file().await {
-                                        Some(file) => file,
-                                        None => return None,
-                                    };
+                match self.current_workspace.to_site(&self.open_sites) {
+                    Some(into_site) => match &self.display_nav_graph.choosing_file_to_import {
+                        Some(_) => {
+                            warn!("A file is already being chosen!");
+                        }
+                        None => {
+                            let future = AsyncComputeTaskPool::get().spawn(async move {
+                                let file = match AsyncFileDialog::new().pick_file().await {
+                                    Some(file) => file,
+                                    None => return None,
+                                };
 
-                                    // TODO(luca) make this accept different file formats
-                                    match rmf_site_format::Site::from_bytes_ron(&file.read().await)
-                                    {
-                                        Ok(from_site) => Some((
-                                            file.path().to_owned(),
-                                            ImportNavGraphs {
-                                                into_site,
-                                                from_site,
-                                            },
-                                        )),
-                                        Err(err) => {
-                                            error!("Unable to parse file:\n{err}");
-                                            None
-                                        }
+                                match rmf_site_format::Site::from_bytes_ron(&file.read().await) {
+                                    Ok(from_site) => Some((
+                                        file.path().to_owned(),
+                                        ImportNavGraphs {
+                                            into_site,
+                                            from_site,
+                                        },
+                                    )),
+                                    Err(err) => {
+                                        error!("Unable to parse file:\n{err}");
+                                        None
                                     }
-                                });
-                                self.events.display.nav_graph.choosing_file_to_import =
-                                    Some(future);
-                            }
+                                }
+                            });
+                            self.display_nav_graph.choosing_file_to_import = Some(future);
                         }
-                    }
+                    },
                     None => {
                         error!("No current site??");
                     }
@@ -278,12 +244,11 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
             }
             ui.separator();
             ui.horizontal(|ui| {
-                if let Some(export_file) = &self.events.display.nav_graph.export_file {
+                if let Some(export_file) = &self.display_nav_graph.export_file {
                     if ui.button("Export").clicked() {
-                        if let Some(current_site) =
-                            self.events.request.current_workspace.to_site(open_sites)
+                        if let Some(current_site) = self.current_workspace.to_site(&self.open_sites)
                         {
-                            self.events.request.save_nav_graphs.send(SaveNavGraphs {
+                            self.save_nav_graphs.send(SaveNavGraphs {
                                 site: current_site,
                                 to_file: export_file.clone(),
                             })
@@ -293,7 +258,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                     }
                 }
                 if ui.button("Export Graphs As...").clicked() {
-                    match &self.events.display.nav_graph.choosing_file_for_export {
+                    match &self.display_nav_graph.choosing_file_for_export {
                         Some(_) => {
                             warn!("A file is already being chosen!");
                         }
@@ -305,12 +270,12 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
                                 };
                                 Some(file.path().to_path_buf())
                             });
-                            self.events.display.nav_graph.choosing_file_for_export = Some(future);
+                            self.display_nav_graph.choosing_file_for_export = Some(future);
                         }
                     }
                 }
             });
-            if let Some(export_file) = &self.events.display.nav_graph.export_file {
+            if let Some(export_file) = &self.display_nav_graph.export_file {
                 if let Some(export_file) = export_file.as_os_str().to_str() {
                     ui.horizontal(|ui| {
                         ui.label("Chosen file:");
@@ -322,6 +287,33 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewNavGraphs<'a, 'w1, 's1, 'w2, 's2> {
     }
 }
 
+#[derive(Resource)]
+pub struct NavGraphDisplay {
+    pub color: Option<[f32; 4]>,
+    pub name: String,
+    pub removing: bool,
+    pub choosing_file_for_export: Option<Task<Option<std::path::PathBuf>>>,
+    pub export_file: Option<std::path::PathBuf>,
+    pub choosing_file_to_import: Option<Task<Option<(std::path::PathBuf, ImportNavGraphs)>>>,
+}
+
+impl FromWorld for NavGraphDisplay {
+    fn from_world(world: &mut World) -> Self {
+        let export_file = world
+            .get_resource::<Autoload>()
+            .map(|a| a.import.clone())
+            .flatten();
+        Self {
+            color: None,
+            name: "<Unnamed>".to_string(),
+            removing: false,
+            choosing_file_for_export: None,
+            export_file,
+            choosing_file_to_import: None,
+        }
+    }
+}
+
 pub fn resolve_nav_graph_import_export_files(
     mut nav_graph_display: ResMut<NavGraphDisplay>,
     mut save_nav_graphs: EventWriter<SaveNavGraphs>,
diff --git a/rmf_site_editor/src/widgets/view_occupancy.rs b/rmf_site_editor/src/widgets/view_occupancy.rs
index 4cd4ca30..2580c3a8 100644
--- a/rmf_site_editor/src/widgets/view_occupancy.rs
+++ b/rmf_site_editor/src/widgets/view_occupancy.rs
@@ -15,50 +15,64 @@
  *
 */
 
-use crate::{occupancy::CalculateGrid, widgets::AppEvents};
-use bevy::prelude::Resource;
-use bevy_egui::egui::{DragValue, Ui};
+use crate::{occupancy::CalculateGrid, widgets::prelude::*, AppState};
+use bevy::prelude::*;
+use bevy_egui::egui::{CollapsingHeader, DragValue, Ui};
 
-#[derive(Resource)]
-pub struct OccupancyDisplay {
-    pub cell_size: f32,
-}
+/// Add a widget that provides a button for producing an occupancy grid
+/// visualization.
+#[derive(Default)]
+pub struct ViewOccupancyPlugin {}
 
-impl Default for OccupancyDisplay {
-    fn default() -> Self {
-        Self { cell_size: 0.5 }
+impl Plugin for ViewOccupancyPlugin {
+    fn build(&self, app: &mut bevy::prelude::App) {
+        app.init_resource::<OccupancyDisplay>()
+            .add_plugins(PropertiesTilePlugin::<ViewOccupancy>::new());
     }
 }
 
-pub struct ViewOccupancy<'a, 'w2, 's2> {
-    events: &'a mut AppEvents<'w2, 's2>,
+#[derive(SystemParam)]
+pub struct ViewOccupancy<'w> {
+    calculate_grid: EventWriter<'w, CalculateGrid>,
+    display_occupancy: ResMut<'w, OccupancyDisplay>,
+    app_state: Res<'w, State<AppState>>,
 }
 
-impl<'a, 'w2, 's2> ViewOccupancy<'a, 'w2, 's2> {
-    pub fn new(events: &'a mut AppEvents<'w2, 's2>) -> Self {
-        Self { events }
+impl<'w> WidgetSystem<Tile> for ViewOccupancy<'w> {
+    fn show(_: Tile, ui: &mut Ui, state: &mut SystemState<Self>, world: &mut World) {
+        let mut params = state.get_mut(world);
+        if *params.app_state.get() != AppState::SiteEditor {
+            return;
+        }
+        CollapsingHeader::new("Occupancy")
+            .default_open(false)
+            .show(ui, |ui| {
+                params.show_widget(ui);
+            });
     }
+}
 
-    pub fn show(self, ui: &mut Ui) {
+impl<'w> ViewOccupancy<'w> {
+    pub fn show_widget(&mut self, ui: &mut Ui) {
         ui.horizontal(|ui| {
             if ui.button("Calculate Occupancy").clicked() {
-                self.events.request.calculate_grid.send(CalculateGrid {
-                    cell_size: self.events.display.occupancy.cell_size,
+                self.calculate_grid.send(CalculateGrid {
+                    cell_size: self.display_occupancy.cell_size,
                     floor: 0.01,
                     ceiling: 1.5,
                 });
             }
             if ui
                 .add(
-                    DragValue::new(&mut self.events.display.occupancy.cell_size)
+                    DragValue::new(&mut self.display_occupancy.cell_size)
                         .clamp_range(0.01..=f32::INFINITY)
                         .speed(0.01),
                 )
                 .changed()
             {
-                if self.events.display.occupancy.cell_size > 0.1 {
-                    self.events.request.calculate_grid.send(CalculateGrid {
-                        cell_size: self.events.display.occupancy.cell_size,
+                if self.display_occupancy.cell_size > 0.1 {
+                    self.calculate_grid.send(CalculateGrid {
+                        cell_size: self.display_occupancy.cell_size,
                         floor: 0.01,
                         ceiling: 1.5,
                     });
@@ -67,3 +81,14 @@ impl<'a, 'w2, 's2> ViewOccupancy<'a, 'w2, 's2> {
         });
     }
 }
+
+#[derive(Resource)]
+pub struct OccupancyDisplay {
+    pub cell_size: f32,
+}
+
+impl Default for OccupancyDisplay {
+    fn default() -> Self {
+        Self { cell_size: 0.5 }
+    }
+}
diff --git a/rmf_site_editor/src/wireframe.rs b/rmf_site_editor/src/wireframe.rs
index 0af9defc..cde4af12 100644
--- a/rmf_site_editor/src/wireframe.rs
+++ b/rmf_site_editor/src/wireframe.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use crate::menu_bar::{MenuEvent, MenuItem, ViewMenu};
+use crate::widgets::menu_bar::{MenuEvent, MenuItem, ViewMenu};
 use bevy::pbr::wireframe::{Wireframe, WireframePlugin};
 use bevy::prelude::*;
 
diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
index 4992fbef..9a26296b 100644
--- a/rmf_site_editor/src/workcell/mod.rs
+++ b/rmf_site_editor/src/workcell/mod.rs
@@ -73,8 +73,6 @@ impl Plugin for WorkcellEditorPlugin {
     fn build(&self, app: &mut App) {
         app.add_plugins(InfiniteGridPlugin)
             .add_event::<CreateJoint>()
-            .add_event::<SaveWorkcell>()
-            .add_event::<LoadWorkcell>()
             .add_event::<ChangeCurrentWorkcell>()
             .add_systems(OnEnter(AppState::WorkcellEditor), spawn_grid)
             .add_systems(OnExit(AppState::WorkcellEditor), delete_grid)
diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
index d03b5e6f..57cae9cb 100644
--- a/rmf_site_editor/src/workspace.rs
+++ b/rmf_site_editor/src/workspace.rs
@@ -214,6 +214,8 @@ impl Plugin for WorkspacePlugin {
             .add_event::<CreateNewWorkspace>()
             .add_event::<LoadWorkspace>()
             .add_event::<SaveWorkspace>()
+            .add_event::<SaveWorkcell>()
+            .add_event::<LoadWorkcell>()
             .init_resource::<CurrentWorkspace>()
             .init_resource::<RecallWorkspace>()
             .init_resource::<SaveWorkspaceChannels>()
diff --git a/rmf_site_format/src/workcell.rs b/rmf_site_format/src/workcell.rs
index 842dc5e1..af4d2e4b 100644
--- a/rmf_site_format/src/workcell.rs
+++ b/rmf_site_format/src/workcell.rs
@@ -15,7 +15,11 @@
  *
 */
 
-use std::collections::{BTreeMap, HashMap, HashSet};
+use std::collections::{BTreeMap, HashMap};
+
+#[cfg(feature = "bevy")]
+use std::collections::HashSet;
+
 use std::io;
 
 use crate::misc::Rotation;