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diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index ca4d1601..44271f17 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -50,6 +50,7 @@ pathdiff = "*"
 tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
 nalgebra = "0.32.5"
+anyhow = "*"
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
diff --git a/rmf_site_editor/src/interaction/anchor.rs b/rmf_site_editor/src/interaction/anchor.rs
index 5a9f2ca0..beef344b 100644
--- a/rmf_site_editor/src/interaction/anchor.rs
+++ b/rmf_site_editor/src/interaction/anchor.rs
@@ -23,6 +23,12 @@ use crate::{
 };
 use bevy::prelude::*;
 
+/// Use this resource to indicate whether anchors should be constantly highlighted.
+/// This is used during anchor selection modes to make it easier for users to know
+/// where selectable anchors are.
+#[derive(Clone, Copy, Debug, Resource)]
+pub struct HighlightAnchors(pub bool);
+
 #[derive(Component, Debug, Clone, Copy)]
 pub struct AnchorVisualization {
     pub body: Entity,
@@ -37,6 +43,7 @@ pub fn add_anchor_visual_cues(
     >,
     categories: Query<&Category>,
     site_assets: Res<SiteAssets>,
+    highlight: Res<HighlightAnchors>,
 ) {
     for (e, parent, subordinate, anchor) in &new_anchors {
         let body_mesh = match categories.get(parent.get()).unwrap() {
@@ -65,12 +72,29 @@ pub fn add_anchor_visual_cues(
             .insert(OutlineVisualization::Anchor { body })
             .add_child(body);
 
-        // 3D anchors should always be visible with arrow cue meshes
-        if anchor.is_3D() {
-            entity_commands.insert(VisualCue::outline());
+        let cue = if anchor.is_3D() {
+            // 3D anchors should always be visible with arrow cue meshes
+            VisualCue::outline()
         } else {
-            entity_commands.insert(VisualCue::outline().irregular());
-        }
+            let mut cue = VisualCue::outline().irregular();
+            cue.xray.set_always(highlight.0);
+            cue
+        };
+
+        entity_commands.insert(cue);
+    }
+}
+
+pub fn on_highlight_anchors_change(
+    highlight: Res<HighlightAnchors>,
+    mut anchor_visual_cues: Query<&mut VisualCue, With<Anchor>>,
+) {
+    if !highlight.is_changed() {
+        return;
+    }
+
+    for mut cue in &mut anchor_visual_cues {
+        cue.xray.set_always(highlight.0);
     }
 }
 
@@ -110,12 +134,12 @@ pub fn update_anchor_proximity_xray(
     }
 
     let p_c = match intersect_ground_params.ground_plane_intersection() {
-        Some(p) => p,
+        Some(p) => p.translation,
         None => return,
     };
 
     for (anchor_tf, mut cue) in &mut anchors {
-        // TODO(MXG): Make the proximity range configurable
+        // TODO(@mxgrey): Make the proximity range configurable
         let proximity = {
             // We make the xray effect a little "sticky" so that there isn't an
             // ugly flicker for anchors that are right at the edge of the
@@ -156,22 +180,6 @@ pub fn update_unassigned_anchor_cues(
     }
 }
 
-pub fn update_anchor_cues_for_mode(
-    mode: Res<InteractionMode>,
-    mut anchors: Query<&mut VisualCue, With<Anchor>>,
-) {
-    if !mode.is_changed() {
-        return;
-    }
-
-    let anchor_always_visible = mode.is_selecting_anchor();
-    for mut cue in &mut anchors {
-        if cue.xray.always() != anchor_always_visible {
-            cue.xray.set_always(anchor_always_visible);
-        }
-    }
-}
-
 pub fn update_anchor_visual_cues(
     mut commands: Commands,
     mut anchors: Query<
@@ -191,10 +199,11 @@ pub fn update_anchor_visual_cues(
     mut visibility: Query<&mut Visibility>,
     mut materials: Query<&mut Handle<StandardMaterial>>,
     deps: Query<&Dependents>,
-    cursor: Res<Cursor>,
+    mut cursor: ResMut<Cursor>,
     site_assets: Res<SiteAssets>,
     interaction_assets: Res<InteractionAssets>,
     debug_mode: Option<Res<DebugMode>>,
+    gizmo_blockers: Res<GizmoBlockers>,
 ) {
     for (
         a,
@@ -235,8 +244,10 @@ pub fn update_anchor_visual_cues(
                 .set_support_hovered(!hovered.support_hovering.is_empty());
         }
 
-        if hovered.is_hovered {
-            set_visibility(cursor.frame, &mut visibility, false);
+        if hovered.is_hovered && !gizmo_blockers.blocking() {
+            cursor.add_blocker(a, &mut visibility);
+        } else {
+            cursor.remove_blocker(a, &mut visibility);
         }
 
         if hovered.cue() && selected.cue() {
@@ -303,7 +314,7 @@ pub fn update_anchor_visual_cues(
 }
 
 // NOTE(MXG): Currently only anchors ever have support cues, so we filter down
-// to entities with AnchorVisualCues. We will need to broaden that if any other
+// to entities with AnchorVisualization. We will need to broaden that if any other
 // visual cue types ever have a supporting role.
 pub fn remove_deleted_supports_from_visual_cues(
     mut hovered: Query<&mut Hovered, With<AnchorVisualization>>,
diff --git a/rmf_site_editor/src/interaction/assets.rs b/rmf_site_editor/src/interaction/assets.rs
index 36b29400..daf17cd5 100644
--- a/rmf_site_editor/src/interaction/assets.rs
+++ b/rmf_site_editor/src/interaction/assets.rs
@@ -202,11 +202,14 @@ impl InteractionAssets {
 
         commands.entity(drag_parent).with_children(|parent| {
             for (polyline, material) in &self.centimeter_finite_grid {
-                parent.spawn(PolylineBundle {
-                    polyline: polyline.clone(),
-                    material: material.clone(),
-                    ..default()
-                });
+                parent.spawn((
+                    PolylineBundle {
+                        polyline: polyline.clone(),
+                        material: material.clone(),
+                        ..default()
+                    },
+                    DisableXray,
+                ));
             }
         });
 
diff --git a/rmf_site_editor/src/interaction/camera_controls/cursor.rs b/rmf_site_editor/src/interaction/camera_controls/cursor.rs
index c26f0584..da96fb0a 100644
--- a/rmf_site_editor/src/interaction/camera_controls/cursor.rs
+++ b/rmf_site_editor/src/interaction/camera_controls/cursor.rs
@@ -20,7 +20,7 @@ use super::{
     CameraCommandType, CameraControls, ProjectionMode, MAX_FOV, MAX_SCALE, MIN_FOV, MIN_SCALE,
 };
 use crate::interaction::SiteRaycastSet;
-use bevy::input::mouse::MouseWheel;
+use bevy::input::mouse::{MouseScrollUnit, MouseWheel};
 use bevy::prelude::*;
 use bevy::window::PrimaryWindow;
 use bevy_mod_raycast::deferred::RaycastSource;
@@ -92,15 +92,10 @@ pub fn update_cursor_command(
         // Scroll input
         let mut scroll_motion = 0.0;
         for ev in mouse_wheel.read() {
-            #[cfg(not(target_arch = "wasm32"))]
-            {
-                scroll_motion += ev.y;
-            }
-            #[cfg(target_arch = "wasm32")]
-            {
-                // scrolling in wasm is a different beast
-                scroll_motion += 0.4 * ev.y / ev.y.abs();
-            }
+            scroll_motion += match ev.unit {
+                MouseScrollUnit::Line => ev.y,
+                MouseScrollUnit::Pixel => ev.y / 100.0,
+            };
         }
 
         // Command type, return if inactive
diff --git a/rmf_site_editor/src/interaction/camera_controls/keyboard.rs b/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
index 6dba913d..32bdacd0 100644
--- a/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
+++ b/rmf_site_editor/src/interaction/camera_controls/keyboard.rs
@@ -187,7 +187,7 @@ pub fn update_keyboard_command(
 
         // Set camera selection as orbit center, discard once orbit operation complete
         let camera_selection = match keyboard_command.camera_selection {
-            Some(camera_selection) => camera_selection,
+            Some(camera_selection) => Some(camera_selection),
             None => get_camera_selected_point(
                 &camera,
                 &camera_global_transform,
@@ -195,6 +195,12 @@ pub fn update_keyboard_command(
                 immediate_raycast,
             ),
         };
+
+        let Some(camera_selection) = camera_selection else {
+            warn!("Point could not be calculated for camera");
+            return;
+        };
+
         if command_type == CameraCommandType::Orbit {
             camera_controls.orbit_center = Some(camera_selection);
         }
diff --git a/rmf_site_editor/src/interaction/camera_controls/utils.rs b/rmf_site_editor/src/interaction/camera_controls/utils.rs
index bd0885f7..f09e8fa9 100644
--- a/rmf_site_editor/src/interaction/camera_controls/utils.rs
+++ b/rmf_site_editor/src/interaction/camera_controls/utils.rs
@@ -71,12 +71,11 @@ pub fn get_camera_selected_point(
     camera_global_transform: &GlobalTransform,
     user_camera_display: Res<UserCameraDisplay>,
     mut immediate_raycast: Raycast,
-) -> Vec3 {
+) -> Option<Vec3> {
     // Assume that the camera spans the full window, covered by egui panels
     let available_viewport_center = user_camera_display.region.center();
-    let camera_ray = camera
-        .viewport_to_world(camera_global_transform, available_viewport_center)
-        .expect("Active camera does not have a valid ray from center of its viewport");
+    let camera_ray =
+        camera.viewport_to_world(camera_global_transform, available_viewport_center)?;
     let camera_ray = Ray3d::new(camera_ray.origin, *camera_ray.direction);
     let raycast_setting = RaycastSettings::default()
         .always_early_exit()
@@ -86,13 +85,13 @@ pub fn get_camera_selected_point(
     let intersections = immediate_raycast.cast_ray(camera_ray, &raycast_setting);
     if intersections.len() > 0 {
         let (_, intersection_data) = &intersections[0];
-        return intersection_data.position();
+        return Some(intersection_data.position());
     } else {
-        return get_groundplane_else_default_selection(
+        return Some(get_groundplane_else_default_selection(
             camera_ray.origin,
             *camera_ray.direction,
             *camera_ray.direction,
-        );
+        ));
     }
 }
 
diff --git a/rmf_site_editor/src/interaction/cursor.rs b/rmf_site_editor/src/interaction/cursor.rs
index 891a7bb5..d4590134 100644
--- a/rmf_site_editor/src/interaction/cursor.rs
+++ b/rmf_site_editor/src/interaction/cursor.rs
@@ -21,12 +21,12 @@ use crate::{
     site::{AnchorBundle, Pending, SiteAssets, Trashcan},
 };
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
-use bevy_mod_raycast::{
-    deferred::RaycastMesh,
-    deferred::RaycastSource,
-    primitives::rays::{ray_from_screenspace, to_aligned_transform},
+use bevy_mod_raycast::primitives::{
+    rays::{intersects_primitive, ray_from_screenspace},
+    Primitive3d,
 };
-use rmf_site_format::{FloorMarker, Model, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel};
+
+use rmf_site_format::{FloorMarker, Model, WallMarker, WorkcellModel};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -97,6 +97,14 @@ impl Cursor {
         }
     }
 
+    pub fn clear_blockers(&mut self, visibility: &mut Query<&mut Visibility>) {
+        let had_blockers = !self.blockers.is_empty();
+        self.blockers.clear();
+        if had_blockers {
+            self.toggle_visibility(visibility);
+        }
+    }
+
     fn toggle_visibility(&mut self, visibility: &mut Query<&mut Visibility>) {
         if let Ok(mut v) = visibility.get_mut(self.frame) {
             let new_visible = if self.should_be_visible() {
@@ -110,9 +118,12 @@ impl Cursor {
         }
     }
 
-    fn remove_preview(&mut self, commands: &mut Commands) {
+    pub fn remove_preview(&mut self, commands: &mut Commands) {
         if let Some(current_preview) = self.preview_model {
-            commands.entity(current_preview).set_parent(self.trashcan);
+            commands.get_entity(current_preview).map(|mut e_mut| {
+                e_mut.set_parent(self.trashcan);
+            });
+            self.preview_model = None;
         }
     }
 
@@ -287,7 +298,23 @@ pub struct IntersectGroundPlaneParams<'w, 's> {
 }
 
 impl<'w, 's> IntersectGroundPlaneParams<'w, 's> {
-    pub fn ground_plane_intersection(&self) -> Option<Vec3> {
+    pub fn ground_plane_intersection(&self) -> Option<Transform> {
+        let ground_plane = Primitive3d::Plane {
+            point: Vec3::ZERO,
+            normal: Vec3::Z,
+        };
+        self.primitive_intersection(ground_plane)
+    }
+
+    pub fn frame_plane_intersection(&self, frame: Entity) -> Option<Transform> {
+        let tf = self.global_transforms.get(frame).ok()?;
+        let affine = tf.affine();
+        let point = affine.translation.into();
+        let normal = affine.matrix3.col(2).into();
+        self.primitive_intersection(Primitive3d::Plane { point, normal })
+    }
+
+    pub fn primitive_intersection(&self, primitive: Primitive3d) -> Option<Transform> {
         let window = self.primary_windows.get_single().ok()?;
         let cursor_position = window.cursor_position()?;
         let e_active_camera = self.camera_controls.active_camera();
@@ -295,145 +322,17 @@ impl<'w, 's> IntersectGroundPlaneParams<'w, 's> {
         let camera_tf = self.global_transforms.get(e_active_camera).ok()?;
         let primary_window = self.primary_window.get_single().ok()?;
         let ray = ray_from_screenspace(cursor_position, active_camera, camera_tf, primary_window)?;
-        let n_p = Vec3::Z;
-        let n_r = ray.direction;
-        let denom = n_p.dot(*n_r);
-        if denom.abs() < 1e-3 {
-            // Too close to parallel
-            return None;
-        }
-
-        Some(ray.origin - n_r * ray.origin.dot(n_p) / denom)
-    }
-}
-
-pub fn update_cursor_transform(
-    mode: Res<InteractionMode>,
-    cursor: Res<Cursor>,
-    raycast_sources: Query<&RaycastSource<SiteRaycastSet>>,
-    models: Query<(), Or<(With<ModelMarker>, With<PrimitiveShape>)>>,
-    mut transforms: Query<&mut Transform>,
-    hovering: Res<Hovering>,
-    intersect_ground_params: IntersectGroundPlaneParams,
-    mut visibility: Query<&mut Visibility>,
-) {
-    match &*mode {
-        InteractionMode::Inspect => {
-            // TODO(luca) this will not work if more than one raycast source exist
-            let Ok(source) = raycast_sources.get_single() else {
-                return;
-            };
-            let intersection = match source.get_nearest_intersection() {
-                Some((_, intersection)) => intersection,
-                None => {
-                    return;
-                }
-            };
-
-            let mut transform = match transforms.get_mut(cursor.frame) {
-                Ok(transform) => transform,
-                Err(_) => {
-                    return;
-                }
-            };
-
-            let ray = Ray3d::new(intersection.position(), intersection.normal());
 
-            *transform = Transform::from_matrix(to_aligned_transform(ray, [0., 0., 1.].into()));
-        }
-        InteractionMode::SelectAnchor(_) => {
-            let intersection = match intersect_ground_params.ground_plane_intersection() {
-                Some(intersection) => intersection,
-                None => {
-                    return;
-                }
-            };
-
-            let mut transform = match transforms.get_mut(cursor.frame) {
-                Ok(transform) => transform,
-                Err(_) => {
-                    return;
-                }
-            };
-
-            *transform = Transform::from_translation(intersection);
-        }
-        // TODO(luca) snap to features of meshes
-        InteractionMode::SelectAnchor3D(_mode) => {
-            let mut transform = match transforms.get_mut(cursor.frame) {
-                Ok(transform) => transform,
-                Err(_) => {
-                    error!("No cursor transform found");
-                    return;
-                }
-            };
-
-            let Ok(source) = raycast_sources.get_single() else {
-                return;
-            };
-
-            // Check if there is an intersection to a mesh, if there isn't fallback to ground plane
-            if let Some((_, intersection)) = source.get_nearest_intersection() {
-                let Some(triangle) = intersection.triangle() else {
-                    return;
-                };
-                // Make sure we are hovering over a model and not anything else (i.e. anchor)
-                match cursor.preview_model {
-                    None => {
-                        if hovering.0.and_then(|e| models.get(e).ok()).is_some() {
-                            // Find the closest triangle vertex
-                            // TODO(luca) Also snap to edges of triangles or just disable altogether and snap
-                            // to area, then populate a MeshConstraint component to be used by downstream
-                            // spawning methods
-                            // TODO(luca) there must be a better way to find a minimum given predicate in Rust
-                            let triangle_vecs = vec![triangle[1], triangle[2]];
-                            let position = intersection.position();
-                            let mut closest_vertex = triangle[0];
-                            let mut closest_dist = position.distance(triangle[0].into());
-                            for v in triangle_vecs {
-                                let dist = position.distance(v.into());
-                                if dist < closest_dist {
-                                    closest_dist = dist;
-                                    closest_vertex = v;
-                                }
-                            }
-                            //closest_vertex = *triangle_vecs.iter().min_by(|position, ver| position.distance(**ver).cmp(closest_dist)).unwrap();
-                            let ray = Ray3d::new(closest_vertex.into(), intersection.normal());
-                            *transform = Transform::from_matrix(to_aligned_transform(
-                                ray,
-                                [0., 0., 1.].into(),
-                            ));
-                            set_visibility(cursor.frame, &mut visibility, true);
-                        } else {
-                            // Hide the cursor
-                            set_visibility(cursor.frame, &mut visibility, false);
-                        }
-                    }
-                    Some(_) => {
-                        // If we are placing a model avoid snapping to faced and just project to
-                        // ground plane
-                        let intersection = match intersect_ground_params.ground_plane_intersection()
-                        {
-                            Some(intersection) => intersection,
-                            None => {
-                                return;
-                            }
-                        };
-                        set_visibility(cursor.frame, &mut visibility, true);
-                        *transform = Transform::from_translation(intersection);
-                    }
-                }
-            } else {
-                let intersection = match intersect_ground_params.ground_plane_intersection() {
-                    Some(intersection) => intersection,
-                    None => {
-                        return;
-                    }
-                };
-                set_visibility(cursor.frame, &mut visibility, true);
-                *transform = Transform::from_translation(intersection);
+        let n = *match &primitive {
+            Primitive3d::Plane { normal, .. } => normal,
+            _ => {
+                warn!("Unsupported primitive type found");
+                return None;
             }
-        }
+        };
+        let p = intersects_primitive(ray, primitive).map(|intersection| intersection.position())?;
+
+        Some(Transform::from_translation(p).with_rotation(aligned_z_axis(n)))
     }
 }
 
@@ -475,16 +374,19 @@ pub fn update_cursor_hover_visualization(
     }
 }
 
-// This system makes sure model previews are not picked up by raycasting
-pub fn make_model_previews_not_selectable(
-    mut commands: Commands,
-    new_models: Query<Entity, (With<ModelMarker>, Added<Selectable>)>,
-    cursor: Res<Cursor>,
-) {
-    if let Some(e) = cursor.preview_model.and_then(|m| new_models.get(m).ok()) {
-        commands
-            .entity(e)
-            .remove::<Selectable>()
-            .remove::<RaycastMesh<SiteRaycastSet>>();
+pub fn aligned_z_axis(z: Vec3) -> Quat {
+    let z_length = z.length();
+    if z_length < 1e-8 {
+        // The given direction is too close to singular
+        return Quat::IDENTITY;
+    }
+
+    let axis = Vec3::Z.cross(z);
+    let axis_length = axis.length();
+    if axis_length < 1e-8 {
+        // The change in angle is too close to zero
+        return Quat::IDENTITY;
     }
+    let angle = f32::asin(axis_length / z_length);
+    Quat::from_axis_angle(axis / axis_length, angle)
 }
diff --git a/rmf_site_editor/src/interaction/gizmo.rs b/rmf_site_editor/src/interaction/gizmo.rs
index 56261ee8..5093b061 100644
--- a/rmf_site_editor/src/interaction/gizmo.rs
+++ b/rmf_site_editor/src/interaction/gizmo.rs
@@ -36,6 +36,23 @@ pub struct GizmoMaterialSet {
     pub drag: Handle<StandardMaterial>,
 }
 
+#[derive(Resource)]
+pub struct GizmoBlockers {
+    pub selecting: bool,
+}
+
+impl GizmoBlockers {
+    pub fn blocking(&self) -> bool {
+        self.selecting
+    }
+}
+
+impl Default for GizmoBlockers {
+    fn default() -> Self {
+        Self { selecting: false }
+    }
+}
+
 impl GizmoMaterialSet {
     pub fn make_x_axis(materials: &mut Mut<Assets<StandardMaterial>>) -> Self {
         Self {
@@ -136,6 +153,7 @@ pub struct DragAxisBundle {
     pub gizmo: Gizmo,
     pub draggable: Draggable,
     pub axis: DragAxis,
+    pub selectable: Selectable,
 }
 
 impl DragAxisBundle {
@@ -147,6 +165,10 @@ impl DragAxisBundle {
                 along,
                 frame: FrameOfReference::Local,
             },
+            selectable: Selectable {
+                is_selectable: true,
+                element: for_entity,
+            },
         }
     }
 
@@ -174,6 +196,7 @@ pub struct DragPlaneBundle {
     pub gizmo: Gizmo,
     pub draggable: Draggable,
     pub plane: DragPlane,
+    pub selectable: Selectable,
 }
 
 impl DragPlaneBundle {
@@ -185,6 +208,10 @@ impl DragPlaneBundle {
                 in_plane,
                 frame: FrameOfReference::Local,
             },
+            selectable: Selectable {
+                is_selectable: true,
+                element: for_entity,
+            },
         }
     }
 
@@ -242,6 +269,7 @@ pub fn update_gizmo_click_start(
         &mut Handle<StandardMaterial>,
     )>,
     mut selection_blocker: ResMut<SelectionBlockers>,
+    gizmo_blocker: Res<GizmoBlockers>,
     mut visibility: Query<&mut Visibility>,
     mouse_button_input: Res<ButtonInput<MouseButton>>,
     transforms: Query<(&Transform, &GlobalTransform)>,
@@ -252,6 +280,16 @@ pub fn update_gizmo_click_start(
     mut click: EventWriter<GizmoClicked>,
     mut removed_gizmos: RemovedComponents<Gizmo>,
 ) {
+    if gizmo_blocker.blocking() {
+        if gizmo_blocker.is_changed() {
+            // This has started being blocked since the last cycle
+            cursor.clear_blockers(&mut visibility);
+        }
+
+        // Don't start any gizmos
+        return;
+    }
+
     for e in removed_gizmos.read() {
         cursor.remove_blocker(e, &mut visibility);
     }
@@ -327,12 +365,14 @@ pub fn update_gizmo_click_start(
 pub fn update_gizmo_release(
     mut draggables: Query<(&Gizmo, &mut Draggable, &mut Handle<StandardMaterial>)>,
     mut selection_blockers: ResMut<SelectionBlockers>,
+    gizmo_blockers: Res<GizmoBlockers>,
     mut gizmo_state: ResMut<GizmoState>,
     mouse_button_input: Res<ButtonInput<MouseButton>>,
-    picked: Res<Picked>,
-    mut change_pick: EventWriter<ChangePick>,
+    mut picked: ResMut<Picked>,
 ) {
-    if mouse_button_input.just_released(MouseButton::Left) {
+    let mouse_released = mouse_button_input.just_released(MouseButton::Left);
+    let gizmos_blocked = gizmo_blockers.blocking();
+    if mouse_released || gizmos_blocked {
         if let GizmoState::Dragging(e) = *gizmo_state {
             if let Ok((gizmo, mut draggable, mut material)) = draggables.get_mut(e) {
                 draggable.drag = None;
@@ -348,10 +388,7 @@ pub fn update_gizmo_release(
             // to move the cursor off of whatever object it happens to be
             // hovering over after the drag is finished before interactions like
             // selecting or dragging can resume.
-            change_pick.send(ChangePick {
-                from: None,
-                to: picked.0,
-            });
+            picked.refresh = true;
         }
     }
 }
diff --git a/rmf_site_editor/src/interaction/lift.rs b/rmf_site_editor/src/interaction/lift.rs
index efbf9457..0262ccc9 100644
--- a/rmf_site_editor/src/interaction/lift.rs
+++ b/rmf_site_editor/src/interaction/lift.rs
@@ -57,7 +57,7 @@ pub fn handle_lift_doormat_clicks(
     for click in clicks.read() {
         if let Ok(doormat) = doormats.get(click.0) {
             toggle.send(doormat.toggle_availability());
-            select.send(Select(Some(doormat.for_lift)));
+            select.send(Select::new(Some(doormat.for_lift)));
         }
     }
 }
diff --git a/rmf_site_editor/src/interaction/light.rs b/rmf_site_editor/src/interaction/light.rs
index 0caf3fc1..3fa79985 100644
--- a/rmf_site_editor/src/interaction/light.rs
+++ b/rmf_site_editor/src/interaction/light.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{
-    interaction::{DragPlaneBundle, HeadlightToggle, InteractionAssets, Selectable},
+    interaction::{DragPlaneBundle, HeadlightToggle, InteractionAssets},
     site::LightKind,
 };
 use bevy::prelude::*;
@@ -94,7 +94,6 @@ pub fn add_physical_light_visual_cues(
                         material: assets.physical_light_cover_material.clone(),
                         ..default()
                     })
-                    .insert(Selectable::new(e))
                     .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
 
                 point
@@ -103,7 +102,6 @@ pub fn add_physical_light_visual_cues(
                         material: light_material.clone(),
                         ..default()
                     })
-                    .insert(Selectable::new(e))
                     .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
             })
             .id();
@@ -123,7 +121,6 @@ pub fn add_physical_light_visual_cues(
                     material: assets.physical_light_cover_material.clone(),
                     ..default()
                 })
-                .insert(Selectable::new(e))
                 .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
 
                 spot.spawn(PbrBundle {
@@ -131,7 +128,6 @@ pub fn add_physical_light_visual_cues(
                     material: light_material.clone(),
                     ..default()
                 })
-                .insert(Selectable::new(e))
                 .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
             })
             .id();
@@ -151,7 +147,6 @@ pub fn add_physical_light_visual_cues(
                     material: assets.direction_light_cover_material.clone(),
                     ..default()
                 })
-                .insert(Selectable::new(e))
                 .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
 
                 dir.spawn(PbrBundle {
@@ -159,7 +154,6 @@ pub fn add_physical_light_visual_cues(
                     material: light_material.clone(),
                     ..default()
                 })
-                .insert(Selectable::new(e))
                 .insert(DragPlaneBundle::new(e, Vec3::Z).globally());
             })
             .id();
diff --git a/rmf_site_editor/src/interaction/mod.rs b/rmf_site_editor/src/interaction/mod.rs
index bc7b6a1f..a977f693 100644
--- a/rmf_site_editor/src/interaction/mod.rs
+++ b/rmf_site_editor/src/interaction/mod.rs
@@ -55,9 +55,6 @@ pub use lift::*;
 pub mod light;
 pub use light::*;
 
-pub mod mode;
-pub use mode::*;
-
 pub mod model_preview;
 pub use model_preview::*;
 
@@ -82,9 +79,6 @@ pub use preview::*;
 pub mod select;
 pub use select::*;
 
-pub mod select_anchor;
-pub use select_anchor::*;
-
 pub mod visual_cue;
 pub use visual_cue::*;
 
@@ -134,8 +128,9 @@ pub enum InteractionUpdateSet {
 impl Plugin for InteractionPlugin {
     fn build(&self, app: &mut App) {
         app.init_state::<InteractionState>()
+            .init_resource::<GizmoBlockers>()
             .configure_sets(
-                Update,
+                PostUpdate,
                 (
                     SiteUpdateSet::AssignOrphansFlush,
                     InteractionUpdateSet::AddVisuals,
@@ -155,17 +150,10 @@ impl Plugin for InteractionPlugin {
             .init_resource::<CameraControls>()
             .init_resource::<Picked>()
             .init_resource::<PickingBlockers>()
-            .init_resource::<SelectionBlockers>()
-            .init_resource::<Selection>()
-            .init_resource::<Hovering>()
             .init_resource::<GizmoState>()
-            .init_resource::<InteractionMode>()
-            .init_resource::<HiddenSelectAnchorEntities>()
+            .insert_resource(HighlightAnchors(false))
             .add_event::<ChangePick>()
-            .add_event::<Select>()
-            .add_event::<Hover>()
             .add_event::<MoveTo>()
-            .add_event::<ChangeMode>()
             .add_event::<GizmoClicked>()
             .add_event::<SpawnPreview>()
             .add_plugins((
@@ -187,100 +175,99 @@ impl Plugin for InteractionPlugin {
             .add_plugins((CameraControlsPlugin, ModelPreviewPlugin));
 
         if !self.headless {
-            app.add_systems(
-                Update,
-                (
-                    make_lift_doormat_gizmo,
-                    update_doormats_for_level_change,
-                    update_cursor_transform,
-                    update_picking_cam,
-                    update_physical_light_visual_cues,
-                    make_selectable_entities_pickable,
-                    handle_selection_picking,
-                    maintain_hovered_entities.after(handle_selection_picking),
-                    maintain_selected_entities.after(maintain_hovered_entities),
-                    handle_select_anchor_mode.after(maintain_selected_entities),
-                    handle_select_anchor_3d_mode.after(maintain_selected_entities),
-                    update_anchor_visual_cues.after(maintain_selected_entities),
-                    update_popups.after(maintain_selected_entities),
-                    update_unassigned_anchor_cues,
-                    update_anchor_cues_for_mode,
-                    update_anchor_proximity_xray.after(update_cursor_transform),
-                    remove_deleted_supports_from_visual_cues,
+            app.add_plugins(SelectionPlugin::default())
+                .add_systems(
+                    Update,
+                    (
+                        make_lift_doormat_gizmo,
+                        update_doormats_for_level_change,
+                        update_picking_cam,
+                        update_physical_light_visual_cues,
+                        make_selectable_entities_pickable,
+                        update_anchor_visual_cues.after(SelectionServiceStages::Select),
+                        update_popups.after(SelectionServiceStages::Select),
+                        update_unassigned_anchor_cues,
+                        update_anchor_proximity_xray.after(SelectionServiceStages::PickFlush),
+                        remove_deleted_supports_from_visual_cues,
+                        on_highlight_anchors_change,
+                    )
+                        .run_if(in_state(InteractionState::Enable)),
                 )
-                    .run_if(in_state(InteractionState::Enable)),
-            )
-            // Split the above because of a compile error when the tuple is too large
-            .add_systems(
-                Update,
-                (
-                    make_model_previews_not_selectable,
-                    update_lane_visual_cues.after(maintain_selected_entities),
-                    update_edge_visual_cues.after(maintain_selected_entities),
-                    update_point_visual_cues.after(maintain_selected_entities),
-                    update_path_visual_cues.after(maintain_selected_entities),
-                    update_outline_visualization.after(maintain_selected_entities),
-                    update_highlight_visualization.after(maintain_selected_entities),
-                    update_cursor_hover_visualization.after(maintain_selected_entities),
-                    update_gizmo_click_start.after(maintain_selected_entities),
-                    update_gizmo_release,
-                    update_drag_motions
-                        .after(update_gizmo_click_start)
-                        .after(update_gizmo_release),
-                    handle_lift_doormat_clicks.after(update_gizmo_click_start),
-                    manage_previews,
-                    update_physical_camera_preview,
-                    dirty_changed_lifts,
-                    handle_preview_window_close,
+                // Split the above because of a compile error when the tuple is too large
+                .add_systems(
+                    Update,
+                    (
+                        update_lane_visual_cues.after(SelectionServiceStages::Select),
+                        update_edge_visual_cues.after(SelectionServiceStages::Select),
+                        update_point_visual_cues.after(SelectionServiceStages::Select),
+                        update_path_visual_cues.after(SelectionServiceStages::Select),
+                        update_outline_visualization.after(SelectionServiceStages::Select),
+                        update_highlight_visualization.after(SelectionServiceStages::Select),
+                        update_cursor_hover_visualization.after(SelectionServiceStages::Select),
+                        update_gizmo_click_start.after(SelectionServiceStages::Select),
+                        update_gizmo_release,
+                        update_drag_motions
+                            .after(update_gizmo_click_start)
+                            .after(update_gizmo_release),
+                        handle_lift_doormat_clicks.after(update_gizmo_click_start),
+                        manage_previews,
+                        update_physical_camera_preview,
+                        dirty_changed_lifts,
+                        handle_preview_window_close,
+                    )
+                        .run_if(in_state(InteractionState::Enable)),
                 )
-                    .run_if(in_state(InteractionState::Enable)),
-            )
-            .add_systems(
-                Update,
-                (
-                    add_anchor_visual_cues,
-                    remove_interaction_for_subordinate_anchors,
-                    add_lane_visual_cues,
-                    add_edge_visual_cues,
-                    add_point_visual_cues,
-                    add_path_visual_cues,
-                    add_outline_visualization,
-                    add_highlight_visualization,
-                    add_cursor_hover_visualization,
-                    add_physical_light_visual_cues,
-                    add_popups,
+                .add_systems(
+                    PostUpdate,
+                    (
+                        add_anchor_visual_cues,
+                        remove_interaction_for_subordinate_anchors,
+                        add_lane_visual_cues,
+                        add_edge_visual_cues,
+                        add_point_visual_cues,
+                        add_path_visual_cues,
+                        add_outline_visualization,
+                        add_highlight_visualization,
+                        add_cursor_hover_visualization,
+                        add_physical_light_visual_cues,
+                        add_popups,
+                    )
+                        .run_if(in_state(InteractionState::Enable))
+                        .in_set(InteractionUpdateSet::AddVisuals),
                 )
-                    .run_if(in_state(InteractionState::Enable))
-                    .in_set(InteractionUpdateSet::AddVisuals),
-            )
-            .add_systems(
-                Update,
-                propagate_visual_cues
-                    .run_if(in_state(InteractionState::Enable))
-                    .in_set(InteractionUpdateSet::ProcessVisuals),
-            )
-            .add_systems(OnExit(InteractionState::Enable), hide_cursor)
-            .add_systems(
-                PostUpdate,
-                (
-                    move_anchor.before(update_anchor_transforms),
-                    move_pose,
-                    make_gizmos_pickable,
+                .add_systems(
+                    Update,
+                    propagate_visual_cues
+                        .run_if(in_state(InteractionState::Enable))
+                        .in_set(InteractionUpdateSet::ProcessVisuals),
                 )
-                    .run_if(in_state(InteractionState::Enable)),
-            )
-            .add_systems(First, (update_picked, update_interaction_mode));
+                .add_systems(OnExit(InteractionState::Enable), hide_cursor)
+                .add_systems(
+                    PostUpdate,
+                    (
+                        move_anchor.before(update_anchor_transforms),
+                        move_pose,
+                        make_gizmos_pickable,
+                    )
+                        .run_if(in_state(InteractionState::Enable)),
+                )
+                .add_systems(First, update_picked);
         }
     }
 }
 
 pub fn set_visibility(entity: Entity, q_visibility: &mut Query<&mut Visibility>, visible: bool) {
     if let Some(mut visibility) = q_visibility.get_mut(entity).ok() {
-        *visibility = if visible {
+        let v = if visible {
             Visibility::Inherited
         } else {
             Visibility::Hidden
         };
+
+        // Avoid a mutable access if nothing actually needs to change
+        if *visibility != v {
+            *visibility = v;
+        }
     }
 }
 
diff --git a/rmf_site_editor/src/interaction/mode.rs b/rmf_site_editor/src/interaction/mode.rs
deleted file mode 100644
index 42162586..00000000
--- a/rmf_site_editor/src/interaction/mode.rs
+++ /dev/null
@@ -1,135 +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::*;
-use bevy::{ecs::system::SystemParam, prelude::*};
-
-/// Used as a resource to indicate what type of interaction we are currently
-/// expecting from the user.
-#[derive(Clone, Resource)]
-pub enum InteractionMode {
-    /// The user may hover/select any item in the scene. This is the default
-    /// interaction mode.
-    Inspect,
-    /// The user must select an
-    SelectAnchor(SelectAnchor),
-    /// 3D version of SelectAnchor
-    // TODO(anyone) rename above SelectAnchor2D and this SelectAnchor
-    SelectAnchor3D(SelectAnchor3D),
-}
-
-impl Default for InteractionMode {
-    fn default() -> Self {
-        Self::Inspect
-    }
-}
-
-impl InteractionMode {
-    pub fn is_selecting(&self) -> bool {
-        match self {
-            Self::Inspect => true,
-            Self::SelectAnchor(_) => true,
-            Self::SelectAnchor3D(_) => true,
-            // _ => false,
-        }
-    }
-
-    pub fn is_selecting_anchor(&self) -> bool {
-        match self {
-            Self::SelectAnchor(_) => true,
-            _ => false,
-        }
-    }
-
-    pub fn is_inspecting(&self) -> bool {
-        matches!(self, InteractionMode::Inspect)
-    }
-
-    fn backout<'w, 's>(&mut self, params: &mut BackoutParams<'w, 's>) {
-        let change_mode = match self {
-            Self::Inspect => {
-                params.select.send(Select(None));
-                // No change of mode is needed
-                None
-            }
-            Self::SelectAnchor(select_anchor) => {
-                Some(select_anchor.backout(&mut params.select_anchor))
-            }
-            Self::SelectAnchor3D(select_anchor) => {
-                Some(select_anchor.backout(&mut params.select_anchor))
-            }
-        };
-
-        if let Some(change_mode) = change_mode {
-            *self = change_mode;
-        }
-    }
-
-    fn cancel<'w, 's>(&mut self, params: &mut BackoutParams<'w, 's>) {
-        while !matches!(self, InteractionMode::Inspect) {
-            self.backout(params);
-        }
-    }
-}
-
-#[derive(SystemParam)]
-pub struct BackoutParams<'w, 's> {
-    select: EventWriter<'w, Select>,
-    select_anchor: SelectAnchorPlacementParams<'w, 's>,
-}
-
-/// We use an event to change the InteractionMode for these reasons:
-/// 1. By having a single system where the mode resource is changed, we can
-///    ensure that the InteractionMode is consistent through the whole update
-///    cycle. If the mode were changed part way through a cycle, then the
-///    behavior of various systems might not be coherent with each other.
-/// 2. Certain mode transitions require cleanup before being finalized. We
-///    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>`.
-//
-// 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
-// be kept private (with read-only access) so only this module can modify it.
-#[derive(Event)]
-pub enum ChangeMode {
-    /// Change the mode to the specified value
-    To(InteractionMode),
-    /// Backout of the current mode. This is the behavior usually associated
-    /// with a user pressing Esc.
-    Backout,
-}
-
-pub fn update_interaction_mode(
-    mut mode: ResMut<InteractionMode>,
-    mut change_mode: EventReader<ChangeMode>,
-    mut backout: BackoutParams,
-) {
-    for request in change_mode.read() {
-        match request {
-            ChangeMode::To(new_mode) => {
-                mode.cancel(&mut backout);
-                *mode = new_mode.clone();
-            }
-            ChangeMode::Backout => {
-                mode.backout(&mut backout);
-            }
-        }
-    }
-}
diff --git a/rmf_site_editor/src/interaction/model_preview.rs b/rmf_site_editor/src/interaction/model_preview.rs
index a6bb9566..2f6e2916 100644
--- a/rmf_site_editor/src/interaction/model_preview.rs
+++ b/rmf_site_editor/src/interaction/model_preview.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use crate::interaction::{DEFAULT_CAMERA_EV100, MODEL_PREVIEW_LAYER};
+use crate::interaction::{Preview, DEFAULT_CAMERA_EV100, MODEL_PREVIEW_LAYER};
 use bevy::render::render_resource::{
     Extent3d, TextureDescriptor, TextureDimension, TextureFormat, TextureUsages,
 };
@@ -86,7 +86,7 @@ impl FromWorld for ModelPreviewCamera {
             .insert(RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]))
             .id();
         let model_entity = world
-            .spawn(RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]))
+            .spawn((RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]), Preview))
             .id();
         let light_entity = world
             .spawn(RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]))
diff --git a/rmf_site_editor/src/interaction/picking.rs b/rmf_site_editor/src/interaction/picking.rs
index 8a2903e3..fbc7eec9 100644
--- a/rmf_site_editor/src/interaction/picking.rs
+++ b/rmf_site_editor/src/interaction/picking.rs
@@ -15,7 +15,7 @@
  *
 */
 
-use crate::{interaction::*, site::Anchor, CurrentWorkspace};
+use crate::interaction::*;
 use bevy::prelude::*;
 use bevy_mod_raycast::{deferred::RaycastSource, immediate::RaycastVisibility};
 
@@ -45,7 +45,14 @@ impl Default for PickingBlockers {
 
 /// Keep track of what entity is currently picked by the cursor
 #[derive(Debug, Clone, Copy, Default, Resource)]
-pub struct Picked(pub Option<Entity>);
+pub struct Picked {
+    /// This is the currently picked entity (if anything)
+    pub current: Option<Entity>,
+    /// This indicates that a workflow wants the current pick to be refreshed
+    /// even if it hasn't changed. If this is true, we will send a ChangePick
+    /// event on the next cycle.
+    pub refresh: bool,
+}
 
 #[derive(Debug, Clone, Copy, Default, Event)]
 pub struct ChangePick {
@@ -84,70 +91,46 @@ pub fn update_picking_cam(
 fn pick_topmost(
     picks: impl Iterator<Item = Entity>,
     selectable: &Query<&Selectable>,
-    anchors: &Query<&Parent, (With<Anchor>, Without<Preview>)>,
-    mode: &Res<InteractionMode>,
-    current_site: Entity,
 ) -> Option<Entity> {
     for topmost_entity in picks {
-        match &**mode {
-            InteractionMode::SelectAnchor(request) => {
-                if let Ok(sel) = selectable.get(topmost_entity) {
-                    if sel.is_selectable {
-                        if let Ok(parent) = anchors.get(sel.element) {
-                            if request.site_scope() && parent.get() != current_site {
-                                continue;
-                            }
-                        } else {
-                            continue;
-                        }
-                    } else {
-                        continue;
-                    }
-                } else {
-                    continue;
-                }
-            }
-            _ => {
-                // Do nothing
+        if let Ok(sel) = selectable.get(topmost_entity) {
+            if !sel.is_selectable {
+                continue;
             }
+        } else {
+            continue;
         }
+
         return Some(topmost_entity);
     }
 
     return None;
 }
 
+// TODO(@mxgrey): Consider making this a service similar to hover_service and select_service
 pub fn update_picked(
-    mode: Res<InteractionMode>,
     selectable: Query<&Selectable>,
-    anchors: Query<&Parent, (With<Anchor>, Without<Preview>)>,
     blockers: Option<Res<PickingBlockers>>,
     pick_source_query: Query<&RaycastSource<SiteRaycastSet>>,
     visual_cues: Query<&ComputedVisualCue>,
     mut picked: ResMut<Picked>,
     mut change_pick: EventWriter<ChangePick>,
-    current_workspace: Res<CurrentWorkspace>,
 ) {
     if let Some(blockers) = blockers {
         if blockers.blocking() {
             // If picking is masked, then nothing should be picked
-            if picked.0.is_some() {
+            if picked.current.is_some() {
                 change_pick.send(ChangePick {
-                    from: picked.0,
+                    from: picked.current,
                     to: None,
                 });
-                picked.as_mut().0 = None;
+                picked.current = None;
             }
 
             return;
         }
     }
 
-    let current_site = match current_workspace.root {
-        Some(current_site) => current_site,
-        None => return,
-    };
-
     let current_picked = 'current_picked: {
         for pick_source in &pick_source_query {
             let picks = pick_source.intersections();
@@ -164,21 +147,12 @@ pub fn update_picked(
                     })
                     .map(|(e, _)| *e),
                 &selectable,
-                &anchors,
-                &mode,
-                current_site,
             ) {
                 break 'current_picked Some(topmost);
             }
 
             // Now look at all possible pickables
-            if let Some(topmost) = pick_topmost(
-                picks.iter().map(|(e, _)| *e),
-                &selectable,
-                &anchors,
-                &mode,
-                current_site,
-            ) {
+            if let Some(topmost) = pick_topmost(picks.iter().map(|(e, _)| *e), &selectable) {
                 break 'current_picked Some(topmost);
             }
         }
@@ -186,11 +160,16 @@ pub fn update_picked(
         None
     };
 
-    if picked.0 != current_picked {
+    let refresh = picked.refresh;
+    if refresh {
+        picked.refresh = false;
+    }
+
+    if picked.current != current_picked || refresh {
         change_pick.send(ChangePick {
-            from: picked.0,
+            from: picked.current,
             to: current_picked,
         });
-        picked.as_mut().0 = current_picked;
+        picked.current = current_picked;
     }
 }
diff --git a/rmf_site_editor/src/interaction/select.rs b/rmf_site_editor/src/interaction/select.rs
index 65100318..7f0a6e6b 100644
--- a/rmf_site_editor/src/interaction/select.rs
+++ b/rmf_site_editor/src/interaction/select.rs
@@ -15,10 +15,239 @@
  *
 */
 
-use crate::{interaction::*, site::Anchor};
-use bevy::prelude::*;
-use bevy_mod_raycast::deferred::RaycastMesh;
-use std::collections::HashSet;
+use crate::{
+    interaction::*,
+    keyboard::KeyboardServices,
+    site::{drawing_editor::CurrentEditDrawing, Anchor, AnchorBundle, DrawingMarker},
+    CurrentWorkspace,
+};
+use anyhow::{anyhow, Error as Anyhow};
+use bevy::{
+    ecs::system::{StaticSystemParam, SystemParam},
+    prelude::*,
+};
+use bevy_impulse::*;
+use bevy_mod_raycast::{
+    deferred::{RaycastMesh, RaycastSource},
+    primitives::rays::to_aligned_transform,
+};
+use rmf_site_format::{
+    Category, Door, Edge, Lane, LiftProperties, Measurement, NameOfSite, Pending, PixelsPerMeter,
+    Pose, Side, Wall,
+};
+use std::{borrow::Borrow, collections::HashSet, error::Error};
+
+pub mod create_edges;
+use create_edges::*;
+
+pub mod create_path;
+use create_path::*;
+
+pub mod create_point;
+use create_point::*;
+
+pub mod place_object;
+pub use place_object::*;
+
+pub mod place_object_2d;
+pub use place_object_2d::*;
+
+pub mod place_object_3d;
+pub use place_object_3d::*;
+
+pub mod replace_parent_3d;
+use replace_parent_3d::*;
+
+pub mod replace_point;
+use replace_point::*;
+
+pub mod replace_side;
+use replace_side::*;
+
+pub mod select_anchor;
+pub use select_anchor::*;
+
+pub const SELECT_ANCHOR_MODE_LABEL: &'static str = "select_anchor";
+
+#[derive(Default)]
+pub struct SelectionPlugin {}
+
+impl Plugin for SelectionPlugin {
+    fn build(&self, app: &mut App) {
+        app.configure_sets(
+            Update,
+            (
+                SelectionServiceStages::Pick,
+                SelectionServiceStages::PickFlush,
+                SelectionServiceStages::Hover,
+                SelectionServiceStages::HoverFlush,
+                SelectionServiceStages::Select,
+                SelectionServiceStages::SelectFlush,
+            )
+                .chain(),
+        )
+        .init_resource::<SelectionBlockers>()
+        .init_resource::<Selection>()
+        .init_resource::<Hovering>()
+        .add_event::<Select>()
+        .add_event::<Hover>()
+        .add_event::<RunSelector>()
+        .add_systems(
+            Update,
+            (
+                (apply_deferred, flush_impulses())
+                    .chain()
+                    .in_set(SelectionServiceStages::PickFlush),
+                (apply_deferred, flush_impulses())
+                    .chain()
+                    .in_set(SelectionServiceStages::HoverFlush),
+                (apply_deferred, flush_impulses())
+                    .chain()
+                    .in_set(SelectionServiceStages::SelectFlush),
+            ),
+        )
+        .add_plugins((
+            InspectorServicePlugin::default(),
+            AnchorSelectionPlugin::default(),
+            ObjectPlacementPlugin::default(),
+        ));
+
+        let inspector_service = app.world.resource::<InspectorService>().inspector_service;
+        let new_selector_service = app.spawn_event_streaming_service::<RunSelector>(Update);
+        let selection_workflow = app.world.spawn_io_workflow(build_selection_workflow(
+            inspector_service,
+            new_selector_service,
+        ));
+
+        // Get the selection workflow running
+        app.world.command(|commands| {
+            commands.request((), selection_workflow).detach();
+        });
+    }
+}
+
+/// This builder function creates the high-level workflow that manages "selection"
+/// behavior, which is largely driven by mouse interactions. "Selection" behaviors
+/// determine how the application responds to the mouse cursor hovering over
+/// objects in the scene and what happens when the mouse is clicked.
+///
+/// The default selection behavior is the "inspector" service which allows the
+/// user to select objects in the scene so that their properties get displayed
+/// in the inspector panel. The inspector service will automatically be run by
+/// this workflow at startup.
+///
+/// When the user asks for some other type of mouse interaction to begin, such as
+/// drawing walls and floors, or placing models in the scene, this workflow will
+/// "trim" (stop) the inspector workflow and inject the new requested interaction
+/// mode into the workflow. The requested interaction mode is represented by a
+/// service specified by the `selector` field of [`RunSelector`]. When that
+/// service terminates, this workflow will resume running the inspector service
+/// until the user requests some other mouse interaction service to run.
+///
+/// In most cases downstream users will not need to call this function since the
+/// [`SelectionPlugin`] will use this to build and run the default selection
+/// workflow. If you are not using the [`SelectionPlugin`] that we provide and
+/// want to customize the inspector service, then you could use this to build a
+/// customized selection workflow by passingin a custom inspector service.
+pub fn build_selection_workflow(
+    inspector_service: Service<(), ()>,
+    new_selector_service: Service<(), (), StreamOf<RunSelector>>,
+) -> impl FnOnce(Scope<(), ()>, &mut Builder) -> DeliverySettings {
+    move |scope, builder| {
+        // This creates a service that will listen to run_service_buffer.
+        // The job of this service is to atomically pull the most recent item
+        // out of the buffer and also close the buffer gate to ensure that we
+        // never have multiple selector services racing to be injected. If we
+        // don't bother to close the gate after pulling exactly one selection
+        // service, then it's theoretically possible for multiple selection
+        // services to get simultaneously injected after the trim operation
+        // finishes.
+        let process_new_selector_service = builder
+            .commands()
+            .spawn_service(process_new_selector.into_blocking_service());
+
+        // The run_service_buffer queues up the most recent RunSelector request
+        // sent in by the user. That request will be held in this buffer while
+        // we wait for any ongoing mouse interaction services to cleanly exit
+        // after we trigger the trim operation.
+        let run_service_buffer = builder.create_buffer::<RunSelector>(BufferSettings::keep_last(1));
+        let input = scope.input.fork_clone(builder);
+        // Run the default inspector service
+        let inspector = input.clone_chain(builder).then_node(inspector_service);
+
+        // Create a node that reads RunSelector events from the world and streams
+        // them into the workflow.
+        let new_selector_node = input.clone_chain(builder).then_node(new_selector_service);
+        builder.connect(new_selector_node.output, scope.terminate);
+        new_selector_node
+            .streams
+            .chain(builder)
+            .inner()
+            .connect(run_service_buffer.input_slot());
+
+        let open_gate = builder.create_gate_open(run_service_buffer);
+        // Create an operation that trims the gate opening operation, the injected
+        // selector service, and the default inspector service.
+        let trim = builder.create_trim([TrimBranch::between(open_gate.input, inspector.input)]);
+        builder.connect(trim.output, open_gate.input);
+
+        // Create a sequence where we listen for updates in the run service buffer,
+        // then pull an item out of the buffer (if available), then begin the
+        // trim of all ongoing selection services, then opening the gate of the
+        // buffer to allow new selection services to be started.
+        builder
+            .listen(run_service_buffer)
+            .then(process_new_selector_service)
+            .dispose_on_none()
+            .connect(trim.input);
+
+        // After we open the gate it is safe to inject the user-requested selecion
+        // service. Once that service finishes, we will trigger the inspector to
+        // resume.
+        open_gate
+            .output
+            .chain(builder)
+            .map_block(|r: RunSelector| (r.input, r.selector))
+            .then_injection()
+            .trigger()
+            .connect(inspector.input);
+
+        // This workflow only makes sense to run in serial.
+        DeliverySettings::Serial
+    }
+}
+
+fn process_new_selector(
+    In(key): In<BufferKey<RunSelector>>,
+    mut access: BufferAccessMut<RunSelector>,
+) -> Option<RunSelector> {
+    let Ok(mut buffer) = access.get_mut(&key) else {
+        return None;
+    };
+
+    let output = buffer.pull();
+    if output.is_some() {
+        // We should lock the gate while the trim is going on so we can't have
+        // multiple new selectors trying to start at the same time
+        buffer.close_gate();
+    }
+
+    output
+}
+
+#[derive(Debug, Clone, Copy, Event)]
+pub struct RunSelector {
+    /// The select workflow will run this service until it terminates and then
+    /// revert back to the inspector selector.
+    selector: Service<Option<Entity>, ()>,
+    /// If there is input for the selector, it will be stored in a [`SelectorInput`]
+    /// component in this entity. The entity will be despawned as soon as the
+    /// input is extracted.
+    input: Option<Entity>,
+}
+
+#[derive(Component)]
+pub struct SelectorInput<T>(T);
 
 /// This component is put on entities with meshes to mark them as items that can
 /// be interacted with to
@@ -97,11 +326,46 @@ pub struct Selection(pub Option<Entity>);
 pub struct Hovering(pub Option<Entity>);
 
 /// Used as an event to command a change in the selected entity.
-#[derive(Default, Debug, Clone, Copy, Deref, DerefMut, Event)]
-pub struct Select(pub Option<Entity>);
+#[derive(Default, Debug, Clone, Copy, Deref, DerefMut, Event, Stream)]
+pub struct Select(pub Option<SelectionCandidate>);
+
+impl Select {
+    pub fn new(candidate: Option<Entity>) -> Select {
+        Select(candidate.map(|c| SelectionCandidate::new(c)))
+    }
+
+    pub fn provisional(candidate: Entity) -> Select {
+        Select(Some(SelectionCandidate::provisional(candidate)))
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub struct SelectionCandidate {
+    /// The entity that's being requested as a selection
+    pub candidate: Entity,
+    /// The entity was created specifically to be selected, so if it ends up
+    /// going unused by the workflow then it should be despawned.
+    pub provisional: bool,
+}
+
+impl SelectionCandidate {
+    pub fn new(candidate: Entity) -> SelectionCandidate {
+        SelectionCandidate {
+            candidate,
+            provisional: false,
+        }
+    }
+
+    pub fn provisional(candidate: Entity) -> SelectionCandidate {
+        SelectionCandidate {
+            candidate,
+            provisional: true,
+        }
+    }
+}
 
 /// Used as an event to command a change in the hovered entity.
-#[derive(Default, Debug, Clone, Copy, Deref, DerefMut, Event)]
+#[derive(Default, Debug, Clone, Copy, Deref, DerefMut, Event, Stream)]
 pub struct Hover(pub Option<Entity>);
 
 /// A resource to track what kind of blockers are preventing the selection
@@ -110,22 +374,17 @@ pub struct Hover(pub Option<Entity>);
 pub struct SelectionBlockers {
     /// An entity is being dragged
     pub dragging: bool,
-    /// An entity is being placed
-    pub placing: bool,
 }
 
 impl SelectionBlockers {
     pub fn blocking(&self) -> bool {
-        self.dragging || self.placing
+        self.dragging
     }
 }
 
 impl Default for SelectionBlockers {
     fn default() -> Self {
-        SelectionBlockers {
-            dragging: false,
-            placing: false,
-        }
+        SelectionBlockers { dragging: false }
     }
 }
 
@@ -155,75 +414,372 @@ pub fn make_selectable_entities_pickable(
     }
 }
 
-pub fn handle_selection_picking(
-    blockers: Option<Res<SelectionBlockers>>,
-    mode: Res<InteractionMode>,
-    selectables: Query<&Selectable>,
-    anchors: Query<(), With<Anchor>>,
+/// This allows an [`App`] to spawn a service that can stream Hover and
+/// Select events that are managed by a filter. This can only be used with
+/// [`App`] because some of the internal services are continuous, so they need
+/// to be added to the schedule.
+pub trait SpawnSelectionServiceExt {
+    fn spawn_selection_service<F: SystemParam + 'static>(
+        &mut self,
+    ) -> Service<(), (), (Hover, Select)>
+    where
+        for<'w, 's> F::Item<'w, 's>: SelectionFilter;
+}
+
+impl SpawnSelectionServiceExt for App {
+    fn spawn_selection_service<F: SystemParam + 'static>(
+        &mut self,
+    ) -> Service<(), (), (Hover, Select)>
+    where
+        for<'w, 's> F::Item<'w, 's>: SelectionFilter,
+    {
+        let picking_service = self.spawn_continuous_service(
+            Update,
+            picking_service::<F>
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Pick)),
+        );
+
+        let hover_service = self.spawn_continuous_service(
+            Update,
+            hover_service::<F>
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Hover)),
+        );
+
+        let select_service = self.spawn_continuous_service(
+            Update,
+            select_service::<F>
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Select)),
+        );
+
+        self.world
+            .spawn_workflow::<_, _, (Hover, Select), _>(|scope, builder| {
+                let hover = builder.create_node(hover_service);
+                builder.connect(hover.streams, scope.streams.0);
+                builder.connect(hover.output, scope.terminate);
+
+                let select = builder.create_node(select_service);
+                builder.connect(select.streams, scope.streams.1);
+                builder.connect(select.output, scope.terminate);
+
+                // Activate all the services at the start
+                scope.input.chain(builder).fork_clone((
+                    |chain: Chain<_>| {
+                        chain
+                            .then(refresh_picked.into_blocking_callback())
+                            .then(picking_service)
+                            .connect(scope.terminate)
+                    },
+                    |chain: Chain<_>| chain.connect(hover.input),
+                    |chain: Chain<_>| chain.connect(select.input),
+                ));
+
+                // This is just a dummy buffer to let us have a cleanup workflow
+                let buffer = builder.create_buffer::<()>(BufferSettings::keep_all());
+                builder.on_cleanup(buffer, |scope, builder| {
+                    scope
+                        .input
+                        .chain(builder)
+                        .trigger()
+                        .then(clear_hover_select.into_blocking_callback())
+                        .connect(scope.terminate);
+                });
+            })
+    }
+}
+
+// TODO(@mxgrey): Remove flush stages when we move to bevy 0.13 which can infer
+// when to flush
+#[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
+pub enum SelectionServiceStages {
+    Pick,
+    PickFlush,
+    Hover,
+    HoverFlush,
+    Select,
+    SelectFlush,
+}
+
+#[derive(Resource)]
+pub struct InspectorService {
+    /// Workflow that updates the [`Selection`] as well as [`Hovered`] and
+    /// [`Selected`] states in the application.
+    pub inspector_service: Service<(), ()>,
+    /// Workflow that outputs hover and select streams that are compatible with
+    /// a general inspector. This service never terminates.
+    pub inspector_select_service: Service<(), (), (Hover, Select)>,
+    pub inspector_cursor_transform: Service<(), ()>,
+    pub selection_update: Service<Select, ()>,
+}
+
+#[derive(Default)]
+pub struct InspectorServicePlugin {}
+
+impl Plugin for InspectorServicePlugin {
+    fn build(&self, app: &mut App) {
+        let inspector_select_service = app.spawn_selection_service::<InspectorFilter>();
+        let inspector_cursor_transform = app.spawn_continuous_service(
+            Update,
+            inspector_cursor_transform
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Pick)),
+        );
+        let selection_update = app.spawn_service(selection_update);
+        let keyboard_just_pressed = app
+            .world
+            .resource::<KeyboardServices>()
+            .keyboard_just_pressed;
+
+        let inspector_service = app.world.spawn_workflow(|scope, builder| {
+            let fork_input = scope.input.fork_clone(builder);
+            fork_input
+                .clone_chain(builder)
+                .then(inspector_cursor_transform)
+                .unused();
+            fork_input
+                .clone_chain(builder)
+                .then_node(keyboard_just_pressed)
+                .streams
+                .chain(builder)
+                .inner()
+                .then(deselect_on_esc.into_blocking_callback())
+                .unused();
+            let selection = fork_input
+                .clone_chain(builder)
+                .then_node(inspector_select_service);
+            selection
+                .streams
+                .1
+                .chain(builder)
+                .then(selection_update)
+                .unused();
+            builder.connect(selection.output, scope.terminate);
+        });
+
+        app.world.insert_resource(InspectorService {
+            inspector_service,
+            inspector_select_service,
+            inspector_cursor_transform,
+            selection_update,
+        });
+    }
+}
+
+pub fn deselect_on_esc(In(code): In<KeyCode>, mut select: EventWriter<Select>) {
+    if matches!(code, KeyCode::Escape) {
+        select.send(Select::new(None));
+    }
+}
+
+pub type SelectionNodeResult = Result<(), Option<Anyhow>>;
+
+pub trait CommonNodeErrors {
+    type Value;
+    fn or_broken_buffer(self) -> Result<Self::Value, Option<Anyhow>>;
+    fn or_broken_state(self) -> Result<Self::Value, Option<Anyhow>>;
+    fn or_broken_query(self) -> Result<Self::Value, Option<Anyhow>>;
+}
+
+impl<T, E: Error> CommonNodeErrors for Result<T, E> {
+    type Value = T;
+    fn or_broken_buffer(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.map_err(|err| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "The buffer in the workflow is broken: {err}. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+
+    fn or_broken_state(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.map_err(|err| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "The state is missing from the workflow buffer: {err}. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+
+    fn or_broken_query(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.map_err(|err| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "A query that should have worked failed: {err}. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+}
+
+impl<T> CommonNodeErrors for Option<T> {
+    type Value = T;
+    fn or_broken_buffer(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.ok_or_else(|| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "The buffer in the workflow has been despawned. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+
+    fn or_broken_state(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.ok_or_else(|| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "The state is missing from the workflow buffer. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+
+    fn or_broken_query(self) -> Result<Self::Value, Option<Anyhow>> {
+        self.ok_or_else(|| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            Some(anyhow!(
+                "A query that should have worked failed. Backtrace:\n{backtrace}"
+            ))
+        })
+    }
+}
+
+pub trait SelectionFilter: SystemParam {
+    /// If the target entity is being picked, give back the entity that should
+    /// be recognized as the hovered entity. Return [`None`] to behave as if
+    /// nothing is being hovered.
+    fn filter_pick(&mut self, target: Entity) -> Option<Entity>;
+
+    /// If the target entity is being hovered or selected, give back the entity
+    /// that should be recognized as the hovered or selected entity. Return
+    /// [`None`] to deselect anything that might currently be selected.
+    fn filter_select(&mut self, target: Entity) -> Option<Entity>;
+
+    /// For the given hover state, indicate what kind of [`Select`] signal should
+    /// be sent when the user clicks.
+    fn on_click(&mut self, hovered: Hover) -> Option<Select>;
+}
+
+#[derive(SystemParam)]
+pub struct InspectorFilter<'w, 's> {
+    selectables: Query<'w, 's, &'static Selectable, (Without<Preview>, Without<Pending>)>,
+}
+
+impl<'w, 's> SelectionFilter for InspectorFilter<'w, 's> {
+    fn filter_pick(&mut self, select: Entity) -> Option<Entity> {
+        self.selectables
+            .get(select)
+            .ok()
+            .map(|selectable| selectable.element)
+    }
+    fn filter_select(&mut self, target: Entity) -> Option<Entity> {
+        Some(target)
+    }
+    fn on_click(&mut self, hovered: Hover) -> Option<Select> {
+        Some(Select::new(hovered.0))
+    }
+}
+
+/// A continuous service that generates Hover events based on ongoing mouse
+/// picking activities.
+///
+/// This service should be activated in a workflow when you want user mouse
+/// interactions to generate Hover events that are compatible with the Inspector
+/// interaction mode. This allows any "site element" (an item that has a
+/// [`Category`]) to be picked by the user's mouse for hovering and then
+/// selecting.
+///
+/// This will not emit any streams or ever yield a response. Its work is done
+/// entirely in the background of the workflow. To receive updates on hover
+/// events, you must also run [`inspector_hover_service`] and watch its [`Hover`]
+/// stream. You should also run [`inspector_select_service`] for [`Select`]
+/// streams.
+///
+/// [`Category`]: rmf_site_format::Category
+pub fn picking_service<Filter: SystemParam + 'static>(
+    In(ContinuousService { key }): ContinuousServiceInput<(), ()>,
+    orders: ContinuousQuery<(), ()>,
     mut picks: EventReader<ChangePick>,
     mut hover: EventWriter<Hover>,
-) {
-    if let Some(blockers) = blockers {
-        if blockers.blocking() {
-            hover.send(Hover(None));
-            return;
-        }
-    }
+    filter: StaticSystemParam<Filter>,
+) where
+    for<'w, 's> Filter::Item<'w, 's>: SelectionFilter,
+{
+    let Some(orders) = orders.view(&key) else {
+        return;
+    };
 
-    if !mode.is_selecting() {
-        hover.send(Hover(None));
+    if orders.is_empty() {
+        // Nothing is asking for this service to run, so skip it
         return;
     }
 
-    for pick in picks.read() {
-        hover.send(Hover(
-            pick.to
-                .and_then(|change_pick_to| {
-                    selectables
-                        .get(change_pick_to)
-                        .ok()
-                        .map(|selectable| selectable.element)
-                })
-                .and_then(|change_pick_to| {
-                    if let InteractionMode::SelectAnchor(_) = *mode {
-                        if anchors.contains(change_pick_to) {
-                            Some(change_pick_to)
-                        } else {
-                            None
-                        }
-                    } else {
-                        Some(change_pick_to)
-                    }
-                }),
-        ));
+    let mut filter = filter.into_inner();
+
+    if let Some(pick) = picks.read().last() {
+        hover
+            .send(Hover(pick.to.and_then(|change_pick_to| {
+                filter.filter_pick(change_pick_to)
+            })));
     }
 }
 
-pub fn maintain_hovered_entities(
+/// A continuous service that processes [`Hover`] events, updates the World, and
+/// issues out a [`Hover`] stream.
+///
+/// This service should be activated in a workflow when you want to process
+/// [`Hover`] events. This will stream out [`Hover`] events for your workflow to
+/// process while also making sure the components of entities in the application
+/// are kept up to date. Its Hover events are suitable for the Inspector
+/// interaction mode.
+///
+/// This will never yield a response to any requests, only stream out events
+/// until cleanup.
+///
+/// This is meant to be used with
+/// - [`inspector_hover_picking`]
+/// - [`inspector_select_service`]
+pub fn hover_service<Filter: SystemParam + 'static>(
+    In(ContinuousService { key }): ContinuousServiceInput<(), (), Hover>,
+    mut orders: ContinuousQuery<(), (), Hover>,
     mut hovered: Query<&mut Hovered>,
     mut hovering: ResMut<Hovering>,
     mut hover: EventReader<Hover>,
     mouse_button_input: Res<ButtonInput<MouseButton>>,
     touch_input: Res<Touches>,
     mut select: EventWriter<Select>,
-    mode: Res<InteractionMode>,
     blockers: Option<Res<PickingBlockers>>,
-) {
+    filter: StaticSystemParam<Filter>,
+    selection_blockers: Res<SelectionBlockers>,
+) where
+    for<'w, 's> Filter::Item<'w, 's>: SelectionFilter,
+{
+    let Some(mut orders) = orders.get_mut(&key) else {
+        return;
+    };
+
+    if orders.is_empty() {
+        // Nothing is asking for this service to run
+        return;
+    }
+
+    if selection_blockers.blocking() {
+        return;
+    }
+
+    let mut filter = filter.into_inner();
+
     if let Some(new_hovered) = hover.read().last() {
-        if hovering.0 != new_hovered.0 {
+        let new_hovered = new_hovered.0.and_then(|e| filter.filter_select(e));
+        if hovering.0 != new_hovered {
             if let Some(previous_hovered) = hovering.0 {
                 if let Ok(mut hovering) = hovered.get_mut(previous_hovered) {
                     hovering.is_hovered = false;
                 }
             }
 
-            if let Some(new_hovered) = new_hovered.0 {
+            if let Some(new_hovered) = new_hovered {
                 if let Ok(mut hovering) = hovered.get_mut(new_hovered) {
                     hovering.is_hovered = true;
                 }
             }
 
-            hovering.0 = new_hovered.0;
+            hovering.0 = new_hovered;
+            orders.for_each(|order| order.streams().send(Hover(new_hovered)));
         }
     }
 
@@ -232,46 +788,148 @@ pub fn maintain_hovered_entities(
     let blocked = blockers.filter(|x| x.blocking()).is_some();
 
     if clicked && !blocked {
-        if let Some(current_hovered) = hovering.0 {
-            // TODO(luca) refactor to remove this hack
-            // Skip if we are in SelectAnchor3D mode
-            if let InteractionMode::SelectAnchor3D(_) = &*mode {
-                return;
-            }
-            select.send(Select(Some(current_hovered)));
+        if let Some(new_select) = filter.on_click(Hover(hovering.0)) {
+            select.send(new_select);
         }
     }
 }
 
-pub fn maintain_selected_entities(
-    mode: Res<InteractionMode>,
-    mut selected: Query<&mut Selected>,
-    mut selection: ResMut<Selection>,
+/// A continuous service that filters [`Select`] events and issues out a
+/// [`Hover`] stream.
+///
+/// This complements [`hover_service`] and [`hover_picking`]
+/// and is the final piece of the [`SelectionService`] workflow.
+pub fn select_service<Filter: SystemParam + 'static>(
+    In(ContinuousService { key }): ContinuousServiceInput<(), (), Select>,
+    mut orders: ContinuousQuery<(), (), Select>,
     mut select: EventReader<Select>,
-) {
-    if !mode.is_inspecting() {
-        // We only maintain the "selected" entity when we are in Inspect mode.
-        // Other "selecting" modes, like SelectAnchor, take in the selection as
-        // an event and do not change the current selection that is being
-        // inspected.
+    filter: StaticSystemParam<Filter>,
+    mut commands: Commands,
+) where
+    for<'w, 's> Filter::Item<'w, 's>: SelectionFilter,
+{
+    let Some(mut orders) = orders.get_mut(&key) else {
+        return;
+    };
+
+    if orders.is_empty() {
+        // Nothing is asking for this service to run
         return;
     }
 
-    if let Some(new_selection) = select.read().last() {
-        if selection.0 != new_selection.0 {
-            if let Some(previous_selection) = selection.0 {
-                if let Ok(mut selected) = selected.get_mut(previous_selection) {
-                    selected.is_selected = false;
+    let mut filter = filter.into_inner();
+
+    for selected in select.read() {
+        let mut selected = *selected;
+        if let Some(selected) = &mut selected.0 {
+            match filter.filter_select(selected.candidate) {
+                Some(candidate) => selected.candidate = candidate,
+                None => {
+                    // This request is being filtered out, we will not send it
+                    // along at all.
+                    if selected.provisional {
+                        // The selection was provisional. Since we are not
+                        // using it, we are responsible for despawning it.
+                        if let Some(entity_mut) = commands.get_entity(selected.candidate) {
+                            entity_mut.despawn_recursive();
+                        }
+                    }
+                    continue;
                 }
             }
+        }
 
-            if let Some(new_selection) = new_selection.0 {
-                if let Ok(mut selected) = selected.get_mut(new_selection) {
-                    selected.is_selected = true;
-                }
+        orders.for_each(|order| order.streams().send(selected));
+    }
+}
+
+pub fn selection_update(
+    In(BlockingService {
+        request: Select(new_selection),
+        ..
+    }): BlockingServiceInput<Select>,
+    mut selected: Query<&mut Selected>,
+    mut selection: ResMut<Selection>,
+) {
+    if selection.0 != new_selection.map(|s| s.candidate) {
+        if let Some(previous_selection) = selection.0 {
+            if let Ok(mut selected) = selected.get_mut(previous_selection) {
+                selected.is_selected = false;
             }
+        }
 
-            selection.0 = new_selection.0;
+        if let Some(new_selection) = new_selection {
+            if let Ok(mut selected) = selected.get_mut(new_selection.candidate) {
+                selected.is_selected = true;
+            }
         }
+
+        selection.0 = new_selection.map(|s| s.candidate);
     }
 }
+
+/// This is used to clear out the currently picked item at the start of a new
+/// selection workflow to make sure the Hover events don't get lost during the
+/// workflow switch.
+pub fn refresh_picked(In(_): In<()>, mut picked: ResMut<Picked>) {
+    picked.refresh = true;
+}
+
+/// This is used to clear out hoverings and selections from a workflow that is
+/// cleaning up so that these properties don't spill over into other workflows.
+pub fn clear_hover_select(
+    In(_): In<()>,
+    mut hovered: Query<&mut Hovered>,
+    mut hovering: ResMut<Hovering>,
+    mut selected: Query<&mut Selected>,
+    mut selection: ResMut<Selection>,
+) {
+    if let Some(previous_hovering) = hovering.0.take() {
+        if let Ok(mut hovered) = hovered.get_mut(previous_hovering) {
+            hovered.is_hovered = false;
+        }
+    }
+
+    if let Some(previous_selection) = selection.0.take() {
+        if let Ok(mut selected) = selected.get_mut(previous_selection) {
+            selected.is_selected = false;
+        }
+    }
+}
+
+/// Update the virtual cursor (dagger and circle) transform while in inspector mode
+pub fn inspector_cursor_transform(
+    In(ContinuousService { key }): ContinuousServiceInput<(), ()>,
+    orders: ContinuousQuery<(), ()>,
+    cursor: Res<Cursor>,
+    raycast_sources: Query<&RaycastSource<SiteRaycastSet>>,
+    mut transforms: Query<&mut Transform>,
+) {
+    let Some(orders) = orders.view(&key) else {
+        return;
+    };
+
+    if orders.is_empty() {
+        return;
+    }
+
+    let Ok(source) = raycast_sources.get_single() else {
+        return;
+    };
+    let intersection = match source.get_nearest_intersection() {
+        Some((_, intersection)) => intersection,
+        None => {
+            return;
+        }
+    };
+
+    let mut transform = match transforms.get_mut(cursor.frame) {
+        Ok(transform) => transform,
+        Err(_) => {
+            return;
+        }
+    };
+
+    let ray = Ray3d::new(intersection.position(), intersection.normal());
+    *transform = Transform::from_matrix(to_aligned_transform(ray, [0., 0., 1.].into()));
+}
diff --git a/rmf_site_editor/src/interaction/select/create_edges.rs b/rmf_site_editor/src/interaction/select/create_edges.rs
new file mode 100644
index 00000000..aa75a250
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/create_edges.rs
@@ -0,0 +1,405 @@
+/*
+ * 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::*,
+    site::{ChangeDependent, Pending, TextureNeedsAssignment},
+};
+use bevy::prelude::*;
+use bevy_impulse::*;
+use rmf_site_format::{Edge, Side};
+use std::borrow::Borrow;
+
+pub fn spawn_create_edges_service(
+    helpers: &AnchorSelectionHelpers,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let anchor_setup =
+        app.spawn_service(anchor_selection_setup::<CreateEdges>.into_blocking_service());
+    let state_setup = app.spawn_service(create_edges_setup.into_blocking_service());
+    let update_preview = app.spawn_service(on_hover_for_create_edges.into_blocking_service());
+    let update_current = app.spawn_service(on_select_for_create_edges.into_blocking_service());
+    let handle_key_code = app.spawn_service(on_keyboard_for_create_edges.into_blocking_service());
+    let cleanup_state = app.spawn_service(cleanup_create_edges.into_blocking_service());
+
+    helpers.spawn_anchor_selection_workflow(
+        anchor_setup,
+        state_setup,
+        update_preview,
+        update_current,
+        handle_key_code,
+        cleanup_state,
+        &mut app.world,
+    )
+}
+
+pub struct CreateEdges {
+    pub spawn_edge: fn(Edge<Entity>, &mut Commands) -> Entity,
+    pub preview_edge: Option<PreviewEdge>,
+    pub continuity: EdgeContinuity,
+    pub scope: AnchorScope,
+}
+
+impl CreateEdges {
+    pub fn new<T: Bundle + From<Edge<Entity>>>(
+        continuity: EdgeContinuity,
+        scope: AnchorScope,
+    ) -> Self {
+        Self {
+            spawn_edge: create_edge::<T>,
+            preview_edge: None,
+            continuity,
+            scope,
+        }
+    }
+
+    pub fn new_with_texture<T: Bundle + From<Edge<Entity>>>(
+        continuity: EdgeContinuity,
+        scope: AnchorScope,
+    ) -> Self {
+        Self {
+            spawn_edge: create_edge_with_texture::<T>,
+            preview_edge: None,
+            continuity,
+            scope,
+        }
+    }
+
+    pub fn initialize_preview(&mut self, anchor: Entity, commands: &mut Commands) {
+        let edge = Edge::new(anchor, anchor);
+        let edge = (self.spawn_edge)(edge, commands);
+        self.preview_edge = Some(PreviewEdge {
+            edge,
+            side: Side::start(),
+            provisional_start: false,
+        });
+
+        commands.add(ChangeDependent::add(anchor, edge));
+    }
+}
+
+impl Borrow<AnchorScope> for CreateEdges {
+    fn borrow(&self) -> &AnchorScope {
+        &self.scope
+    }
+}
+
+fn create_edge<T: Bundle + From<Edge<Entity>>>(
+    edge: Edge<Entity>,
+    commands: &mut Commands,
+) -> Entity {
+    let new_bundle: T = edge.into();
+    commands.spawn((new_bundle, Pending)).id()
+}
+
+fn create_edge_with_texture<T: Bundle + From<Edge<Entity>>>(
+    edge: Edge<Entity>,
+    commands: &mut Commands,
+) -> Entity {
+    let new_bundle: T = edge.into();
+    commands
+        .spawn((new_bundle, TextureNeedsAssignment, Pending))
+        .id()
+}
+
+#[derive(Clone, Copy)]
+pub struct PreviewEdge {
+    pub edge: Entity,
+    pub side: Side,
+    /// True if the start anchor of the edge was created specifically to build
+    /// this edge. If this true, we will despawn the anchor during cleanup if
+    /// the edge does not get completed.
+    pub provisional_start: bool,
+}
+
+impl PreviewEdge {
+    pub fn cleanup(
+        &self,
+        edges: &Query<&'static Edge<Entity>>,
+        commands: &mut Commands,
+    ) -> SelectionNodeResult {
+        let edge = edges.get(self.edge).or_broken_query()?;
+        for anchor in edge.array() {
+            commands.add(ChangeDependent::remove(anchor, self.edge));
+        }
+
+        if self.provisional_start {
+            // The start anchor was created specifically for this preview edge
+            // which we are about to despawn. Let's despawn both so we aren't
+            // littering the scene with unintended anchors.
+            commands
+                .get_entity(edge.start())
+                .or_broken_query()?
+                .despawn_recursive();
+        }
+
+        commands
+            .get_entity(self.edge)
+            .or_broken_query()?
+            .despawn_recursive();
+        Ok(())
+    }
+}
+
+pub enum EdgeContinuity {
+    /// Create just a single edge
+    Single,
+    /// Create a sequence of separate edges
+    Separate,
+    /// Create edges continuously, i.e. the beginning of the next edge will
+    /// automatically be the end of the previous edge.
+    Continuous,
+}
+
+pub fn create_edges_setup(
+    In(key): In<BufferKey<CreateEdges>>,
+    mut access: BufferAccessMut<CreateEdges>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    if state.preview_edge.is_none() {
+        state.initialize_preview(cursor.level_anchor_placement, &mut commands);
+    }
+    Ok(())
+}
+
+pub fn on_hover_for_create_edges(
+    In((hover, key)): In<(Hover, BufferKey<CreateEdges>)>,
+    mut access: BufferAccessMut<CreateEdges>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut edges: Query<&mut Edge<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    // TODO(@mxgrey): Consider moving this logic into AnchorFilter since it gets
+    // used by all the different anchor selection modes.
+    let anchor = match hover.0 {
+        Some(anchor) => {
+            cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            anchor
+        }
+        None => {
+            cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            cursor.level_anchor_placement
+        }
+    };
+
+    if let Some(preview) = &mut state.preview_edge {
+        // If we already have an active preview, then use the new anchor for the
+        // side that we currently need to select for.
+        let index = preview.side.index();
+        let mut edge = edges.get_mut(preview.edge).or_broken_query()?;
+
+        let old_anchor = edge.array()[index];
+        if old_anchor != anchor {
+            let opposite_anchor = edge.array()[preview.side.opposite().index()];
+            if opposite_anchor != old_anchor {
+                commands.add(ChangeDependent::remove(old_anchor, preview.edge));
+            }
+
+            edge.array_mut()[index] = anchor;
+            commands.add(ChangeDependent::add(anchor, preview.edge));
+        }
+    } else {
+        // There is currently no active preview, so we need to create one.
+        let edge = Edge::new(anchor, anchor);
+        let edge = (state.spawn_edge)(edge, &mut commands);
+        state.preview_edge = Some(PreviewEdge {
+            edge,
+            side: Side::start(),
+            provisional_start: false,
+        });
+        commands.add(ChangeDependent::add(anchor, edge));
+    }
+
+    Ok(())
+}
+
+pub fn on_select_for_create_edges(
+    In((selection, key)): In<(SelectionCandidate, BufferKey<CreateEdges>)>,
+    mut access: BufferAccessMut<CreateEdges>,
+    mut edges: Query<&mut Edge<Entity>>,
+    mut commands: Commands,
+    cursor: Res<Cursor>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let anchor = selection.candidate;
+    if let Some(preview) = &mut state.preview_edge {
+        match preview.side {
+            Side::Left => {
+                // We are pinning down the first anchor of the edge
+                let mut edge = edges.get_mut(preview.edge).or_broken_query()?;
+                commands.add(ChangeDependent::remove(edge.left(), preview.edge));
+                *edge.left_mut() = anchor;
+                commands.add(ChangeDependent::add(anchor, preview.edge));
+
+                if edge.right() != anchor {
+                    commands.add(ChangeDependent::remove(edge.right(), preview.edge));
+                }
+
+                *edge.right_mut() = cursor.level_anchor_placement;
+                commands.add(ChangeDependent::add(
+                    cursor.level_anchor_placement,
+                    preview.edge,
+                ));
+
+                preview.side = Side::Right;
+                preview.provisional_start = selection.provisional;
+            }
+            Side::Right => {
+                // We are finishing the edge
+                let mut edge = edges.get_mut(preview.edge).or_broken_query()?;
+                if edge.left() == anchor {
+                    // The user is trying to use the same point for the start
+                    // and end of an edge. Issue a warning and exit early.
+                    warn!(
+                        "You are trying to select an anchor {:?} for both the \
+                        start and end points of an edge, which is not allowed.",
+                        anchor,
+                    );
+                    return Ok(());
+                }
+                *edge.right_mut() = anchor;
+                commands.add(ChangeDependent::add(anchor, preview.edge));
+                commands
+                    .get_entity(preview.edge)
+                    .or_broken_query()?
+                    .remove::<Pending>();
+
+                match state.continuity {
+                    EdgeContinuity::Single => {
+                        state.preview_edge = None;
+                        // This simply means we are terminating the workflow now
+                        // because we have finished drawing the single edge
+                        return Err(None);
+                    }
+                    EdgeContinuity::Separate => {
+                        // Start drawing a new edge from a blank slate with the
+                        // next selection
+                        state.initialize_preview(cursor.level_anchor_placement, &mut commands);
+                    }
+                    EdgeContinuity::Continuous => {
+                        // Start drawing a new edge, picking up from the end
+                        // point of the previous edge
+                        let edge = Edge::new(anchor, cursor.level_anchor_placement);
+                        let edge = (state.spawn_edge)(edge, &mut commands);
+                        state.preview_edge = Some(PreviewEdge {
+                            edge,
+                            side: Side::end(),
+                            provisional_start: false,
+                        });
+                        commands.add(ChangeDependent::add(anchor, edge));
+                        commands.add(ChangeDependent::add(cursor.level_anchor_placement, edge));
+                    }
+                }
+            }
+        }
+    } else {
+        // We have no preview at all yet somehow, so we'll need to create a
+        // fresh new edge to insert the selected anchor into
+        let edge = Edge::new(anchor, anchor);
+        let edge = (state.spawn_edge)(edge, &mut commands);
+        state.preview_edge = Some(PreviewEdge {
+            edge,
+            side: Side::start(),
+            provisional_start: selection.provisional,
+        });
+    }
+
+    Ok(())
+}
+
+pub fn on_keyboard_for_create_edges(
+    In((button, key)): In<(KeyCode, BufferKey<CreateEdges>)>,
+    mut access: BufferAccessMut<CreateEdges>,
+    mut edges: Query<&'static mut Edge<Entity>>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    if !matches!(button, KeyCode::Escape) {
+        // The button was not the escape key, so there's nothing for us to do
+        // here.
+        return Ok(());
+    }
+
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    if let Some(preview) = &mut state.preview_edge {
+        if preview.side == Side::end() {
+            // We currently have an active preview edge and are selecting for
+            // the second point in the edge. Esc means we should back out of the
+            // current edge without exiting the edge creation workflow so the
+            // user can choose a different start point.
+            let mut edge = edges.get_mut(preview.edge).or_broken_query()?;
+            for anchor in edge.array() {
+                commands.add(ChangeDependent::remove(anchor, preview.edge));
+            }
+            if preview.provisional_start {
+                commands
+                    .get_entity(edge.start())
+                    .or_broken_query()?
+                    .despawn_recursive();
+            }
+
+            *edge.left_mut() = cursor.level_anchor_placement;
+            *edge.right_mut() = cursor.level_anchor_placement;
+            preview.side = Side::start();
+            preview.provisional_start = false;
+            commands.add(ChangeDependent::add(
+                cursor.level_anchor_placement,
+                preview.edge,
+            ));
+        } else {
+            // We are selecting for the first point in the edge. If the user has
+            // pressed Esc then that means they want to stop creating edges
+            // altogether. Return Err(None) to indicate that the workflow should
+            // exit cleaning.
+            return Err(None);
+        }
+    } else {
+        // We currently have no preview active at all. If the user hits Esc then
+        // they want to exit the workflow altogether.
+        return Err(None);
+    }
+
+    Ok(())
+}
+
+pub fn cleanup_create_edges(
+    In(key): In<BufferKey<CreateEdges>>,
+    mut access: BufferAccessMut<CreateEdges>,
+    edges: Query<&'static Edge<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.pull().or_broken_state()?;
+
+    if let Some(preview) = state.preview_edge {
+        // We created a preview, so we should despawn it while cleaning up
+        preview.cleanup(&edges, &mut commands)?;
+    }
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/create_path.rs b/rmf_site_editor/src/interaction/select/create_path.rs
new file mode 100644
index 00000000..3df425f2
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/create_path.rs
@@ -0,0 +1,308 @@
+/*
+ * 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::*,
+    site::{ChangeDependent, Pending, TextureNeedsAssignment},
+};
+use bevy::prelude::*;
+use bevy_impulse::*;
+use rmf_site_format::Path;
+use std::borrow::Borrow;
+
+use std::collections::HashSet;
+
+pub fn spawn_create_path_service(
+    helpers: &AnchorSelectionHelpers,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let anchor_setup =
+        app.spawn_service(anchor_selection_setup::<CreatePath>.into_blocking_service());
+    let state_setup = app.spawn_service(create_path_setup.into_blocking_service());
+    let update_preview = app.spawn_service(on_hover_for_create_path.into_blocking_service());
+    let update_current = app.spawn_service(on_select_for_create_path.into_blocking_service());
+    let handle_key_code = app.spawn_service(exit_on_esc::<CreatePath>.into_blocking_service());
+    let cleanup_state = app.spawn_service(cleanup_create_path.into_blocking_service());
+
+    helpers.spawn_anchor_selection_workflow(
+        anchor_setup,
+        state_setup,
+        update_preview,
+        update_current,
+        handle_key_code,
+        cleanup_state,
+        &mut app.world,
+    )
+}
+
+pub struct CreatePath {
+    /// Function pointer for spawning an initial path.
+    pub spawn_path: fn(Path<Entity>, &mut Commands) -> Entity,
+    /// The path which is being built. This will initially be [`None`] until setup
+    /// happens, then `spawn_path` will be used to create this. For all the
+    /// services in the `create_path` workflow besides setup, this should
+    /// contain [`Some`].
+    ///
+    /// If points are being added to an existing path, this could be initialized
+    /// as [`Some`] before the state is passed into the workflow.
+    pub path: Option<Entity>,
+    /// A minimum for how many points need to be selected for the path to be
+    /// considered valid. Use 0 if there is no minimum.
+    pub minimum_points: usize,
+    /// Whether the path is allowed to have an inner loop. E.g.
+    /// `A -> B -> C -> D -> B` would be an inner loop.
+    pub allow_inner_loops: bool,
+    /// The path is implied to always be a complete loop. This has two consequences:
+    /// 1. If the first point gets re-selected later in the path then we automatically
+    ///    consider the path to be finished.
+    /// 2. When (1) occurs, the first point does not get re-added to the path.
+    pub implied_complete_loop: bool,
+    /// A list of all anchors being used in the path which are provisional,
+    /// meaning they should be despawned if the path creation ends before
+    /// reaching the minimum number of points.
+    pub provisional_anchors: HashSet<Entity>,
+    pub scope: AnchorScope,
+}
+
+impl CreatePath {
+    pub fn new(
+        spawn_path: fn(Path<Entity>, &mut Commands) -> Entity,
+        minimum_points: usize,
+        allow_inner_loops: bool,
+        implied_complete_loop: bool,
+        scope: AnchorScope,
+    ) -> Self {
+        Self {
+            spawn_path,
+            path: None,
+            allow_inner_loops,
+            minimum_points,
+            implied_complete_loop,
+            scope,
+            provisional_anchors: Default::default(),
+        }
+    }
+
+    pub fn set_last(
+        &self,
+        chosen: Entity,
+        path_mut: &mut Path<Entity>,
+        commands: &mut Commands,
+    ) -> SelectionNodeResult {
+        let path = self.path.or_broken_state()?;
+        let last = path_mut.0.last_mut().or_broken_state()?;
+        if chosen == *last {
+            // Nothing to change
+            return Ok(());
+        }
+
+        let previous = *last;
+        *last = chosen;
+        if !path_mut.0.contains(&previous) {
+            commands.add(ChangeDependent::remove(previous, path));
+        }
+
+        commands.add(ChangeDependent::add(chosen, path));
+        Ok(())
+    }
+}
+
+impl Borrow<AnchorScope> for CreatePath {
+    fn borrow(&self) -> &AnchorScope {
+        &self.scope
+    }
+}
+
+pub fn create_path_with_texture<T: Bundle + From<Path<Entity>>>(
+    path: Path<Entity>,
+    commands: &mut Commands,
+) -> Entity {
+    let new_bundle: T = path.into();
+    commands
+        .spawn((new_bundle, TextureNeedsAssignment, Pending))
+        .id()
+}
+
+pub fn create_path_setup(
+    In(key): In<BufferKey<CreatePath>>,
+    mut access: BufferAccessMut<CreatePath>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    if state.path.is_none() {
+        let path = Path(vec![cursor.level_anchor_placement]);
+        let path = (state.spawn_path)(path, &mut commands);
+        commands.add(ChangeDependent::add(cursor.level_anchor_placement, path));
+        state.path = Some(path);
+    }
+
+    Ok(())
+}
+
+pub fn on_hover_for_create_path(
+    In((hover, key)): In<(Hover, BufferKey<CreatePath>)>,
+    mut access: BufferAccessMut<CreatePath>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut paths: Query<&mut Path<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let chosen = match hover.0 {
+        Some(anchor) => {
+            cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            anchor
+        }
+        None => {
+            cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            cursor.level_anchor_placement
+        }
+    };
+
+    let path = state.path.or_broken_state()?;
+    let mut path_mut = paths.get_mut(path).or_broken_query()?;
+    state.set_last(chosen, path_mut.as_mut(), &mut commands)
+}
+
+pub fn on_select_for_create_path(
+    In((selection, key)): In<(SelectionCandidate, BufferKey<CreatePath>)>,
+    mut access: BufferAccessMut<CreatePath>,
+    mut paths: Query<&mut Path<Entity>>,
+    mut commands: Commands,
+    cursor: Res<Cursor>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let chosen = selection.candidate;
+    let provisional = selection.provisional;
+    let path = state.path.or_broken_state()?;
+    let mut path_mut = paths.get_mut(path).or_broken_query()?;
+
+    if state.implied_complete_loop {
+        let first = path_mut.0.first().or_broken_state()?;
+        if chosen == *first && path_mut.0.len() >= state.minimum_points {
+            // The user has re-selected the first point and there are enough
+            // points in the path to meet the minimum requirement, so we can
+            // just end the workflow.
+            return Err(None);
+        }
+    }
+
+    if !state.allow_inner_loops {
+        for a in &path_mut.0[..path_mut.0.len() - 1] {
+            if *a == chosen {
+                warn!(
+                    "Attempting to create an inner loop in a type of path \
+                    which does not allow inner loops."
+                );
+                return Ok(());
+            }
+        }
+    }
+
+    if path_mut.0.len() >= 2 {
+        if let Some(second_to_last) = path_mut.0.get(path_mut.0.len() - 2) {
+            if *second_to_last == chosen {
+                // Even if inner loops are allowed, we should never allow the same
+                // anchor to be chosen twice in a row.
+                warn!("Trying to select the same anchor for a path twice in a row");
+                return Ok(());
+            }
+        }
+    }
+
+    state.set_last(chosen, path_mut.as_mut(), &mut commands)?;
+    if provisional {
+        state.provisional_anchors.insert(chosen);
+    }
+
+    path_mut.0.push(cursor.level_anchor_placement);
+    commands.add(ChangeDependent::add(cursor.level_anchor_placement, path));
+
+    Ok(())
+}
+
+pub fn cleanup_create_path(
+    In(key): In<BufferKey<CreatePath>>,
+    mut access: BufferAccessMut<CreatePath>,
+    mut paths: Query<&'static mut Path<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.pull().or_broken_state()?;
+
+    let Some(path) = state.path else {
+        // If there is no path then there is nothing to cleanup. This might
+        // happen if the setup needed to bail out for some reason.
+        return Ok(());
+    };
+    commands
+        .get_entity(path)
+        .or_broken_query()?
+        .remove::<Pending>();
+    let mut path_mut = paths.get_mut(path).or_broken_query()?;
+
+    // First check if the len-1 meets the minimum point requirement. If not we
+    // should despawn the path as well as any provisional anchors that it used.
+    if path_mut.0.len() - 1 < state.minimum_points {
+        // We did not collect enough points for the path so we should despawn it
+        // as well as any provisional points it contains.
+        for a in &path_mut.0 {
+            commands.add(ChangeDependent::remove(*a, path));
+        }
+
+        for a in state.provisional_anchors {
+            if let Some(a_mut) = commands.get_entity(a) {
+                a_mut.despawn_recursive();
+            }
+        }
+
+        commands
+            .get_entity(path)
+            .or_broken_query()?
+            .despawn_recursive();
+    } else {
+        if let Some(a) = path_mut.0.last() {
+            // The last point in the path is always a preview point so we need
+            // to pop it.
+            let a = *a;
+            path_mut.0.pop();
+            if !path_mut.contains(&a) {
+                // Remove the dependency on the last point since it no longer
+                // exists in the path
+                commands.add(ChangeDependent::remove(a, path));
+            }
+        }
+
+        if path_mut.0.is_empty() {
+            // The path is empty... we shouldn't keep an empty path so let's
+            // just despawn it.
+            commands
+                .get_entity(path)
+                .or_broken_query()?
+                .despawn_recursive();
+        }
+    }
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/create_point.rs b/rmf_site_editor/src/interaction/select/create_point.rs
new file mode 100644
index 00000000..645d5dc1
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/create_point.rs
@@ -0,0 +1,201 @@
+/*
+ * 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::*,
+    site::{ChangeDependent, Pending},
+};
+use bevy::prelude::*;
+use bevy_impulse::*;
+use rmf_site_format::Point;
+use std::borrow::Borrow;
+
+pub fn spawn_create_point_service(
+    helpers: &AnchorSelectionHelpers,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let anchor_setup =
+        app.spawn_service(anchor_selection_setup::<CreatePoint>.into_blocking_service());
+    let state_setup = app.spawn_service(create_point_setup.into_blocking_service());
+    let update_preview = app.spawn_service(on_hover_for_create_point.into_blocking_service());
+    let update_current = app.spawn_service(on_select_for_create_point.into_blocking_service());
+    let handle_key_code = app.spawn_service(exit_on_esc::<CreatePoint>.into_blocking_service());
+    let cleanup_state = app.spawn_service(cleanup_create_point.into_blocking_service());
+
+    helpers.spawn_anchor_selection_workflow(
+        anchor_setup,
+        state_setup,
+        update_preview,
+        update_current,
+        handle_key_code,
+        cleanup_state,
+        &mut app.world,
+    )
+}
+
+pub struct CreatePoint {
+    /// Function pointer for spawning a point.
+    pub spawn_point: fn(Point<Entity>, &mut Commands) -> Entity,
+    /// The point which is being created. This will initially be [`None`] until
+    /// setup happens, then `spawn_point` will be used to create this. For all
+    /// the services in the `create_point` workflow besides setup, this should
+    /// contain [`Some`].
+    pub point: Option<Entity>,
+    /// True if we should keep creating new points until the user presses Esc,
+    /// False if we should only create one point.
+    pub repeating: bool,
+    pub scope: AnchorScope,
+}
+
+impl CreatePoint {
+    pub fn new<T: Bundle + From<Point<Entity>>>(repeating: bool, scope: AnchorScope) -> Self {
+        Self {
+            spawn_point: create_point::<T>,
+            point: None,
+            repeating,
+            scope,
+        }
+    }
+
+    pub fn create_new_point(&mut self, anchor: Entity, commands: &mut Commands) {
+        let point = Point(anchor);
+        let point = (self.spawn_point)(point, commands);
+        commands.add(ChangeDependent::add(anchor, point));
+        self.point = Some(point);
+    }
+}
+
+impl Borrow<AnchorScope> for CreatePoint {
+    fn borrow(&self) -> &AnchorScope {
+        &self.scope
+    }
+}
+
+fn create_point<T: Bundle + From<Point<Entity>>>(
+    point: Point<Entity>,
+    commands: &mut Commands,
+) -> Entity {
+    let new_bundle: T = point.into();
+    commands.spawn((new_bundle, Pending)).id()
+}
+
+pub fn create_point_setup(
+    In(key): In<BufferKey<CreatePoint>>,
+    mut access: BufferAccessMut<CreatePoint>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    if state.point.is_none() {
+        state.create_new_point(cursor.level_anchor_placement, &mut commands);
+    }
+
+    Ok(())
+}
+
+fn change_point(
+    chosen: Entity,
+    point: Entity,
+    points: &mut Query<&mut Point<Entity>>,
+    commands: &mut Commands,
+) -> SelectionNodeResult {
+    let mut point_mut = points.get_mut(point).or_broken_query()?;
+    if point_mut.0 == chosen {
+        return Ok(());
+    }
+
+    commands.add(ChangeDependent::remove(point_mut.0, point));
+    commands.add(ChangeDependent::add(chosen, point));
+    point_mut.0 = chosen;
+    Ok(())
+}
+
+pub fn on_hover_for_create_point(
+    In((hover, key)): In<(Hover, BufferKey<CreatePoint>)>,
+    mut access: BufferAccessMut<CreatePoint>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut points: Query<&mut Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let chosen = match hover.0 {
+        Some(anchor) => {
+            cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            anchor
+        }
+        None => {
+            cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            cursor.level_anchor_placement
+        }
+    };
+
+    let point = state.point.or_broken_state()?;
+    change_point(chosen, point, &mut points, &mut commands)
+}
+
+pub fn on_select_for_create_point(
+    In((selection, key)): In<(SelectionCandidate, BufferKey<CreatePoint>)>,
+    mut access: BufferAccessMut<CreatePoint>,
+    cursor: Res<Cursor>,
+    mut points: Query<&mut Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+    let point = state.point.or_broken_state()?;
+    change_point(selection.candidate, point, &mut points, &mut commands)?;
+    commands
+        .get_entity(point)
+        .or_broken_query()?
+        .remove::<Pending>();
+    if state.repeating {
+        state.create_new_point(cursor.level_anchor_placement, &mut commands);
+        return Ok(());
+    } else {
+        state.point = None;
+        return Err(None);
+    }
+}
+
+pub fn cleanup_create_point(
+    In(key): In<BufferKey<CreatePoint>>,
+    mut access: BufferAccessMut<CreatePoint>,
+    points: Query<&'static Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.pull().or_broken_state()?;
+
+    let Some(point) = state.point else {
+        // If there is no point then there is nothing to cleanup.
+        return Ok(());
+    };
+
+    let point_ref = points.get(point).or_broken_query()?;
+    commands.add(ChangeDependent::remove(point_ref.0, point));
+    commands
+        .get_entity(point)
+        .or_broken_query()?
+        .despawn_recursive();
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/place_object.rs b/rmf_site_editor/src/interaction/select/place_object.rs
new file mode 100644
index 00000000..96a9f346
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/place_object.rs
@@ -0,0 +1,112 @@
+/*
+ * 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::select::*, site::Model};
+use bevy::ecs::system::SystemParam;
+
+#[derive(Default)]
+pub struct ObjectPlacementPlugin {}
+
+impl Plugin for ObjectPlacementPlugin {
+    fn build(&self, app: &mut App) {
+        let services = ObjectPlacementServices::from_app(app);
+        app.insert_resource(services);
+    }
+}
+
+#[derive(Resource, Clone, Copy)]
+pub struct ObjectPlacementServices {
+    pub place_object_2d: Service<Option<Entity>, ()>,
+    pub place_object_3d: Service<Option<Entity>, ()>,
+    pub replace_parent_3d: Service<Option<Entity>, ()>,
+    pub hover_service_object_3d: Service<(), (), Hover>,
+}
+
+impl ObjectPlacementServices {
+    pub fn from_app(app: &mut App) -> Self {
+        let hover_service_object_3d = app.spawn_continuous_service(
+            Update,
+            hover_service::<PlaceObject3dFilter>
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Hover)),
+        );
+        let place_object_2d = spawn_place_object_2d_workflow(app);
+        let place_object_3d = spawn_place_object_3d_workflow(hover_service_object_3d, app);
+        let replace_parent_3d = spawn_replace_parent_3d_workflow(hover_service_object_3d, app);
+        Self {
+            place_object_2d,
+            place_object_3d,
+            replace_parent_3d,
+            hover_service_object_3d,
+        }
+    }
+}
+
+#[derive(SystemParam)]
+pub struct ObjectPlacement<'w, 's> {
+    pub services: Res<'w, ObjectPlacementServices>,
+    pub commands: Commands<'w, 's>,
+}
+
+impl<'w, 's> ObjectPlacement<'w, 's> {
+    pub fn place_object_2d(&mut self, object: Model, level: Entity) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(PlaceObject2d { object, level }))
+            .id();
+        self.send(RunSelector {
+            selector: self.services.place_object_2d,
+            input: Some(state),
+        });
+    }
+
+    pub fn place_object_3d(
+        &mut self,
+        object: PlaceableObject,
+        parent: Option<Entity>,
+        workspace: Entity,
+    ) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(PlaceObject3d {
+                object,
+                parent,
+                workspace,
+            }))
+            .id();
+        self.send(RunSelector {
+            selector: self.services.place_object_3d,
+            input: Some(state),
+        });
+    }
+
+    pub fn replace_parent_3d(&mut self, object: Entity, workspace: Entity) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(ReplaceParent3d { object, workspace }))
+            .id();
+        self.send(RunSelector {
+            selector: self.services.replace_parent_3d,
+            input: Some(state),
+        });
+    }
+
+    fn send(&mut self, run: RunSelector) {
+        self.commands.add(move |world: &mut World| {
+            world.send_event(run);
+        });
+    }
+}
diff --git a/rmf_site_editor/src/interaction/select/place_object_2d.rs b/rmf_site_editor/src/interaction/select/place_object_2d.rs
new file mode 100644
index 00000000..58c053bb
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/place_object_2d.rs
@@ -0,0 +1,207 @@
+/*
+ * 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::select::*, site::Model};
+use bevy::prelude::ButtonInput;
+
+pub const PLACE_OBJECT_2D_MODE_LABEL: &'static str = "place_object_2d";
+
+pub fn spawn_place_object_2d_workflow(app: &mut App) -> Service<Option<Entity>, ()> {
+    let setup = app.spawn_service(place_object_2d_setup.into_blocking_service());
+    let find_position = app.spawn_continuous_service(Update, place_object_2d_find_placement);
+    let placement_chosen = app.spawn_service(on_placement_chosen_2d.into_blocking_service());
+    let handle_key_code =
+        app.spawn_service(on_keyboard_for_place_object_2d.into_blocking_service());
+    let cleanup = app.spawn_service(place_object_2d_cleanup.into_blocking_service());
+
+    let keyboard_just_pressed = app
+        .world
+        .resource::<KeyboardServices>()
+        .keyboard_just_pressed;
+
+    app.world.spawn_io_workflow(build_place_object_2d_workflow(
+        setup,
+        find_position,
+        placement_chosen,
+        handle_key_code,
+        cleanup,
+        keyboard_just_pressed,
+    ))
+}
+
+pub fn build_place_object_2d_workflow(
+    setup: Service<BufferKey<PlaceObject2d>, SelectionNodeResult>,
+    find_placement: Service<(), Transform>,
+    placement_chosen: Service<(Transform, BufferKey<PlaceObject2d>), SelectionNodeResult>,
+    handle_key_code: Service<KeyCode, SelectionNodeResult>,
+    cleanup: Service<BufferKey<PlaceObject2d>, ()>,
+    keyboard_just_pressed: Service<(), (), StreamOf<KeyCode>>,
+) -> impl FnOnce(Scope<Option<Entity>, ()>, &mut Builder) {
+    move |scope, builder| {
+        let buffer = builder.create_buffer::<PlaceObject2d>(BufferSettings::keep_last(1));
+
+        let setup_finished = scope
+            .input
+            .chain(builder)
+            .then(extract_selector_input::<PlaceObject2d>.into_blocking_callback())
+            .branch_for_err(|err| err.connect(scope.terminate))
+            .cancel_on_none()
+            .then_push(buffer)
+            .then_access(buffer)
+            .then(setup)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .output()
+            .fork_clone(builder);
+
+        setup_finished
+            .clone_chain(builder)
+            .then(find_placement)
+            .with_access(buffer)
+            .then(placement_chosen)
+            .fork_result(
+                |ok| ok.connect(scope.terminate),
+                |err| err.map_block(print_if_err).connect(scope.terminate),
+            );
+
+        let keyboard_node = setup_finished
+            .clone_chain(builder)
+            .then_node(keyboard_just_pressed);
+        keyboard_node
+            .streams
+            .chain(builder)
+            .inner()
+            .then(handle_key_code)
+            .fork_result(
+                |ok| ok.connect(scope.terminate),
+                |err| err.map_block(print_if_err).connect(scope.terminate),
+            );
+
+        builder.on_cleanup(buffer, move |scope, builder| {
+            scope
+                .input
+                .chain(builder)
+                .then(cleanup)
+                .connect(scope.terminate);
+        });
+    }
+}
+
+pub struct PlaceObject2d {
+    pub object: Model,
+    pub level: Entity,
+}
+
+pub fn place_object_2d_setup(
+    In(key): In<BufferKey<PlaceObject2d>>,
+    mut access: BufferAccessMut<PlaceObject2d>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut commands: Commands,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+    mut highlight: ResMut<HighlightAnchors>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_buffer()?;
+
+    cursor.set_model_preview(&mut commands, Some(state.object.clone()));
+    set_visibility(cursor.dagger, &mut visibility, false);
+    set_visibility(cursor.halo, &mut visibility, false);
+
+    highlight.0 = false;
+    gizmo_blockers.selecting = true;
+
+    cursor.add_mode(PLACE_OBJECT_2D_MODE_LABEL, &mut visibility);
+
+    Ok(())
+}
+
+pub fn place_object_2d_cleanup(
+    In(_): In<BufferKey<PlaceObject2d>>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut commands: Commands,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) {
+    cursor.remove_preview(&mut commands);
+    cursor.remove_mode(PLACE_OBJECT_2D_MODE_LABEL, &mut visibility);
+    gizmo_blockers.selecting = false;
+}
+
+pub fn place_object_2d_find_placement(
+    In(ContinuousService { key }): ContinuousServiceInput<(), Transform>,
+    mut orders: ContinuousQuery<(), Transform>,
+    cursor: Res<Cursor>,
+    mut transforms: Query<&mut Transform>,
+    intersect_ground_params: IntersectGroundPlaneParams,
+    mouse_button_input: Res<ButtonInput<MouseButton>>,
+    blockers: Option<Res<PickingBlockers>>,
+) {
+    let Some(mut orders) = orders.get_mut(&key) else {
+        return;
+    };
+
+    let Some(order) = orders.get_mut(0) else {
+        return;
+    };
+
+    // TODO(@mxgrey): Consider allowing models to be snapped to existing objects
+    // similar to how they can for the 3D object placement workflow. Either we
+    // need to introduce parent frames to the 2D sites or just don't bother with
+    // parenting.
+    if let Some(intersection) = intersect_ground_params.ground_plane_intersection() {
+        match transforms.get_mut(cursor.frame) {
+            Ok(mut transform) => {
+                *transform = intersection;
+            }
+            Err(err) => {
+                error!("No cursor transform found: {err}");
+            }
+        }
+
+        let clicked = mouse_button_input.just_pressed(MouseButton::Left);
+        let blocked = blockers.filter(|x| x.blocking()).is_some();
+        if clicked && !blocked {
+            order.respond(intersection);
+        }
+    } else {
+        warn!("Unable to find a placement position. Try adjusting your camera angle.");
+    }
+}
+
+pub fn on_keyboard_for_place_object_2d(In(key): In<KeyCode>) -> SelectionNodeResult {
+    if matches!(key, KeyCode::Escape) {
+        // Simply end the workflow if the escape key was pressed
+        info!("Exiting 2D object placement");
+        return Err(None);
+    }
+
+    Ok(())
+}
+
+pub fn on_placement_chosen_2d(
+    In((placement, key)): In<(Transform, BufferKey<PlaceObject2d>)>,
+    mut access: BufferAccessMut<PlaceObject2d>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let mut state = access.pull().or_broken_state()?;
+
+    state.object.pose = placement.into();
+    commands.spawn(state.object).set_parent(state.level);
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/place_object_3d.rs b/rmf_site_editor/src/interaction/select/place_object_3d.rs
new file mode 100644
index 00000000..54910168
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/place_object_3d.rs
@@ -0,0 +1,505 @@
+/*
+ * 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::select::*,
+    site::{
+        Anchor, AnchorBundle, Dependents, FrameMarker, Model, NameInSite, NameInWorkcell, Pending,
+        SiteID, WorkcellModel,
+    },
+    widgets::canvas_tooltips::CanvasTooltips,
+};
+use bevy::{ecs::system::SystemParam, prelude::ButtonInput};
+use bevy_mod_raycast::deferred::RaycastSource;
+use std::borrow::Cow;
+
+pub const PLACE_OBJECT_3D_MODE_LABEL: &'static str = "place_object_3d";
+
+pub fn spawn_place_object_3d_workflow(
+    hover_service: Service<(), (), Hover>,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let setup = app.spawn_service(place_object_3d_setup);
+    let find_position = app.spawn_continuous_service(Update, place_object_3d_find_placement);
+    let placement_chosen = app.spawn_service(on_placement_chosen_3d.into_blocking_service());
+    let handle_key_code = app.spawn_service(on_keyboard_for_place_object_3d);
+    let cleanup = app.spawn_service(place_object_3d_cleanup.into_blocking_service());
+    let selection_update = app.world.resource::<InspectorService>().selection_update;
+    let keyboard_just_pressed = app
+        .world
+        .resource::<KeyboardServices>()
+        .keyboard_just_pressed;
+
+    app.world.spawn_io_workflow(build_place_object_3d_workflow(
+        setup,
+        find_position,
+        placement_chosen,
+        handle_key_code,
+        cleanup,
+        hover_service.optional_stream_cast(),
+        selection_update,
+        keyboard_just_pressed,
+    ))
+}
+
+pub fn build_place_object_3d_workflow(
+    setup: Service<BufferKey<PlaceObject3d>, SelectionNodeResult, Select>,
+    find_placement: Service<BufferKey<PlaceObject3d>, Transform, Select>,
+    placement_chosen: Service<(Transform, BufferKey<PlaceObject3d>), SelectionNodeResult>,
+    handle_key_code: Service<(KeyCode, BufferKey<PlaceObject3d>), SelectionNodeResult, Select>,
+    cleanup: Service<BufferKey<PlaceObject3d>, SelectionNodeResult>,
+    // Used to manage highlighting prospective parent frames
+    hover_service: Service<(), ()>,
+    // Used to manage highlighting the current parent frame
+    selection_update: Service<Select, ()>,
+    keyboard_just_pressed: Service<(), (), StreamOf<KeyCode>>,
+) -> impl FnOnce(Scope<Option<Entity>, ()>, &mut Builder) {
+    move |scope, builder| {
+        let buffer = builder.create_buffer::<PlaceObject3d>(BufferSettings::keep_last(1));
+        let selection_update_node = builder.create_node(selection_update);
+        let setup_node = scope
+            .input
+            .chain(builder)
+            .then(extract_selector_input::<PlaceObject3d>.into_blocking_callback())
+            .branch_for_err(|err| err.connect(scope.terminate))
+            .cancel_on_none()
+            .then_push(buffer)
+            .then_access(buffer)
+            .then_node(setup);
+
+        builder.connect(setup_node.streams, selection_update_node.input);
+
+        let begin_input_services = setup_node
+            .output
+            .chain(builder)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .output()
+            .fork_clone(builder);
+
+        let find_placement_node = begin_input_services
+            .clone_chain(builder)
+            .then_access(buffer)
+            .then_node(find_placement);
+
+        find_placement_node
+            .output
+            .chain(builder)
+            .with_access(buffer)
+            .then(placement_chosen)
+            .fork_result(
+                |ok| ok.connect(scope.terminate),
+                |err| err.map_block(print_if_err).connect(scope.terminate),
+            );
+
+        builder.connect(find_placement_node.streams, selection_update_node.input);
+
+        begin_input_services
+            .clone_chain(builder)
+            .then(hover_service)
+            .connect(scope.terminate);
+
+        let keyboard = begin_input_services
+            .clone_chain(builder)
+            .then_node(keyboard_just_pressed);
+        let handle_key_node = keyboard
+            .streams
+            .chain(builder)
+            .inner()
+            .with_access(buffer)
+            .then_node(handle_key_code);
+
+        handle_key_node
+            .output
+            .chain(builder)
+            .dispose_on_ok()
+            .map_block(print_if_err)
+            .connect(scope.terminate);
+
+        builder.connect(handle_key_node.streams, selection_update_node.input);
+
+        builder.on_cleanup(buffer, move |scope, builder| {
+            scope.input.chain(builder).then(cleanup).fork_result(
+                |ok| ok.connect(scope.terminate),
+                |err| err.map_block(print_if_err).connect(scope.terminate),
+            );
+        });
+    }
+}
+
+pub struct PlaceObject3d {
+    pub object: PlaceableObject,
+    pub parent: Option<Entity>,
+    pub workspace: Entity,
+}
+
+#[derive(Clone, Debug)]
+pub enum PlaceableObject {
+    Model(Model),
+    Anchor,
+    VisualMesh(WorkcellModel),
+    CollisionMesh(WorkcellModel),
+}
+
+pub fn place_object_3d_setup(
+    In(srv): BlockingServiceInput<BufferKey<PlaceObject3d>, Select>,
+    mut access: BufferAccessMut<PlaceObject3d>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut commands: Commands,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut filter: PlaceObject3dFilter,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&srv.request).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_buffer()?;
+
+    match &state.object {
+        PlaceableObject::Anchor => {
+            // Make the anchor placement component of the cursor visible
+            set_visibility(cursor.frame_placement, &mut visibility, true);
+            set_visibility(cursor.dagger, &mut visibility, true);
+            set_visibility(cursor.halo, &mut visibility, true);
+        }
+        PlaceableObject::Model(m) => {
+            // Spawn the model as a child of the cursor
+            cursor.set_model_preview(&mut commands, Some(m.clone()));
+            set_visibility(cursor.dagger, &mut visibility, false);
+            set_visibility(cursor.halo, &mut visibility, false);
+        }
+        PlaceableObject::VisualMesh(m) | PlaceableObject::CollisionMesh(m) => {
+            // Spawn the model as a child of the cursor
+            cursor.set_workcell_model_preview(&mut commands, Some(m.clone()));
+            set_visibility(cursor.dagger, &mut visibility, false);
+            set_visibility(cursor.halo, &mut visibility, false);
+        }
+    }
+
+    if let Some(parent) = state.parent {
+        let parent = filter.filter_select(parent);
+        state.parent = parent;
+    }
+    srv.streams.send(Select::new(state.parent));
+
+    highlight.0 = true;
+    gizmo_blockers.selecting = true;
+
+    cursor.add_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+
+    Ok(())
+}
+
+pub fn place_object_3d_cleanup(
+    In(_): In<BufferKey<PlaceObject3d>>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut commands: Commands,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) -> SelectionNodeResult {
+    cursor.remove_preview(&mut commands);
+    cursor.remove_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+    set_visibility(cursor.frame_placement, &mut visibility, false);
+    highlight.0 = false;
+    gizmo_blockers.selecting = false;
+
+    Ok(())
+}
+
+pub fn place_object_3d_find_placement(
+    In(ContinuousService { key: srv_key }): ContinuousServiceInput<
+        BufferKey<PlaceObject3d>,
+        Transform,
+        Select,
+    >,
+    mut orders: ContinuousQuery<BufferKey<PlaceObject3d>, Transform, Select>,
+    mut buffer: BufferAccessMut<PlaceObject3d>,
+    mut cursor: ResMut<Cursor>,
+    raycast_sources: Query<&RaycastSource<SiteRaycastSet>>,
+    mut transforms: Query<&mut Transform>,
+    intersect_ground_params: IntersectGroundPlaneParams,
+    mut visibility: Query<&mut Visibility>,
+    mut tooltips: ResMut<CanvasTooltips>,
+    keyboard_input: Res<ButtonInput<KeyCode>>,
+    mut hover: EventWriter<Hover>,
+    hovering: Res<Hovering>,
+    mouse_button_input: Res<ButtonInput<MouseButton>>,
+    blockers: Option<Res<PickingBlockers>>,
+    meta: Query<(Option<&'static NameInSite>, Option<&'static SiteID>)>,
+    mut filter: PlaceObject3dFilter,
+) {
+    let Some(mut orders) = orders.get_mut(&srv_key) else {
+        return;
+    };
+
+    let Some(order) = orders.get_mut(0) else {
+        return;
+    };
+
+    let key = order.request();
+    let Ok(mut buffer) = buffer.get_mut(key) else {
+        error!("Unable to retrieve buffer in place_object_3d_cursor_transform");
+        return;
+    };
+    let Some(state) = buffer.newest_mut() else {
+        error!("Missing state in place_object_3d_cursor_transform");
+        return;
+    };
+
+    if state.parent.is_some() {
+        tooltips.add(Cow::Borrowed("Esc: deselect current parent"));
+    }
+
+    let project_to_plane = keyboard_input.any_pressed([KeyCode::ShiftLeft, KeyCode::ShiftRight]);
+
+    let mut transform = match transforms.get_mut(cursor.frame) {
+        Ok(transform) => transform,
+        Err(err) => {
+            error!("No cursor transform found: {err}");
+            return;
+        }
+    };
+
+    let Ok(source) = raycast_sources.get_single() else {
+        return;
+    };
+
+    // Check if there is an intersection with a mesh
+    let mut intersection: Option<Transform> = None;
+    let mut new_hover = None;
+    let mut select_new_parent = false;
+    if !project_to_plane {
+        for (e, i) in source.intersections() {
+            let Some(e) = filter.filter_pick(*e) else {
+                continue;
+            };
+
+            if let Some(parent) = state.parent {
+                if e == parent {
+                    new_hover = Some(parent);
+                    cursor.add_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+                    tooltips.add(Cow::Borrowed("Click to place"));
+                    tooltips.add(Cow::Borrowed("+Shift: Project to parent frame"));
+
+                    // Don't use the intersection with the parent if the parent
+                    // is an anchor because that results in silly orientations
+                    // which the user probably does not want.
+                    if !filter.anchors.contains(e) {
+                        intersection = Some(
+                            Transform::from_translation(i.position())
+                                .with_rotation(aligned_z_axis(i.normal())),
+                        );
+                    }
+                    break;
+                }
+            } else {
+                new_hover = Some(e);
+                select_new_parent = true;
+                cursor.remove_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+                tooltips.add(Cow::Borrowed("Click to set as parent"));
+                tooltips.add(Cow::Borrowed("+Shift: Project to ground plane"));
+                break;
+            }
+        }
+    } else {
+        cursor.add_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+    }
+
+    if new_hover != hovering.0 {
+        hover.send(Hover(new_hover));
+    }
+
+    if !select_new_parent {
+        intersection = intersection.or_else(|| {
+            if let Some(parent) = state.parent {
+                tooltips.add(Cow::Borrowed("Click to place"));
+                cursor.add_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+                intersect_ground_params.frame_plane_intersection(parent)
+            } else {
+                tooltips.add(Cow::Borrowed("Click to place"));
+                cursor.add_mode(PLACE_OBJECT_3D_MODE_LABEL, &mut visibility);
+                intersect_ground_params.ground_plane_intersection()
+            }
+        });
+
+        if let Some(intersection) = intersection {
+            *transform = intersection;
+        }
+    }
+
+    let clicked = mouse_button_input.just_pressed(MouseButton::Left);
+    let blocked = blockers.filter(|x| x.blocking()).is_some();
+    if clicked && !blocked {
+        if select_new_parent {
+            if let Some(new_parent) = new_hover {
+                state.parent = Some(new_parent);
+                order.streams().send(Select::new(Some(new_parent)));
+                if let Ok((name, id)) = meta.get(new_parent) {
+                    let id = id.map(|id| id.0.to_string());
+                    info!(
+                        "Placing object in the frame of [{}], id: {}",
+                        name.map(|name| name.0.as_str()).unwrap_or("<name unset>"),
+                        id.as_ref().map(|id| id.as_str()).unwrap_or("*"),
+                    );
+                }
+            }
+        } else {
+            if let Some(intersection) = intersection {
+                // The user is choosing a location to place the object.
+                order.respond(intersection);
+            } else {
+                warn!("Unable to find a placement position. Try adjusting your camera angle.");
+            }
+        }
+    }
+}
+
+#[derive(SystemParam)]
+pub struct PlaceObject3dFilter<'w, 's> {
+    inspect: InspectorFilter<'w, 's>,
+    ignore: Query<'w, 's, (), Or<(With<Preview>, With<Pending>)>>,
+    // We aren't using this in the filter functions, we're sneaking this query
+    // into this system param to skirt around the 16-parameter limit for
+    // place_object_3d_find_placement
+    anchors: Query<'w, 's, (), With<Anchor>>,
+}
+
+impl<'w, 's> SelectionFilter for PlaceObject3dFilter<'w, 's> {
+    fn filter_pick(&mut self, target: Entity) -> Option<Entity> {
+        let e = self.inspect.filter_pick(target);
+
+        if let Some(e) = e {
+            if self.ignore.contains(e) {
+                return None;
+            }
+        }
+        e
+    }
+
+    fn filter_select(&mut self, target: Entity) -> Option<Entity> {
+        self.inspect.filter_select(target)
+    }
+
+    fn on_click(&mut self, _: Hover) -> Option<Select> {
+        // Do nothing, clicking is handled by place_object_3d_find_position.
+        // The hover_service doesn't have access to the state of the workflow
+        // so it can't judge whether to select a new parent or not.
+        None
+    }
+}
+
+pub fn on_keyboard_for_place_object_3d(
+    In(srv): BlockingServiceInput<(KeyCode, BufferKey<PlaceObject3d>), Select>,
+    mut access: BufferAccessMut<PlaceObject3d>,
+) -> SelectionNodeResult {
+    let (button, key) = srv.request;
+    if !matches!(button, KeyCode::Escape) {
+        // The button was not the escape key, so there's nothing for us to do
+        // here.
+        return Ok(());
+    }
+
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    if state.parent.is_some() {
+        // Remove the parent
+        info!("Placing object in the ground plane");
+        state.parent = None;
+        srv.streams.send(Select::new(None));
+    } else {
+        info!("Exiting 3D object placement");
+        return Err(None);
+    }
+
+    Ok(())
+}
+
+pub fn on_placement_chosen_3d(
+    In((placement, key)): In<(Transform, BufferKey<PlaceObject3d>)>,
+    mut access: BufferAccessMut<PlaceObject3d>,
+    mut commands: Commands,
+    mut dependents: Query<&mut Dependents>,
+    global_tfs: Query<&GlobalTransform>,
+    parents: Query<&Parent>,
+    frames: Query<(), With<FrameMarker>>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.pull().or_broken_state()?;
+
+    let parent = state
+        .parent
+        .and_then(|p| {
+            if frames.contains(p) {
+                Some(p)
+            } else {
+                // The selected parent is not a frame, so find its first ancestor
+                // that contains a FrameMarker
+                AncestorIter::new(&parents, p).find(|e| frames.contains(*e))
+            }
+        })
+        .unwrap_or(state.workspace);
+
+    let parent_tf = global_tfs.get(parent).or_broken_query()?;
+    let inv_tf = parent_tf.affine().inverse();
+    let placement_tf = placement.compute_affine();
+    let pose = Transform::from_matrix((inv_tf * placement_tf).into()).into();
+
+    let id = match state.object {
+        PlaceableObject::Anchor => commands
+            .spawn((
+                AnchorBundle::new(Anchor::Pose3D(pose)),
+                FrameMarker,
+                NameInWorkcell("Unnamed".to_string()),
+            ))
+            .id(),
+        PlaceableObject::Model(object) => {
+            let model_id = commands.spawn((object, VisualCue::outline())).id();
+            // Create a parent anchor to contain the new model in
+            commands
+                .spawn((
+                    AnchorBundle::new(Anchor::Pose3D(pose))
+                        .dependents(Dependents::single(model_id)),
+                    FrameMarker,
+                    NameInWorkcell("model_root".to_string()),
+                ))
+                .add_child(model_id)
+                .id()
+        }
+        PlaceableObject::VisualMesh(mut object) => {
+            object.pose = pose;
+            let mut cmd = commands.spawn(VisualMeshMarker);
+            object.add_bevy_components(&mut cmd);
+            cmd.id()
+        }
+        PlaceableObject::CollisionMesh(mut object) => {
+            object.pose = pose;
+            let mut cmd = commands.spawn(CollisionMeshMarker);
+            object.add_bevy_components(&mut cmd);
+            cmd.id()
+        }
+    };
+
+    commands
+        .get_entity(id)
+        .or_broken_query()?
+        .set_parent(parent);
+    if let Ok(mut deps) = dependents.get_mut(parent) {
+        deps.insert(id);
+    }
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/replace_parent_3d.rs b/rmf_site_editor/src/interaction/select/replace_parent_3d.rs
new file mode 100644
index 00000000..a91b0708
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/replace_parent_3d.rs
@@ -0,0 +1,309 @@
+/*
+ * 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::select::*,
+    site::{Dependents, FrameMarker},
+    widgets::canvas_tooltips::CanvasTooltips,
+};
+use bevy::prelude::ButtonInput;
+use bevy_mod_raycast::deferred::RaycastSource;
+use std::borrow::Cow;
+
+pub fn spawn_replace_parent_3d_workflow(
+    hover_service: Service<(), (), Hover>,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let setup = app.spawn_service(replace_parent_3d_setup.into_blocking_service());
+    let find_parent = app.spawn_continuous_service(Update, replace_parent_3d_find_parent);
+    let parent_chosen = app.spawn_service(replace_parent_3d_parent_chosen.into_blocking_service());
+    let handle_key_code =
+        app.spawn_service(on_keyboard_for_replace_parent_3d.into_blocking_service());
+    let cleanup = app.spawn_service(replace_parent_3d_cleanup.into_blocking_service());
+    let keyboard_just_pressed = app
+        .world
+        .resource::<KeyboardServices>()
+        .keyboard_just_pressed;
+
+    app.world.spawn_io_workflow(move |scope, builder| {
+        let buffer = builder.create_buffer::<ReplaceParent3d>(BufferSettings::keep_last(1));
+        let initial_state = scope
+            .input
+            .chain(builder)
+            .then(extract_selector_input::<ReplaceParent3d>.into_blocking_callback())
+            .branch_for_err(|err| err.connect(scope.terminate))
+            .cancel_on_none()
+            .output()
+            .fork_clone(builder);
+
+        let begin_input_services = initial_state
+            .clone_chain(builder)
+            .then_push(buffer)
+            .then_access(buffer)
+            .then(setup)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .output()
+            .fork_clone(builder);
+
+        begin_input_services
+            .clone_chain(builder)
+            .then_node(keyboard_just_pressed)
+            .streams
+            .chain(builder)
+            .inner()
+            .then(handle_key_code)
+            .dispose_on_ok()
+            .map_block(print_if_err)
+            .connect(scope.terminate);
+
+        begin_input_services
+            .clone_chain(builder)
+            .then(hover_service)
+            .unused();
+
+        (
+            initial_state.clone_output(builder),
+            begin_input_services.clone_output(builder),
+        )
+            .join(builder)
+            .map_block(|(state, _)| state.object)
+            .then(find_parent)
+            .with_access(buffer)
+            .then(parent_chosen)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .connect(scope.terminate);
+
+        builder.on_cleanup(buffer, move |scope, builder| {
+            scope.input.chain(builder).then(cleanup).fork_result(
+                |ok| ok.connect(scope.terminate),
+                |err| err.map_block(print_if_err).connect(scope.terminate),
+            );
+        });
+    })
+}
+
+#[derive(Clone, Copy, Debug)]
+pub struct ReplaceParent3d {
+    pub object: Entity,
+    pub workspace: Entity,
+}
+
+pub fn replace_parent_3d_setup(
+    In(key): In<BufferKey<ReplaceParent3d>>,
+    mut access: BufferAccessMut<ReplaceParent3d>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_buffer()?;
+
+    highlight.0 = true;
+    gizmo_blockers.selecting = true;
+
+    // We use the workspace entity as a blocker because it's a unique ID that
+    // will be consistent and available during cleanup and which will not be
+    // toggled as a blocker by other system in the application. This is to make
+    // sure that the cursor frame does not turn on during a change in
+    // highlighting.
+    cursor.add_blocker(state.workspace, &mut visibility);
+    Ok(())
+}
+
+pub fn replace_parent_3d_cleanup(
+    In(key): In<BufferKey<ReplaceParent3d>>,
+    mut access: BufferAccessMut<ReplaceParent3d>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_buffer()?;
+
+    highlight.0 = false;
+    gizmo_blockers.selecting = false;
+    cursor.remove_blocker(state.workspace, &mut visibility);
+    Ok(())
+}
+
+pub fn replace_parent_3d_find_parent(
+    In(ContinuousService { key }): ContinuousServiceInput<Entity, Option<Entity>>,
+    mut orders: ContinuousQuery<Entity, Option<Entity>>,
+    mut tooltips: ResMut<CanvasTooltips>,
+    mut hover: EventWriter<Hover>,
+    raycast_sources: Query<&RaycastSource<SiteRaycastSet>>,
+    parents: Query<&Parent>,
+    mut filter: PlaceObject3dFilter,
+    hovering: Res<Hovering>,
+    mouse_button_input: Res<ButtonInput<MouseButton>>,
+    blockers: Option<Res<PickingBlockers>>,
+    mut selected: EventReader<Select>,
+) {
+    let Some(mut orders) = orders.get_mut(&key) else {
+        selected.clear();
+        return;
+    };
+
+    let Some(order) = orders.get_mut(0) else {
+        // Clear the selected reader so we don't mistake an earlier signal as
+        // being intended for this workflow.
+        selected.clear();
+        return;
+    };
+
+    let object = *order.request();
+    for s in selected.read() {
+        // Allow users to signal the choice of parent by means other than clicking
+        match s.0 {
+            Some(s) => {
+                if let Some(e) = filter.filter_pick(s.candidate) {
+                    order.respond(Some(e));
+                    return;
+                }
+
+                info!(
+                    "Received parent replacement selection signal for an invalid parent candidate"
+                );
+            }
+            None => {
+                // The user has sent a signal to remove the object from its parent
+                order.respond(None);
+                return;
+            }
+        }
+    }
+
+    let Ok(source) = raycast_sources.get_single() else {
+        return;
+    };
+
+    let mut hovered: Option<Entity> = None;
+    let mut ignore_click = false;
+    for (e, _) in source.intersections() {
+        let Some(e) = filter.filter_pick(*e) else {
+            continue;
+        };
+
+        if AncestorIter::new(&parents, e)
+            .filter(|e| *e == object)
+            .next()
+            .is_some()
+        {
+            ignore_click = true;
+            tooltips.add(Cow::Borrowed(
+                "Cannot select a child of the object to be its parent",
+            ));
+            break;
+        }
+
+        if e == object {
+            ignore_click = true;
+            tooltips.add(Cow::Borrowed(
+                "Cannot select an object to be its own parent",
+            ));
+            break;
+        }
+
+        hovered = Some(e);
+    }
+
+    if hovered.is_some() {
+        tooltips.add(Cow::Borrowed("Click to select this as the parent"));
+    } else if !ignore_click {
+        tooltips.add(Cow::Borrowed("Click to remove parent"));
+    }
+
+    if hovered != hovering.0 {
+        hover.send(Hover(hovered));
+    }
+
+    let clicked = mouse_button_input.just_pressed(MouseButton::Left);
+    let blocked = blockers.filter(|x| x.blocking()).is_some();
+    if clicked && !blocked && !ignore_click {
+        order.respond(hovered);
+    }
+}
+
+pub fn replace_parent_3d_parent_chosen(
+    In((parent, key)): In<(Option<Entity>, BufferKey<ReplaceParent3d>)>,
+    access: BufferAccess<ReplaceParent3d>,
+    mut dependents: Query<&mut Dependents>,
+    mut poses: Query<&mut Pose>,
+    global_tfs: Query<&GlobalTransform>,
+    parents: Query<&Parent>,
+    frames: Query<(), With<FrameMarker>>,
+    mut commands: Commands,
+    mut anchors: Query<&mut Anchor>,
+) -> SelectionNodeResult {
+    let access = access.get(&key).or_broken_buffer()?;
+    let state = access.newest().or_broken_state()?;
+
+    let parent = parent
+        .and_then(|p| {
+            if frames.contains(p) {
+                Some(p)
+            } else {
+                // The selected parent is not a frame, so find its first ancestor
+                // that contains a FrameMarker
+                AncestorIter::new(&parents, p).find(|e| frames.contains(*e))
+            }
+        })
+        .unwrap_or(state.workspace);
+
+    let previous_parent = parents.get(state.object).or_broken_query()?.get();
+    if parent == previous_parent {
+        info!("Object's parent remains the same");
+        return Ok(());
+    }
+
+    let object_tf = global_tfs.get(state.object).or_broken_query()?.affine();
+    let inv_parent_tf = global_tfs.get(parent).or_broken_query()?.affine().inverse();
+    let relative_pose: Pose = Transform::from_matrix((inv_parent_tf * object_tf).into()).into();
+
+    let [mut previous_deps, mut new_deps] = dependents
+        .get_many_mut([previous_parent, parent])
+        .or_broken_query()?;
+
+    if let Ok(mut pose_mut) = poses.get_mut(state.object) {
+        *pose_mut = relative_pose;
+    } else {
+        let mut anchor = anchors.get_mut(state.object).or_broken_query()?;
+        *anchor = Anchor::Pose3D(relative_pose);
+    }
+
+    // Do all mutations after everything is successfully queried so we don't
+    // risk an inconsistent/broken world due to a query failing.
+    commands
+        .get_entity(state.object)
+        .or_broken_query()?
+        .set_parent(parent);
+    previous_deps.remove(&state.object);
+    new_deps.insert(state.object);
+
+    Ok(())
+}
+
+pub fn on_keyboard_for_replace_parent_3d(In(code): In<KeyCode>) -> SelectionNodeResult {
+    if matches!(code, KeyCode::Escape) {
+        // Simply exit the workflow if the user presses esc
+        return Err(None);
+    }
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/replace_point.rs b/rmf_site_editor/src/interaction/select/replace_point.rs
new file mode 100644
index 00000000..54339714
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/replace_point.rs
@@ -0,0 +1,177 @@
+/*
+ * 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::*,
+    site::{ChangeDependent, Original},
+};
+use bevy::prelude::*;
+use bevy_impulse::*;
+use rmf_site_format::Point;
+use std::borrow::Borrow;
+
+pub fn spawn_replace_point_service(
+    helpers: &AnchorSelectionHelpers,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let anchor_setup =
+        app.spawn_service(anchor_selection_setup::<ReplacePoint>.into_blocking_service());
+    let state_setup = app.spawn_service(replace_point_setup.into_blocking_service());
+    let update_preview = app.spawn_service(on_hover_for_replace_point.into_blocking_service());
+    let update_current = app.spawn_service(on_select_for_replace_point.into_blocking_service());
+    let handle_key_code = app.spawn_service(exit_on_esc::<ReplacePoint>.into_blocking_service());
+    let cleanup_state = app.spawn_service(cleanup_replace_point.into_blocking_service());
+
+    helpers.spawn_anchor_selection_workflow(
+        anchor_setup,
+        state_setup,
+        update_preview,
+        update_current,
+        handle_key_code,
+        cleanup_state,
+        &mut app.world,
+    )
+}
+
+pub struct ReplacePoint {
+    /// The point whose anchor is being replaced
+    pub point: Entity,
+    /// The original value of the point. This is None until setup occurs, then
+    /// its value will be available.
+    pub original: Option<Point<Entity>>,
+    /// The scope that the point exists in
+    pub scope: AnchorScope,
+    /// Keeps track of whether the replacement really happened. If false, the
+    /// cleanup will revert the point to its original state. If true, the cleanup
+    /// will not need to do anything.
+    pub replaced: bool,
+}
+
+impl ReplacePoint {
+    pub fn new(point: Entity, scope: AnchorScope) -> Self {
+        Self {
+            point,
+            original: None,
+            scope,
+            replaced: false,
+        }
+    }
+
+    pub fn set_chosen(
+        &mut self,
+        chosen: Entity,
+        points: &mut Query<&mut Point<Entity>>,
+        commands: &mut Commands,
+    ) -> SelectionNodeResult {
+        let mut point_mut = points.get_mut(self.point).or_broken_query()?;
+        commands.add(ChangeDependent::remove(point_mut.0, self.point));
+        point_mut.0 = chosen;
+        commands.add(ChangeDependent::add(chosen, self.point));
+        Ok(())
+    }
+}
+
+impl Borrow<AnchorScope> for ReplacePoint {
+    fn borrow(&self) -> &AnchorScope {
+        &self.scope
+    }
+}
+
+pub fn replace_point_setup(
+    In(key): In<BufferKey<ReplacePoint>>,
+    mut access: BufferAccessMut<ReplacePoint>,
+    mut points: Query<&'static mut Point<Entity>>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let original = *points.get(state.point).or_broken_query()?;
+    state.original = Some(original);
+    commands.entity(state.point).insert(Original(original));
+    state.set_chosen(cursor.level_anchor_placement, &mut points, &mut commands)?;
+
+    Ok(())
+}
+
+pub fn on_hover_for_replace_point(
+    In((hover, key)): In<(Hover, BufferKey<ReplacePoint>)>,
+    mut access: BufferAccessMut<ReplacePoint>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut points: Query<&mut Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let chosen = match hover.0 {
+        Some(anchor) => {
+            cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            anchor
+        }
+        None => {
+            cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            cursor.level_anchor_placement
+        }
+    };
+
+    state.set_chosen(chosen, &mut points, &mut commands)
+}
+
+pub fn on_select_for_replace_point(
+    In((selection, key)): In<(SelectionCandidate, BufferKey<ReplacePoint>)>,
+    mut access: BufferAccessMut<ReplacePoint>,
+    mut points: Query<&mut Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+    state.set_chosen(selection.candidate, &mut points, &mut commands)?;
+    state.replaced = true;
+    // Since the selection has been made, we should exit the workflow now
+    Err(None)
+}
+
+pub fn cleanup_replace_point(
+    In(key): In<BufferKey<ReplacePoint>>,
+    mut access: BufferAccessMut<ReplacePoint>,
+    mut points: Query<&'static mut Point<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let mut state = access.pull().or_broken_state()?;
+
+    commands
+        .get_entity(state.point)
+        .or_broken_query()?
+        .remove::<Original<Point<Entity>>>();
+
+    if state.replaced {
+        // The anchor was fully replaced, so nothing furtehr to do
+        return Ok(());
+    }
+
+    let Some(original) = state.original else {
+        return Ok(());
+    };
+
+    state.set_chosen(original.0, &mut points, &mut commands)?;
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/replace_side.rs b/rmf_site_editor/src/interaction/select/replace_side.rs
new file mode 100644
index 00000000..fa0608ab
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/replace_side.rs
@@ -0,0 +1,205 @@
+/*
+ * 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::*,
+    site::{ChangeDependent, Original},
+};
+use bevy::prelude::*;
+use bevy_impulse::*;
+use rmf_site_format::{Edge, Side};
+use std::borrow::Borrow;
+
+pub fn spawn_replace_side_service(
+    helpers: &AnchorSelectionHelpers,
+    app: &mut App,
+) -> Service<Option<Entity>, ()> {
+    let anchor_setup =
+        app.spawn_service(anchor_selection_setup::<ReplaceSide>.into_blocking_service());
+    let state_setup = app.spawn_service(replace_side_setup.into_blocking_service());
+    let update_preview = app.spawn_service(on_hover_for_replace_side.into_blocking_service());
+    let update_current = app.spawn_service(on_select_for_replace_side.into_blocking_service());
+    let handle_key_code = app.spawn_service(exit_on_esc::<ReplaceSide>.into_blocking_service());
+    let cleanup_state = app.spawn_service(cleanup_replace_side.into_blocking_service());
+
+    helpers.spawn_anchor_selection_workflow(
+        anchor_setup,
+        state_setup,
+        update_preview,
+        update_current,
+        handle_key_code,
+        cleanup_state,
+        &mut app.world,
+    )
+}
+
+pub struct ReplaceSide {
+    /// The edge whose anchor is being replaced
+    pub edge: Entity,
+    /// The side of the edge which is being replaced
+    pub side: Side,
+    /// The original values for the edge. This is None until setup occurs, then
+    /// its value will be available.
+    pub original: Option<Edge<Entity>>,
+    /// The scope that the edge exists in
+    pub scope: AnchorScope,
+    /// Keeps track of whether the replacement really happened. If false, the
+    /// cleanup will revert the edge to its original state. If true, the cleanup
+    /// will not need to do anything.
+    pub replaced: bool,
+}
+
+impl ReplaceSide {
+    pub fn new(edge: Entity, side: Side, scope: AnchorScope) -> Self {
+        Self {
+            edge,
+            side,
+            scope,
+            original: None,
+            replaced: false,
+        }
+    }
+
+    pub fn set_chosen(
+        &mut self,
+        chosen: Entity,
+        edges: &mut Query<&mut Edge<Entity>>,
+        commands: &mut Commands,
+    ) -> SelectionNodeResult {
+        let original = self.original.or_broken_buffer()?;
+        let mut edge_mut = edges.get_mut(self.edge).or_broken_query()?;
+
+        for a in edge_mut.array() {
+            // Remove both current dependencies in case both of them change.
+            // If either dependency doesn't change then they'll be added back
+            // later anyway.
+            commands.add(ChangeDependent::remove(a, self.edge));
+        }
+
+        if chosen == original.array()[self.side.opposite().index()] {
+            // The user is choosing the anchor on the opposite side of the edge as
+            // the replacement anchor. We take this to mean that the user wants to
+            // flip the edge.
+            *edge_mut.left_mut() = original.right();
+            *edge_mut.right_mut() = original.left();
+        } else {
+            edge_mut.array_mut()[self.side.index()] = chosen;
+            let opp = self.side.opposite().index();
+            edge_mut.array_mut()[opp] = original.array()[opp];
+        }
+
+        for a in edge_mut.array() {
+            commands.add(ChangeDependent::add(a, self.edge));
+        }
+
+        Ok(())
+    }
+}
+
+impl Borrow<AnchorScope> for ReplaceSide {
+    fn borrow(&self) -> &AnchorScope {
+        &self.scope
+    }
+}
+
+pub fn replace_side_setup(
+    In(key): In<BufferKey<ReplaceSide>>,
+    mut access: BufferAccessMut<ReplaceSide>,
+    mut edges: Query<&'static mut Edge<Entity>>,
+    cursor: Res<Cursor>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let edge_ref = edges.get(state.edge).or_broken_query()?;
+    let original_edge: Edge<Entity> = *edge_ref;
+    state.original = Some(original_edge);
+    commands.entity(state.edge).insert(Original(original_edge));
+    state.set_chosen(cursor.level_anchor_placement, &mut edges, &mut commands)?;
+
+    Ok(())
+}
+
+pub fn on_hover_for_replace_side(
+    In((hover, key)): In<(Hover, BufferKey<ReplaceSide>)>,
+    mut access: BufferAccessMut<ReplaceSide>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut edges: Query<&mut Edge<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+
+    let chosen = match hover.0 {
+        Some(anchor) => {
+            cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            anchor
+        }
+        None => {
+            cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+            cursor.level_anchor_placement
+        }
+    };
+
+    state.set_chosen(chosen, &mut edges, &mut commands)
+}
+
+pub fn on_select_for_replace_side(
+    In((selection, key)): In<(SelectionCandidate, BufferKey<ReplaceSide>)>,
+    mut access: BufferAccessMut<ReplaceSide>,
+    mut edges: Query<&mut Edge<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let state = access.newest_mut().or_broken_state()?;
+    state.set_chosen(selection.candidate, &mut edges, &mut commands)?;
+    state.replaced = true;
+    // Since the selection has been made, we should exit the workflow now
+    Err(None)
+}
+
+pub fn cleanup_replace_side(
+    In(key): In<BufferKey<ReplaceSide>>,
+    mut access: BufferAccessMut<ReplaceSide>,
+    mut edges: Query<&'static mut Edge<Entity>>,
+    mut commands: Commands,
+) -> SelectionNodeResult {
+    let mut access = access.get_mut(&key).or_broken_buffer()?;
+    let mut state = access.pull().or_broken_state()?;
+
+    commands
+        .get_entity(state.edge)
+        .or_broken_query()?
+        .remove::<Original<Edge<Entity>>>();
+
+    if state.replaced {
+        // The anchor was fully replaced, so nothing further to do
+        return Ok(());
+    }
+
+    // The anchor was not replaced so we need to revert to the original setup
+    let Some(original) = state.original else {
+        return Ok(());
+    };
+
+    let revert = original.array()[state.side.index()];
+    state.set_chosen(revert, &mut edges, &mut commands)?;
+
+    Ok(())
+}
diff --git a/rmf_site_editor/src/interaction/select/select_anchor.rs b/rmf_site_editor/src/interaction/select/select_anchor.rs
new file mode 100644
index 00000000..399a63d4
--- /dev/null
+++ b/rmf_site_editor/src/interaction/select/select_anchor.rs
@@ -0,0 +1,765 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::prelude::*;
+use bevy_impulse::*;
+
+use crate::{interaction::select::*, site::CurrentLevel};
+use rmf_site_format::{Fiducial, Floor, LevelElevation, Location, Path, Point};
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Resource)]
+pub enum AnchorScope {
+    Drawing,
+    General,
+    Site,
+}
+
+impl AnchorScope {
+    pub fn is_site(&self) -> bool {
+        match self {
+            AnchorScope::Site => true,
+            _ => false,
+        }
+    }
+}
+
+#[derive(Default)]
+pub struct AnchorSelectionPlugin {}
+
+impl Plugin for AnchorSelectionPlugin {
+    fn build(&self, app: &mut App) {
+        let helpers = AnchorSelectionHelpers::from_app(app);
+        let services = AnchorSelectionServices::from_app(&helpers, app);
+        app.init_resource::<HiddenSelectAnchorEntities>()
+            .insert_resource(AnchorScope::General)
+            .insert_resource(helpers)
+            .insert_resource(services);
+    }
+}
+
+#[derive(Resource, Clone, Copy)]
+pub struct AnchorSelectionHelpers {
+    pub anchor_select_stream: Service<(), (), (Hover, Select)>,
+    pub anchor_cursor_transform: Service<(), ()>,
+    pub keyboard_just_pressed: Service<(), (), StreamOf<KeyCode>>,
+    pub cleanup_anchor_selection: Service<(), ()>,
+}
+
+impl AnchorSelectionHelpers {
+    pub fn from_app(app: &mut App) -> Self {
+        let anchor_select_stream = app.spawn_selection_service::<AnchorFilter>();
+        let anchor_cursor_transform = app.spawn_continuous_service(
+            Update,
+            select_anchor_cursor_transform
+                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Pick)),
+        );
+        let cleanup_anchor_selection = app
+            .world
+            .spawn_service(cleanup_anchor_selection.into_blocking_service());
+
+        let keyboard_just_pressed = app
+            .world
+            .resource::<KeyboardServices>()
+            .keyboard_just_pressed;
+
+        Self {
+            anchor_select_stream,
+            anchor_cursor_transform,
+            keyboard_just_pressed,
+            cleanup_anchor_selection,
+        }
+    }
+
+    pub fn spawn_anchor_selection_workflow<State: 'static + Send + Sync>(
+        &self,
+        anchor_setup: Service<BufferKey<State>, SelectionNodeResult>,
+        state_setup: Service<BufferKey<State>, SelectionNodeResult>,
+        update_preview: Service<(Hover, BufferKey<State>), SelectionNodeResult>,
+        update_current: Service<(SelectionCandidate, BufferKey<State>), SelectionNodeResult>,
+        handle_key_code: Service<(KeyCode, BufferKey<State>), SelectionNodeResult>,
+        cleanup_state: Service<BufferKey<State>, SelectionNodeResult>,
+        world: &mut World,
+    ) -> Service<Option<Entity>, ()> {
+        world.spawn_io_workflow(build_anchor_selection_workflow(
+            anchor_setup,
+            state_setup,
+            update_preview,
+            update_current,
+            handle_key_code,
+            cleanup_state,
+            self.anchor_cursor_transform,
+            self.anchor_select_stream,
+            self.keyboard_just_pressed,
+            self.cleanup_anchor_selection,
+        ))
+    }
+}
+
+#[derive(Resource, Clone, Copy)]
+pub struct AnchorSelectionServices {
+    pub create_edges: Service<Option<Entity>, ()>,
+    pub replace_side: Service<Option<Entity>, ()>,
+    pub create_path: Service<Option<Entity>, ()>,
+    pub create_point: Service<Option<Entity>, ()>,
+    pub replace_point: Service<Option<Entity>, ()>,
+}
+
+impl AnchorSelectionServices {
+    pub fn from_app(helpers: &AnchorSelectionHelpers, app: &mut App) -> Self {
+        let create_edges = spawn_create_edges_service(helpers, app);
+        let replace_side = spawn_replace_side_service(helpers, app);
+        let create_path = spawn_create_path_service(helpers, app);
+        let create_point = spawn_create_point_service(helpers, app);
+        let replace_point = spawn_replace_point_service(helpers, app);
+        Self {
+            create_edges,
+            replace_side,
+            create_path,
+            create_point,
+            replace_point,
+        }
+    }
+}
+
+#[derive(SystemParam)]
+pub struct AnchorSelection<'w, 's> {
+    pub services: Res<'w, AnchorSelectionServices>,
+    pub commands: Commands<'w, 's>,
+}
+
+impl<'w, 's> AnchorSelection<'w, 's> {
+    pub fn create_lanes(&mut self) {
+        self.create_edges::<Lane<Entity>>(EdgeContinuity::Continuous, AnchorScope::General);
+    }
+
+    pub fn create_measurements(&mut self) {
+        self.create_edges::<Measurement<Entity>>(EdgeContinuity::Separate, AnchorScope::Drawing)
+    }
+
+    pub fn create_walls(&mut self) {
+        self.create_edges_with_texture::<Wall<Entity>>(
+            EdgeContinuity::Continuous,
+            AnchorScope::General,
+        );
+    }
+
+    pub fn create_door(&mut self) {
+        self.create_edges::<Door<Entity>>(EdgeContinuity::Single, AnchorScope::General)
+    }
+
+    pub fn create_lift(&mut self) {
+        self.create_edges::<LiftProperties<Entity>>(EdgeContinuity::Single, AnchorScope::Site)
+    }
+
+    pub fn create_floor(&mut self) {
+        self.create_path::<Floor<Entity>>(
+            create_path_with_texture::<Floor<Entity>>,
+            3,
+            false,
+            true,
+            AnchorScope::General,
+        );
+    }
+
+    pub fn create_location(&mut self) {
+        self.create_point::<Location<Entity>>(false, AnchorScope::General);
+    }
+
+    pub fn create_site_fiducial(&mut self) {
+        self.create_point::<Fiducial<Entity>>(false, AnchorScope::Site);
+    }
+
+    pub fn create_drawing_fiducial(&mut self) {
+        self.create_point::<Fiducial<Entity>>(false, AnchorScope::Drawing);
+    }
+
+    pub fn create_edges<T: Bundle + From<Edge<Entity>>>(
+        &mut self,
+        continuity: EdgeContinuity,
+        scope: AnchorScope,
+    ) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(CreateEdges::new::<T>(continuity, scope)))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.create_edges,
+            input: Some(state),
+        });
+    }
+
+    pub fn create_edges_with_texture<T: Bundle + From<Edge<Entity>>>(
+        &mut self,
+        continuity: EdgeContinuity,
+        scope: AnchorScope,
+    ) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(CreateEdges::new_with_texture::<T>(
+                continuity, scope,
+            )))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.create_edges,
+            input: Some(state),
+        });
+    }
+
+    pub fn replace_side(&mut self, edge: Entity, side: Side, category: Category) -> bool {
+        let scope = match category {
+            Category::Lane | Category::Wall | Category::Door => AnchorScope::General,
+            Category::Measurement => AnchorScope::Drawing,
+            Category::Lift => AnchorScope::Site,
+            _ => return false,
+        };
+        let state = self
+            .commands
+            .spawn(SelectorInput(ReplaceSide::new(edge, side, scope)))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.replace_side,
+            input: Some(state),
+        });
+
+        true
+    }
+
+    pub fn create_path<T: Bundle + From<Path<Entity>>>(
+        &mut self,
+        spawn_path: fn(Path<Entity>, &mut Commands) -> Entity,
+        minimum_points: usize,
+        allow_inner_loops: bool,
+        implied_complete_loop: bool,
+        scope: AnchorScope,
+    ) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(CreatePath::new(
+                spawn_path,
+                minimum_points,
+                allow_inner_loops,
+                implied_complete_loop,
+                scope,
+            )))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.create_path,
+            input: Some(state),
+        });
+    }
+
+    pub fn create_point<T: Bundle + From<Point<Entity>>>(
+        &mut self,
+        repeating: bool,
+        scope: AnchorScope,
+    ) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(CreatePoint::new::<T>(repeating, scope)))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.create_point,
+            input: Some(state),
+        });
+    }
+
+    pub fn replace_point(&mut self, point: Entity, scope: AnchorScope) {
+        let state = self
+            .commands
+            .spawn(SelectorInput(ReplacePoint::new(point, scope)))
+            .id();
+
+        self.send(RunSelector {
+            selector: self.services.replace_point,
+            input: Some(state),
+        });
+    }
+
+    fn send(&mut self, run: RunSelector) {
+        self.commands.add(move |world: &mut World| {
+            world.send_event(run);
+        });
+    }
+}
+
+#[derive(Resource, Default)]
+pub struct HiddenSelectAnchorEntities {
+    /// All drawing anchors, hidden when users draw level entities such as walls, lanes, floors to
+    /// make sure they don't connect to drawing anchors
+    pub drawing_anchors: HashSet<Entity>,
+}
+
+/// The first five services should be customized for the State data. The services
+/// that return [`SelectionNodeResult`] should return `Ok(())` if it is okay for the
+/// workflow to continue as normal, and they should return `Err(None)` if it's
+/// time for the workflow to terminate as normal. If the workflow needs to
+/// terminate because of an error, return `Err(Some(_))`.
+///
+/// In most cases you should use [`AnchorSelectionHelpers::spawn_anchor_selection_workflow`]
+/// instead of running this function yourself directly, unless you know that you
+/// need to customize the last four services.
+///
+/// * `anchor_setup`: This is run once at the start of the workflow to prepare the
+///   world to select anchors from the right kind of scope for the request. This
+///   is usually just [`anchor_selection_setup`] instantiated for the right type
+///   of state.
+/// * `state_setup`: This is for any additional custom setup that is relevant to
+///   the state information for your selection workflow. This gets run exactly once
+///   immediately after `anchor_setup`
+/// * `update_preview`: This is run each time a [`Hover`] signal arrives. This
+///   is where you should put the logic to update the preview that's being displayed
+///   for users.
+/// * `update_current`: This is run each time a [`Select`] signal containing `Some`
+///   value is sent. This is where you should put the logic to make a persistent
+///   (rather than just a preview) modification to the world.
+/// * `handle_key_code`: This is where you should put the logic for how your
+///   workflow responds to various key codes. For example, should the workflow
+///   exit?
+/// * `cleanup_state`: This is where you should run anything that's needed to
+///   clean up the state of the world after your workflow is finished running.
+///   This will be run no matter whether your workflow terminates with a success,
+///   terminates with a failure, or cancels prematurely.
+///
+/// ### The remaining parameters can all be provided by [`AnchorSelectionHelpers`] in most cases:
+///
+/// * `anchor_cursor_transform`: This service should update the 3D cursor transform.
+///   A suitable service for this is available from [`AnchorSelectionHelpers`].
+/// * `anchor_select_stream`: This service should produce the [`Hover`] and [`Select`]
+///   streams that hook into `update_preview` and `update_current` respectively.
+///   A suitable service for this is provided by [`AnchorSelectionHelpers`].
+/// * `keyobard_just_pressed`: This service should produce [`KeyCode`] streams
+///   when the keyboard gets pressed. A suitable service for this is provided by
+///   [`AnchorSelectionHelpers`].
+/// * `cleanup_anchor_selection`: This service will run during the cleanup phase
+///   and should cleanup any anchor-related modifications to the world. A suitable
+///   service for this is provided by [`AnchorSelectionHelpers`].
+pub fn build_anchor_selection_workflow<State: 'static + Send + Sync>(
+    anchor_setup: Service<BufferKey<State>, SelectionNodeResult>,
+    state_setup: Service<BufferKey<State>, SelectionNodeResult>,
+    update_preview: Service<(Hover, BufferKey<State>), SelectionNodeResult>,
+    update_current: Service<(SelectionCandidate, BufferKey<State>), SelectionNodeResult>,
+    handle_key_code: Service<(KeyCode, BufferKey<State>), SelectionNodeResult>,
+    cleanup_state: Service<BufferKey<State>, SelectionNodeResult>,
+    anchor_cursor_transform: Service<(), ()>,
+    anchor_select_stream: Service<(), (), (Hover, Select)>,
+    keyboard_just_pressed: Service<(), (), StreamOf<KeyCode>>,
+    cleanup_anchor_selection: Service<(), ()>,
+) -> impl FnOnce(Scope<Option<Entity>, ()>, &mut Builder) {
+    move |scope, builder| {
+        let buffer = builder.create_buffer::<State>(BufferSettings::keep_last(1));
+
+        let setup_node = builder.create_buffer_access(buffer);
+        scope
+            .input
+            .chain(builder)
+            .then(extract_selector_input.into_blocking_callback())
+            // If the setup failed, then terminate right away.
+            .branch_for_err(|chain: Chain<_>| chain.connect(scope.terminate))
+            .fork_option(
+                |some: Chain<_>| some.then_push(buffer).connect(setup_node.input),
+                |none: Chain<_>| none.connect(setup_node.input),
+            );
+
+        let begin_input_services = setup_node
+            .output
+            .chain(builder)
+            .map_block(|(_, key)| key)
+            .then(anchor_setup)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .with_access(buffer)
+            .map_block(|(_, key)| key)
+            .then(state_setup)
+            .branch_for_err(|err| err.map_block(print_if_err).connect(scope.terminate))
+            .output()
+            .fork_clone(builder);
+
+        begin_input_services
+            .clone_chain(builder)
+            .then(anchor_cursor_transform)
+            .unused();
+
+        let select = begin_input_services
+            .clone_chain(builder)
+            .then_node(anchor_select_stream);
+        select
+            .streams
+            .0
+            .chain(builder)
+            .with_access(buffer)
+            .then(update_preview)
+            .dispose_on_ok()
+            .map_block(print_if_err)
+            .connect(scope.terminate);
+
+        select
+            .streams
+            .1
+            .chain(builder)
+            .map_block(|s| s.0)
+            .dispose_on_none()
+            .with_access(buffer)
+            .then(update_current)
+            .dispose_on_ok()
+            .map_block(print_if_err)
+            .connect(scope.terminate);
+
+        let keyboard = begin_input_services
+            .clone_chain(builder)
+            .then_node(keyboard_just_pressed);
+        keyboard
+            .streams
+            .chain(builder)
+            .inner()
+            .with_access(buffer)
+            .then(handle_key_code)
+            .dispose_on_ok()
+            .map_block(print_if_err)
+            .connect(scope.terminate);
+
+        builder.on_cleanup(buffer, move |scope, builder| {
+            let state_node = builder.create_node(cleanup_state);
+            let anchor_node = builder.create_node(cleanup_anchor_selection);
+
+            builder.connect(scope.input, state_node.input);
+            state_node.output.chain(builder).fork_result(
+                |ok| ok.connect(anchor_node.input),
+                |err| err.map_block(print_if_err).connect(anchor_node.input),
+            );
+
+            builder.connect(anchor_node.output, scope.terminate);
+        });
+    }
+}
+
+pub fn print_if_err(err: Option<Anyhow>) {
+    if let Some(err) = err {
+        error!("{err}");
+    }
+}
+
+pub fn anchor_selection_setup<State: Borrow<AnchorScope>>(
+    In(key): In<BufferKey<State>>,
+    access: BufferAccess<State>,
+    anchors: Query<Entity, With<Anchor>>,
+    drawings: Query<(), With<DrawingMarker>>,
+    parents: Query<&'static Parent>,
+    mut visibility: Query<&'static mut Visibility>,
+    mut hidden_anchors: ResMut<HiddenSelectAnchorEntities>,
+    mut current_anchor_scope: ResMut<AnchorScope>,
+    mut cursor: ResMut<Cursor>,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) -> SelectionNodeResult
+where
+    State: 'static + Send + Sync,
+{
+    let access = access.get(&key).or_broken_buffer()?;
+    let state = access.newest().or_broken_state()?;
+    let scope: &AnchorScope = (&*state).borrow();
+    match scope {
+        AnchorScope::General | AnchorScope::Site => {
+            // If we are working with normal level or site requests, hide all drawing anchors
+            for e in anchors
+                .iter()
+                .filter(|e| parents.get(*e).is_ok_and(|p| drawings.get(p.get()).is_ok()))
+            {
+                set_visibility(e, &mut visibility, false);
+                hidden_anchors.drawing_anchors.insert(e);
+            }
+        }
+        // Nothing to hide, it's done by the drawing editor plugin
+        AnchorScope::Drawing => {}
+    }
+
+    if scope.is_site() {
+        set_visibility(cursor.site_anchor_placement, &mut visibility, true);
+    } else {
+        set_visibility(cursor.level_anchor_placement, &mut visibility, true);
+    }
+
+    highlight.0 = true;
+    gizmo_blockers.selecting = true;
+
+    *current_anchor_scope = *scope;
+
+    cursor.add_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+    set_visibility(cursor.dagger, &mut visibility, true);
+    set_visibility(cursor.halo, &mut visibility, true);
+
+    Ok(())
+}
+
+pub fn cleanup_anchor_selection(
+    In(_): In<()>,
+    mut cursor: ResMut<Cursor>,
+    mut visibility: Query<&mut Visibility>,
+    mut hidden_anchors: ResMut<HiddenSelectAnchorEntities>,
+    mut anchor_scope: ResMut<AnchorScope>,
+    mut highlight: ResMut<HighlightAnchors>,
+    mut gizmo_blockers: ResMut<GizmoBlockers>,
+) {
+    cursor.remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut visibility);
+    set_visibility(cursor.site_anchor_placement, &mut visibility, false);
+    set_visibility(cursor.level_anchor_placement, &mut visibility, false);
+    for e in hidden_anchors.drawing_anchors.drain() {
+        set_visibility(e, &mut visibility, true);
+    }
+
+    highlight.0 = false;
+    gizmo_blockers.selecting = false;
+
+    *anchor_scope = AnchorScope::General;
+}
+
+pub fn extract_selector_input<T: 'static + Send + Sync>(
+    In(e): In<Option<Entity>>,
+    world: &mut World,
+) -> Result<Option<T>, ()> {
+    let Some(e) = e else {
+        // There is no input to provide, so move ahead with the workflow
+        return Ok(None);
+    };
+
+    let Some(mut e_mut) = world.get_entity_mut(e) else {
+        error!(
+            "Could not begin selector service because the input entity {e:?} \
+            does not exist.",
+        );
+        return Err(());
+    };
+
+    let Some(input) = e_mut.take::<SelectorInput<T>>() else {
+        error!(
+            "Could not begin selector service because the input entity {e:?} \
+            did not contain a value {:?}. This is a bug, please report it.",
+            std::any::type_name::<SelectorInput<T>>(),
+        );
+        return Err(());
+    };
+
+    e_mut.despawn_recursive();
+
+    Ok(Some(input.0))
+}
+
+#[derive(SystemParam)]
+pub struct AnchorFilter<'w, 's> {
+    inspect: InspectorFilter<'w, 's>,
+    anchors: Query<'w, 's, (), With<Anchor>>,
+    cursor: Res<'w, Cursor>,
+    anchor_scope: Res<'w, AnchorScope>,
+    workspace: Res<'w, CurrentWorkspace>,
+    open_sites: Query<'w, 's, Entity, With<NameOfSite>>,
+    transforms: Query<'w, 's, &'static GlobalTransform>,
+    commands: Commands<'w, 's>,
+    current_drawing: Res<'w, CurrentEditDrawing>,
+    drawings: Query<'w, 's, &'static PixelsPerMeter, With<DrawingMarker>>,
+    parents: Query<'w, 's, &'static Parent>,
+    levels: Query<'w, 's, (), With<LevelElevation>>,
+    current_level: Res<'w, CurrentLevel>,
+}
+
+impl<'w, 's> SelectionFilter for AnchorFilter<'w, 's> {
+    fn filter_pick(&mut self, select: Entity) -> Option<Entity> {
+        self.inspect
+            .filter_pick(select)
+            .and_then(|e| self.filter_target(e))
+    }
+
+    fn filter_select(&mut self, target: Entity) -> Option<Entity> {
+        self.filter_target(target)
+    }
+
+    fn on_click(&mut self, hovered: Hover) -> Option<Select> {
+        if let Some(candidate) = hovered.0.and_then(|e| self.filter_target(e)) {
+            return Some(Select::new(Some(candidate)));
+        }
+
+        // There was no anchor currently hovered which means we need to create
+        // a new provisional anchor.
+        let Ok(tf) = self.transforms.get(self.cursor.frame) else {
+            error!("Cannot find cursor transform");
+            return None;
+        };
+
+        let new_anchor = match self.anchor_scope.as_ref() {
+            AnchorScope::Site => {
+                let Some(site) = self.workspace.to_site(&self.open_sites) else {
+                    error!("Cannot find current site");
+                    return None;
+                };
+                let new_anchor = self
+                    .commands
+                    .spawn(AnchorBundle::at_transform(tf))
+                    .set_parent(site)
+                    .id();
+                new_anchor
+            }
+            AnchorScope::Drawing => {
+                let Some(current_drawing) = self.current_drawing.target() else {
+                    error!(
+                        "We are supposed to be in a drawing scope but there is \
+                        no current drawing"
+                    );
+                    return None;
+                };
+                let drawing = current_drawing.drawing;
+                let Ok(ppm) = self.drawings.get(drawing) else {
+                    error!("Cannot find pixels per meter of current drawing");
+                    return None;
+                };
+                let pose = compute_parent_inverse_pose(&tf, &self.transforms, drawing)?;
+                let ppm = ppm.0;
+                self.commands
+                    .spawn(AnchorBundle::new([pose.trans[0], pose.trans[1]].into()))
+                    .insert(Transform::from_scale(Vec3::new(ppm, ppm, 1.0)))
+                    .set_parent(drawing)
+                    .id()
+            }
+            AnchorScope::General => {
+                let Some(level) = self.current_level.0 else {
+                    error!("No current level selected to place the anchor");
+                    return None;
+                };
+                self.commands
+                    .spawn(AnchorBundle::at_transform(tf))
+                    .set_parent(level)
+                    .id()
+            }
+        };
+
+        Some(Select::provisional(new_anchor))
+    }
+}
+
+impl<'w, 's> AnchorFilter<'w, 's> {
+    fn filter_anchor(&mut self, target: Entity) -> Option<Entity> {
+        if self.anchors.contains(target) {
+            Some(target)
+        } else {
+            None
+        }
+    }
+
+    fn filter_scope(&mut self, target: Entity) -> Option<Entity> {
+        let parent = match self.parents.get(target) {
+            Ok(parent) => parent.get(),
+            Err(err) => {
+                error!("Unable to detect parent for target anchor {target:?}: {err}");
+                return None;
+            }
+        };
+
+        match &*self.anchor_scope {
+            AnchorScope::General => {
+                let is_site = self.open_sites.contains(parent);
+                let is_level = self.levels.contains(parent);
+                if is_site || is_level {
+                    Some(target)
+                } else {
+                    None
+                }
+            }
+            AnchorScope::Site => {
+                if self.open_sites.contains(parent) {
+                    Some(target)
+                } else {
+                    None
+                }
+            }
+            AnchorScope::Drawing => {
+                if self.drawings.contains(parent) {
+                    Some(target)
+                } else {
+                    None
+                }
+            }
+        }
+    }
+
+    fn filter_target(&mut self, target: Entity) -> Option<Entity> {
+        self.filter_anchor(target)
+            .and_then(|target| self.filter_scope(target))
+    }
+}
+
+fn compute_parent_inverse_pose(
+    tf: &GlobalTransform,
+    transforms: &Query<&GlobalTransform>,
+    parent: Entity,
+) -> Option<Pose> {
+    let parent_tf = match transforms.get(parent) {
+        Ok(tf) => tf,
+        Err(err) => {
+            error!("Failed in fetching parent transform: {err}");
+            return None;
+        }
+    };
+
+    let inv_tf = parent_tf.affine().inverse();
+    let goal_tf = tf.affine();
+    let mut pose = Pose::default();
+    pose.rot = pose.rot.as_euler_extrinsic_xyz();
+    Some(pose.align_with(&Transform::from_matrix((inv_tf * goal_tf).into())))
+}
+
+pub fn exit_on_esc<T>(In((button, _)): In<(KeyCode, BufferKey<T>)>) -> SelectionNodeResult {
+    if matches!(button, KeyCode::Escape) {
+        // The escape key was pressed so we should exit this mode
+        return Err(None);
+    }
+
+    Ok(())
+}
+
+/// Update the virtual cursor transform while in select anchor mode
+pub fn select_anchor_cursor_transform(
+    In(ContinuousService { key }): ContinuousServiceInput<(), ()>,
+    orders: ContinuousQuery<(), ()>,
+    cursor: Res<Cursor>,
+    mut transforms: Query<&mut Transform>,
+    intersect_ground_params: IntersectGroundPlaneParams,
+) {
+    let Some(orders) = orders.view(&key) else {
+        return;
+    };
+
+    if orders.is_empty() {
+        return;
+    }
+
+    let intersection = match intersect_ground_params.ground_plane_intersection() {
+        Some(intersection) => intersection,
+        None => {
+            return;
+        }
+    };
+
+    let mut transform = match transforms.get_mut(cursor.frame) {
+        Ok(transform) => transform,
+        Err(_) => {
+            return;
+        }
+    };
+
+    *transform = Transform::from_translation(intersection.translation);
+}
diff --git a/rmf_site_editor/src/interaction/select_anchor.rs b/rmf_site_editor/src/interaction/select_anchor.rs
deleted file mode 100644
index 28865a78..00000000
--- a/rmf_site_editor/src/interaction/select_anchor.rs
+++ /dev/null
@@ -1,2331 +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::*,
-    site::{
-        drawing_editor::CurrentEditDrawing, Anchor, AnchorBundle, Category, CollisionMeshMarker,
-        Dependents, DrawingMarker, Original, PathBehavior, Pending, TextureNeedsAssignment,
-        VisualMeshMarker,
-    },
-    AppState, CurrentWorkspace,
-};
-use bevy::{ecs::system::SystemParam, prelude::*};
-use rmf_site_format::{
-    Door, Edge, Fiducial, Floor, FrameMarker, Lane, LiftProperties, Location, Measurement, Model,
-    NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
-};
-use std::collections::HashSet;
-use std::sync::Arc;
-
-const SELECT_ANCHOR_MODE_LABEL: &'static str = "select_anchor";
-
-/// Describe how the interaction mode should change while
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub enum SelectAnchorContinuity {
-    /// Only select one anchor to replace one that the element was already
-    /// referencing. As soon as one anchor is selected and given to its target,
-    /// the interaction mode will revert to Inspect. This variant is not
-    /// compatible if target is None, and will be promoted to OneElement
-    /// (TODO(MXG): or should we panic instead?).
-    ///
-    /// Backout from this mode will return to Inspect.
-    ///
-    /// We allow the original_anchor to initially be None so that users do not
-    /// need to know its initial value. The handle_select_anchor_mode will fill
-    /// this in when the time comes.
-    ReplaceAnchor { original_anchor: Option<Entity> },
-    /// Select enough anchors for one element to be completed. For edge-like
-    /// elements this means both sides must be filled in. For Location, one
-    /// selection is enough. For Floor this will be equivalent to Continuous
-    /// except that backing out will delete all progress.
-    ///
-    /// Backout from this mode when target is None will return to Inspect.
-    /// When target is something, Backout will set it to None, allowing the
-    /// user to restart creating the element. Any progress creating the previous
-    /// element will be lost, although anchors that were created in the process
-    /// will remain.
-    InsertElement,
-    /// Keep selecting anchors indefinitely. When an element has been finished,
-    /// a new element will be created starting from the last anchor that was
-    /// selected.
-    ///
-    /// Backout behavior finishes the current element that's being constructed.
-    /// If the element did not qualify to finish then it is deleted. The user
-    /// can begin drawing a new element. A double-backout is needed to exit the
-    /// mode.
-    Continuous { previous: Option<Entity> },
-}
-
-impl SelectAnchorContinuity {
-    fn needs_original(&self) -> bool {
-        match self {
-            Self::ReplaceAnchor { original_anchor } => {
-                return original_anchor.is_none();
-            }
-            _ => {
-                return false;
-            }
-        }
-    }
-
-    fn replacing(&self) -> Option<Entity> {
-        match self {
-            Self::ReplaceAnchor { original_anchor } => *original_anchor,
-            _ => None,
-        }
-    }
-
-    fn previous(&self) -> Option<Entity> {
-        match self {
-            Self::Continuous { previous } => *previous,
-            _ => None,
-        }
-    }
-}
-
-struct Transition {
-    target: TargetTransition,
-    placement: PlacementTransition,
-}
-
-impl From<(TargetTransition, PlacementTransition)> for Transition {
-    fn from(input: (TargetTransition, PlacementTransition)) -> Self {
-        Self {
-            target: input.0,
-            placement: input.1,
-        }
-    }
-}
-
-type CreateEdgeFn =
-    Arc<dyn Fn(&mut SelectAnchorPlacementParams, Edge<Entity>) -> Entity + Send + Sync>;
-type CreatePointFn =
-    Arc<dyn Fn(&mut SelectAnchorPlacementParams, Point<Entity>) -> Entity + Send + Sync>;
-type CreatePathFn =
-    Arc<dyn Fn(&mut SelectAnchorPlacementParams, Path<Entity>) -> Entity + Send + Sync>;
-type FinalizeFn = Arc<dyn Fn(&mut SelectAnchorPlacementParams, Entity) + Send + Sync>;
-
-struct TargetTransition {
-    created: Option<Entity>,
-    is_finished: bool,
-    discontinue: bool,
-}
-
-impl TargetTransition {
-    fn none() -> Self {
-        Self {
-            created: None,
-            is_finished: false,
-            discontinue: false,
-        }
-    }
-
-    fn create(e: Entity) -> Self {
-        Self {
-            created: Some(e),
-            is_finished: false,
-            discontinue: false,
-        }
-    }
-
-    fn finished() -> Self {
-        Self {
-            created: None,
-            is_finished: true,
-            discontinue: false,
-        }
-    }
-
-    fn discontinued() -> Self {
-        Self {
-            created: None,
-            is_finished: false,
-            discontinue: true,
-        }
-    }
-
-    fn finish(mut self) -> Self {
-        self.is_finished = true;
-        self
-    }
-
-    fn current(&self, e: Option<Entity>) -> Option<Entity> {
-        match e {
-            Some(e) => {
-                if self.created.is_some() {
-                    error!(
-                        "Created a superfluous target while in \
-                        SelectAnchor mode"
-                    );
-                }
-                Some(e)
-            }
-            None => match self.created {
-                Some(e) => Some(e),
-                None => {
-                    error!(
-                        "Failed to create an entity while in \
-                            SelectAnchor mode"
-                    );
-                    None
-                }
-            },
-        }
-    }
-
-    fn next(&self, e: Option<Entity>) -> Option<Entity> {
-        if self.is_finished {
-            return None;
-        }
-
-        // The logic for next is the same as preview if the object is not
-        // finished yet
-        return self.current(e);
-    }
-}
-
-struct PlacementTransition {
-    preview: Option<PlacementArc>,
-    next: PlacementArc,
-}
-
-trait Placement {
-    /// Get what the next placement should be if an anchor is selected for the
-    /// current placement. If None is returned, that means the element has been
-    /// filled.
-    fn next<'w, 's>(
-        &self,
-        anchor_selection: AnchorSelection,
-        continuity: SelectAnchorContinuity,
-        target: Option<Entity>,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()>;
-
-    fn current<'w, 's>(
-        &self,
-        target: Entity,
-        params: &SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity>;
-
-    /// Check what anchor originally has this placement
-    fn save_original<'w, 's>(
-        &self,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity>;
-
-    fn finalize<'w, 's>(&self, target: Entity, params: &mut SelectAnchorPlacementParams<'w, 's>);
-
-    fn backout<'w, 's>(
-        &self,
-        continuity: SelectAnchorContinuity,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()>;
-}
-
-/// Because of bevy's async nature, we need to use different methods for
-/// modifying anchor dependents based on whether the anchor is brand new or
-/// whether the anchor already existed before the current system was run. To
-/// simplify that we encapsulate the logic inside of this AnchorSelection enum.
-enum AnchorSelection {
-    Existing(Entity),
-    New {
-        entity: Entity,
-        dependents: Dependents,
-    },
-}
-
-impl AnchorSelection {
-    fn new(entity: Entity) -> Self {
-        Self::New {
-            entity,
-            dependents: Default::default(),
-        }
-    }
-
-    fn existing(entity: Entity) -> Self {
-        Self::Existing(entity)
-    }
-
-    fn entity(&self) -> Entity {
-        match self {
-            Self::Existing(entity) | Self::New { entity, .. } => *entity,
-        }
-    }
-
-    fn add_dependent<'w, 's>(
-        &mut self,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-        dependent: Entity,
-    ) -> Result<(), ()> {
-        match self {
-            Self::Existing(e) => {
-                let mut deps = match params.dependents.get_mut(*e).map_err(|_| ()) {
-                    Ok(dep) => dep,
-                    Err(_) => {
-                        // The entity was not a proper anchor
-                        error!("Invalid anchor selected {:?}", e);
-                        return Err(());
-                    }
-                };
-                deps.insert(dependent);
-                Ok(())
-            }
-            Self::New { entity, dependents } => {
-                dependents.insert(dependent);
-                params.commands.entity(*entity).insert(dependents.clone());
-                Ok(())
-            }
-        }
-    }
-
-    fn remove_dependent<'w, 's>(
-        &mut self,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-        dependent: Entity,
-    ) -> Result<(), ()> {
-        match self {
-            Self::Existing(e) => {
-                let mut deps = match params.dependents.get_mut(*e).map_err(|_| ()) {
-                    Ok(dep) => dep,
-                    Err(_) => {
-                        error!("Invalid anchor selected {:?}", e);
-                        return Err(());
-                    }
-                };
-                deps.remove(&dependent);
-                Ok(())
-            }
-            Self::New { entity, dependents } => {
-                dependents.remove(&dependent);
-                params.commands.entity(*entity).insert(dependents.clone());
-                Ok(())
-            }
-        }
-    }
-}
-
-#[derive(Clone)]
-pub struct EdgePlacement {
-    side: Side,
-    create: CreateEdgeFn,
-    finalize: FinalizeFn,
-}
-
-impl EdgePlacement {
-    fn to_start(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(Self {
-                side: Side::Left,
-                create: self.create.clone(),
-                finalize: self.finalize.clone(),
-            }),
-        }
-    }
-
-    fn to_end(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(Self {
-                side: Side::Right,
-                create: self.create.clone(),
-                finalize: self.finalize.clone(),
-            }),
-        }
-    }
-
-    fn ignore(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(self.clone()),
-        }
-    }
-
-    fn new<T: Bundle + From<Edge<Entity>>>(side: Side) -> Arc<Self> {
-        Arc::new(Self {
-            side,
-            create: Arc::new(
-                |params: &mut SelectAnchorPlacementParams, edge: Edge<Entity>| {
-                    let new_bundle: T = edge.into();
-                    params.commands.spawn(new_bundle).insert(Pending).id()
-                },
-            ),
-            finalize: Arc::new(|params: &mut SelectAnchorPlacementParams, entity: Entity| {
-                params
-                    .commands
-                    .entity(entity)
-                    .remove::<Original<Edge<Entity>>>();
-            }),
-        })
-    }
-
-    fn with_extra<F>(self: Arc<Self>, f: F) -> Arc<Self>
-    where
-        F: Fn(&mut SelectAnchorPlacementParams, Entity) + Send + Sync + 'static,
-    {
-        let mut result = match Arc::try_unwrap(self) {
-            Ok(r) => r,
-            Err(r) => (*r).clone(),
-        };
-        let base = result.create;
-        result.create = Arc::new(
-            move |params: &mut SelectAnchorPlacementParams, edge: Edge<Entity>| {
-                let entity = base(params, edge);
-                f(params, entity);
-                entity
-            },
-        );
-        Arc::new(result)
-    }
-
-    fn update_dependencies(
-        mut anchor_selection: Option<&mut AnchorSelection>,
-        target: Entity,
-        old_edge: Edge<Entity>,
-        new_edge: Edge<Entity>,
-        params: &mut SelectAnchorPlacementParams,
-    ) -> Result<(), ()> {
-        // Remove the target edge as a dependency from any anchors that are no
-        // longer being used by this edge.
-        for old_anchor in old_edge.array() {
-            if new_edge
-                .array()
-                .iter()
-                .find(|x| **x == old_anchor)
-                .is_none()
-            {
-                // This anchor is no longer being used by the edge.
-                match params.remove_dependent(target, old_anchor, &mut anchor_selection) {
-                    Ok(_) => {
-                        // Do nothing
-                    }
-                    Err(_) => {
-                        error!(
-                            "No AnchorDependents component found for \
-                            {:?} while in SelectAnchor mode.",
-                            old_anchor
-                        );
-                    }
-                }
-            }
-        }
-
-        for new_anchor in new_edge.array() {
-            if old_edge
-                .array()
-                .iter()
-                .find(|x| **x == new_anchor)
-                .is_none()
-            {
-                // This anchor was not being used by the edge previously.
-                params.add_dependent(target, new_anchor, &mut anchor_selection)?;
-            }
-        }
-
-        Ok(())
-    }
-}
-
-impl Placement for EdgePlacement {
-    fn next<'w, 's>(
-        &self,
-        mut anchor_selection: AnchorSelection,
-        continuity: SelectAnchorContinuity,
-        target: Option<Entity>,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        let (target, mut endpoints, original) = match target {
-            Some(target) => {
-                // We expect that we already have an element and we are
-                // modifying it.
-                match params.edges.get_mut(target) {
-                    Ok((edge, original)) => (target, edge, original),
-                    Err(_) => {
-                        error!(
-                            "Entity {:?} is not the right kind of \
-                            element",
-                            target,
-                        );
-                        return Err(());
-                    }
-                }
-            }
-            None => {
-                // We need to begin creating a new element
-                if self.side == Side::Right {
-                    if let Some(previous) = continuity.previous() {
-                        // We should connect this new element to the previous one.
-                        let (previous_edge, _) = params.edges.get(previous).map_err(|_| ())?;
-                        let anchors = Edge::new(previous_edge.right(), anchor_selection.entity());
-                        let target = (*self.create)(params, anchors);
-                        for anchor in anchors.array() {
-                            params.add_dependent(
-                                target,
-                                anchor,
-                                &mut Some(&mut anchor_selection),
-                            )?;
-                        }
-
-                        return Ok(
-                            (TargetTransition::create(target).finish(), self.to_end()).into()
-                        );
-                    }
-                }
-
-                let anchors = Edge::new(
-                    anchor_selection.entity(),
-                    params.cursor.level_anchor_placement,
-                );
-                let target = (*self.create)(params, anchors);
-                for anchor in anchors.array() {
-                    params.add_dependent(target, anchor, &mut Some(&mut anchor_selection))?;
-                }
-                return Ok((TargetTransition::create(target), self.to_end()).into());
-            }
-        };
-
-        let new_edge = match original {
-            Some(original) => {
-                if anchor_selection.entity() == original.side(self.side.opposite()) {
-                    // The user is asking to swap the anchors
-                    original.in_reverse()
-                } else {
-                    original.with_side_of(self.side, anchor_selection.entity())
-                }
-            }
-            None => {
-                match continuity.replacing() {
-                    Some(replacing) => {
-                        let new_edge = if endpoints.side(self.side.opposite()) == replacing {
-                            // The opposite anchor was assigned the anchor that
-                            // is being replaced. This implies that a flip
-                            // happened at some point in the past. We should
-                            // flip the edge back to normal before continuing.
-                            *endpoints = endpoints.in_reverse();
-                            *endpoints
-                        } else {
-                            *endpoints
-                        };
-
-                        new_edge.with_side_of(self.side, anchor_selection.entity())
-                    }
-                    None => {
-                        match self.side {
-                            Side::Left => {
-                                // We are reseting the start point of an edge
-                                // that is being freshly created, so set both
-                                // sides to the same anchor.
-                                Edge::new(anchor_selection.entity(), anchor_selection.entity())
-                            }
-                            Side::Right => {
-                                if endpoints.left() == anchor_selection.entity() {
-                                    // The user is asking to select the same anchor for
-                                    // both sides of the edge. This is not okay, so we
-                                    // ignore this request.
-                                    return Ok((TargetTransition::none(), self.ignore()).into());
-                                }
-
-                                endpoints.with_side_of(Side::Right, anchor_selection.entity())
-                            }
-                        }
-                    }
-                }
-            }
-        };
-
-        let old_edge = *endpoints;
-        *endpoints = new_edge;
-        Self::update_dependencies(
-            Some(&mut anchor_selection),
-            target,
-            old_edge,
-            new_edge,
-            params,
-        )?;
-
-        return match self.side {
-            Side::Left => Ok((TargetTransition::none(), self.to_end()).into()),
-            Side::Right => match continuity {
-                SelectAnchorContinuity::Continuous { .. } => {
-                    Ok((TargetTransition::finished(), self.to_end()).into())
-                }
-                _ => Ok((TargetTransition::finished(), self.to_start()).into()),
-            },
-        };
-    }
-
-    fn current<'w, 's>(
-        &self,
-        target: Entity,
-        params: &SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        params
-            .edges
-            .get(target)
-            .ok()
-            .map(|edge| edge.0.side(self.side))
-    }
-
-    fn save_original<'w, 's>(
-        &self,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        if let Ok(original) = params.edges.get(target).map(|x| x.0).cloned() {
-            params.commands.entity(target).insert(Original(original));
-            return Some(original.side(self.side));
-        }
-
-        return None;
-    }
-
-    fn finalize<'w, 's>(&self, target: Entity, params: &mut SelectAnchorPlacementParams<'w, 's>) {
-        (*self.finalize)(params, target);
-    }
-
-    fn backout<'w, 's>(
-        &self,
-        continuity: SelectAnchorContinuity,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        // Restore visibility to anchors that were hidden in this mode
-        for e in params.hidden_entities.drawing_anchors.drain() {
-            set_visibility(e, &mut params.visibility, true);
-        }
-        if continuity.replacing().is_some() {
-            // Restore the target to its original and then quit
-            if let Ok((mut edge, original)) = params.edges.get_mut(target) {
-                if let Some(original) = original {
-                    let old_edge = *edge;
-                    *edge = **original;
-                    Self::update_dependencies(None, target, old_edge, *edge, params)?;
-                    return Ok((TargetTransition::finished(), self.to_start()).into());
-                } else {
-                    error!(
-                        "Unable to find original for {target:?} \
-                        while backing out of edge replacement"
-                    );
-                    return Err(());
-                }
-            } else {
-                error!(
-                    "Unable to find edge for {target:?} while \
-                    backing out of edge replacement"
-                );
-                return Err(());
-            }
-        } else {
-            // Delete the target because it is unfinished, then restart from
-            // the beginning.
-            let equal_points = if let Ok((edge, _)) = params.edges.get(target) {
-                for anchor in edge.array() {
-                    if let Ok(mut deps) = params.dependents.get_mut(anchor) {
-                        deps.remove(&target);
-                    }
-                }
-                edge.start() == edge.end()
-            } else {
-                true
-            };
-
-            params.commands.entity(target).despawn_recursive();
-
-            if equal_points {
-                return Ok((TargetTransition::discontinued(), self.to_start()).into());
-            } else {
-                return Ok((TargetTransition::none(), self.to_start()).into());
-            }
-        }
-    }
-}
-
-#[derive(Clone)]
-pub struct PointPlacement {
-    create: CreatePointFn,
-    finalize: FinalizeFn,
-}
-
-impl PointPlacement {
-    fn new<T: Bundle + From<Point<Entity>>>() -> Arc<Self> {
-        Arc::new(Self {
-            create: Arc::new(
-                |params: &mut SelectAnchorPlacementParams, point: Point<Entity>| {
-                    let new_bundle: T = point.into();
-                    params.commands.spawn(new_bundle).insert(Pending).id()
-                },
-            ),
-            finalize: Arc::new(|params: &mut SelectAnchorPlacementParams, entity: Entity| {
-                params
-                    .commands
-                    .entity(entity)
-                    .remove::<Original<Point<Entity>>>();
-            }),
-        })
-    }
-}
-
-impl PointPlacement {
-    fn transition(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(self.clone()),
-        }
-    }
-}
-
-impl Placement for PointPlacement {
-    fn next<'w, 's>(
-        &self,
-        mut anchor_selection: AnchorSelection,
-        _continuity: SelectAnchorContinuity,
-        target: Option<Entity>,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        match target {
-            Some(target) => {
-                // Change the anchor that the location is attached to.
-                let mut point = match params.points.get_mut(target) {
-                    Ok(l) => l,
-                    Err(_) => {
-                        error!(
-                            "Unable to get location {:?} while in \
-                            SelectAnchor mode.",
-                            target
-                        );
-                        return Err(());
-                    }
-                };
-
-                if **point != anchor_selection.entity() {
-                    let old_point = **point;
-                    **point = anchor_selection.entity();
-                    params.remove_dependent(target, old_point, &mut Some(&mut anchor_selection))?;
-                    params.add_dependent(
-                        target,
-                        anchor_selection.entity(),
-                        &mut Some(&mut anchor_selection),
-                    )?;
-                }
-
-                return Ok((TargetTransition::finished(), self.transition()).into());
-            }
-            None => {
-                // The element doesn't exist yet, so we need to spawn one.
-                let target = (*self.create)(params, Point(anchor_selection.entity()));
-                params.add_dependent(
-                    target,
-                    anchor_selection.entity(),
-                    &mut Some(&mut anchor_selection),
-                )?;
-                return Ok((TargetTransition::create(target).finish(), self.transition()).into());
-            }
-        }
-    }
-
-    fn current<'w, 's>(
-        &self,
-        target: Entity,
-        params: &SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        params.points.get(target).ok().map(|p| p.0)
-    }
-
-    fn save_original<'w, 's>(
-        &self,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        if let Ok(original) = params.points.get(target).cloned() {
-            params.commands.entity(target).insert(Original(original));
-            return Some(original.0);
-        }
-
-        return None;
-    }
-
-    fn finalize<'w, 's>(&self, target: Entity, params: &mut SelectAnchorPlacementParams<'w, 's>) {
-        (*self.finalize)(params, target);
-    }
-
-    fn backout<'w, 's>(
-        &self,
-        continuity: SelectAnchorContinuity,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        if let Ok(mut point) = params.points.get_mut(target) {
-            if let Ok(mut deps) = params.dependents.get_mut(**point) {
-                deps.remove(&target);
-            }
-
-            if let Some(replacing) = continuity.replacing() {
-                // Restore the target to the original
-                if let Ok(mut deps) = params.dependents.get_mut(replacing) {
-                    deps.insert(target);
-                }
-
-                point.0 = replacing;
-                return Ok((TargetTransition::finished(), self.transition()).into());
-            } else {
-                // Delete the location entirely because there is no anchor to
-                // return it to.
-                params.commands.entity(target).despawn_recursive();
-                return Ok((TargetTransition::discontinued(), self.transition()).into());
-            }
-        } else {
-            error!(
-                "Cannot find point for location {target:?} while \
-                trying to back out of SelectAnchor mode"
-            );
-            return Err(());
-        }
-    }
-}
-
-#[derive(Clone)]
-pub struct PathPlacement {
-    /// Replace the floor anchor at the specified index, or push the anchor to
-    /// the end if None is specified. If the specified index is too high, this
-    /// value will be changed to None and all new anchors will be pushed to the
-    /// back.
-    index: Option<usize>,
-    create: CreatePathFn,
-    finalize: FinalizeFn,
-}
-
-impl PathPlacement {
-    fn new<T: Bundle + From<Path<Entity>>>(placement: Option<usize>) -> Arc<Self> {
-        Arc::new(Self {
-            index: placement,
-            create: Arc::new(
-                |params: &mut SelectAnchorPlacementParams, path: Path<Entity>| {
-                    let new_bundle: T = path.into();
-                    params.commands.spawn(new_bundle).insert(Pending).id()
-                },
-            ),
-            finalize: Arc::new(|params: &mut SelectAnchorPlacementParams, entity: Entity| {
-                params
-                    .commands
-                    .entity(entity)
-                    .remove::<Original<Path<Entity>>>();
-            }),
-        })
-    }
-
-    fn with_extra<F>(self: Arc<Self>, f: F) -> Arc<Self>
-    where
-        F: Fn(&mut SelectAnchorPlacementParams, Entity) + Send + Sync + 'static,
-    {
-        let mut result = match Arc::try_unwrap(self) {
-            Ok(r) => r,
-            Err(r) => (*r).clone(),
-        };
-        let base = result.create;
-        result.create = Arc::new(
-            move |params: &mut SelectAnchorPlacementParams, path: Path<Entity>| {
-                let entity = base(params, path);
-                f(params, entity);
-                entity
-            },
-        );
-        Arc::new(result)
-    }
-
-    fn at_index(&self, index: usize) -> Arc<Self> {
-        Arc::new(Self {
-            index: Some(index),
-            create: self.create.clone(),
-            finalize: self.finalize.clone(),
-        })
-    }
-
-    fn restart(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(Self {
-                index: None,
-                create: self.create.clone(),
-                finalize: self.finalize.clone(),
-            }),
-        }
-    }
-
-    fn transition_from(&self, index: usize) -> PlacementTransition {
-        PlacementTransition {
-            preview: Some(self.at_index(index)),
-            next: self.at_index(index + 1),
-        }
-    }
-
-    fn ignore(&self) -> PlacementTransition {
-        PlacementTransition {
-            preview: None,
-            next: Arc::new(self.clone()),
-        }
-    }
-}
-
-impl Placement for PathPlacement {
-    fn next<'w, 's>(
-        &self,
-        mut anchor_selection: AnchorSelection,
-        _continuity: SelectAnchorContinuity,
-        target: Option<Entity>,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        let target = match target {
-            Some(target) => target,
-            None => {
-                // We need to create a new element
-                let target = (*self.create)(params, Path(vec![anchor_selection.entity()]));
-                params.add_dependent(
-                    target,
-                    anchor_selection.entity(),
-                    &mut Some(&mut anchor_selection),
-                )?;
-                return Ok((TargetTransition::create(target), self.transition_from(0)).into());
-            }
-        };
-
-        let (mut path, behavior) = match params.paths.get_mut(target) {
-            Ok(q) => q,
-            Err(_) => {
-                error!(
-                    "Unable to find path info for {target:?} while \
-                    in SelectAnchor mode."
-                );
-                return Err(());
-            }
-        };
-
-        let index = self.index.unwrap_or(path.len()).min(path.len());
-        if path.len() >= behavior.minimum_points && behavior.implied_complete_loop {
-            if Some(anchor_selection.entity()) == path.first().cloned() {
-                if index >= path.len() - 1 {
-                    // The user has set the first node to the last node,
-                    // creating a closed loop. We should consider the floor to
-                    // be finished.
-                    if index == path.len() - 1 {
-                        // Remove the last element because it is redundant with
-                        // the first element now.
-                        path.pop();
-                    }
-                    return Ok((TargetTransition::finished(), self.transition_from(index)).into());
-                }
-            }
-        }
-
-        if !behavior.allow_inner_loops {
-            for (i, anchor) in path.iter().enumerate() {
-                if *anchor == anchor_selection.entity() && i != index {
-                    // The user has reselected a midpoint. That violates the
-                    // requested behavior, so we ignore it.
-                    return Ok((TargetTransition::none(), self.ignore()).into());
-                }
-            }
-        }
-
-        if let Some(place_anchor) = path.get_mut(index) {
-            let old_anchor = *place_anchor;
-            *place_anchor = anchor_selection.entity();
-
-            if path.iter().find(|x| **x == old_anchor).is_none() {
-                params.remove_dependent(target, old_anchor, &mut Some(&mut anchor_selection))?;
-            }
-        } else {
-            // We need to add this anchor to the end of the vector
-            path.push(anchor_selection.entity());
-        }
-
-        params.add_dependent(
-            target,
-            anchor_selection.entity(),
-            &mut Some(&mut anchor_selection),
-        )?;
-        return Ok((TargetTransition::none(), self.transition_from(index)).into());
-    }
-
-    fn current<'w, 's>(
-        &self,
-        target: Entity,
-        params: &SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        let index = match self.index {
-            Some(i) => i,
-            None => {
-                return None;
-            }
-        };
-
-        let path = match params.paths.get(target) {
-            Ok(p) => p.0,
-            Err(_) => {
-                error!(
-                    "Unable to find path for {:?} while in \
-                    SelectAnchor mode",
-                    target,
-                );
-                return None;
-            }
-        };
-
-        path.get(index).cloned()
-    }
-
-    fn save_original<'w, 's>(
-        &self,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Entity> {
-        let path = match params.paths.get(target) {
-            Ok(p) => p.0.clone(),
-            Err(_) => {
-                error!(
-                    "Unable to find path for {:?} while in \
-                    SelectAnchor mode",
-                    target,
-                );
-                return None;
-            }
-        };
-
-        let placement = self.index.map(|index| path.get(index).cloned()).flatten();
-        params.commands.entity(target).insert(Original(path));
-        return placement;
-    }
-
-    fn finalize<'w, 's>(&self, target: Entity, params: &mut SelectAnchorPlacementParams<'w, 's>) {
-        (*self.finalize)(params, target);
-    }
-
-    fn backout<'w, 's>(
-        &self,
-        continuity: SelectAnchorContinuity,
-        target: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<Transition, ()> {
-        if let Some(replacing) = continuity.replacing() {
-            if let Some(index) = self.index {
-                let (mut path, _) = params.paths.get_mut(target).map_err(|_| ())?;
-                if let Some(anchor) = path.get_mut(index) {
-                    let mut deps = params.dependents.get_mut(*anchor).map_err(|_| ())?;
-                    deps.remove(&target);
-                    deps.insert(replacing);
-                    *anchor = replacing;
-
-                    return Ok((TargetTransition::finished(), self.restart()).into());
-                }
-
-                error!(
-                    "Path of length {} is missing the index {} \
-                    that was supposed to be replaced.",
-                    path.len(),
-                    index
-                );
-                return Err(());
-            }
-
-            error!(
-                "Unable to find the placement of a path anchor \
-                that is being replaced."
-            );
-            return Err(());
-        }
-
-        let (mut path, behavior) = params.paths.get_mut(target).map_err(|_| ())?;
-        let discontinue = path.is_empty() || (path.len() == 1 && self.index == Some(0));
-
-        let insufficient_points = path.len() < behavior.minimum_points
-            || (path.len() < behavior.minimum_points + 1
-                && self.index < Some(behavior.minimum_points));
-
-        if insufficient_points || discontinue {
-            // We're backing out when the path is too small, so we will delete
-            // the object.
-            for anchor in path.iter() {
-                if let Ok(mut deps) = params.dependents.get_mut(*anchor) {
-                    deps.remove(&target);
-                }
-            }
-
-            params.commands.entity(target).despawn_recursive();
-            if discontinue {
-                return Ok((TargetTransition::discontinued(), self.restart()).into());
-            }
-            return Ok((TargetTransition::none(), self.restart()).into());
-        }
-
-        if let Some(last) = path.last() {
-            // The last anchor is virtually guaranteed to be one that's being
-            // previewed rather than one that's actually been selected, so we
-            // will remove it here. Technically there could be a race condition
-            // if the user selects + backs out in the same update cycle, but if
-            // they're giving conflicting inputs in such a small window then
-            // it's not unreasonable for us to permit that race condition.
-            let mut deps = params.dependents.get_mut(*last).unwrap();
-            deps.remove(last);
-            path.pop();
-        }
-
-        return Ok((TargetTransition::finished(), self.restart()).into());
-    }
-}
-
-#[derive(Resource, Default)]
-pub struct HiddenSelectAnchorEntities {
-    /// All drawing anchors, hidden when users draw level entities such as walls, lanes, floors to
-    /// make sure they don't connect to drawing anchors
-    pub drawing_anchors: HashSet<Entity>,
-}
-
-#[derive(SystemParam)]
-pub struct SelectAnchorPlacementParams<'w, 's> {
-    edges: Query<
-        'w,
-        's,
-        (
-            &'static mut Edge<Entity>,
-            Option<&'static Original<Edge<Entity>>>,
-        ),
-    >,
-    points: Query<'w, 's, &'static mut Point<Entity>>,
-    anchors: Query<'w, 's, (Entity, &'static mut Anchor)>,
-    parents: Query<'w, 's, &'static mut Parent>,
-    paths: Query<'w, 's, (&'static mut Path<Entity>, &'static PathBehavior)>,
-    dependents: Query<'w, 's, &'static mut Dependents>,
-    commands: Commands<'w, 's>,
-    cursor: ResMut<'w, Cursor>,
-    visibility: Query<'w, 's, &'static mut Visibility>,
-    drawings: Query<'w, 's, (Entity, &'static PixelsPerMeter), With<DrawingMarker>>,
-    hidden_entities: ResMut<'w, HiddenSelectAnchorEntities>,
-}
-
-impl<'w, 's> SelectAnchorPlacementParams<'w, 's> {
-    fn add_dependent(
-        &mut self,
-        dependent: Entity,
-        to_anchor: Entity,
-        anchor_selection: &mut Option<&mut AnchorSelection>,
-    ) -> Result<(), ()> {
-        if let Some(anchor_selection) = anchor_selection {
-            if to_anchor == anchor_selection.entity() {
-                return anchor_selection.add_dependent(self, dependent);
-            }
-        }
-
-        let mut deps = match self.dependents.get_mut(to_anchor).map_err(|_| ()) {
-            Ok(dep) => dep,
-            Err(_) => {
-                error!(
-                    "Trying to insert invalid anchor \
-                    {to_anchor:?} into entity {dependent:?}"
-                );
-                return Err(());
-            }
-        };
-        deps.insert(dependent);
-        Ok(())
-    }
-
-    fn remove_dependent(
-        &mut self,
-        dependent: Entity,
-        from_anchor: Entity,
-        anchor_selection: &mut Option<&mut AnchorSelection>,
-    ) -> Result<(), ()> {
-        if let Some(anchor_selection) = anchor_selection {
-            if from_anchor == anchor_selection.entity() {
-                return anchor_selection.remove_dependent(self, dependent);
-            }
-        }
-
-        let mut deps = match self.dependents.get_mut(from_anchor).map_err(|_| ()) {
-            Ok(dep) => dep,
-            Err(_) => {
-                error!(
-                    "Removing invalid anchor {from_anchor:?} \
-                    from entity {dependent:?}"
-                );
-                return Err(());
-            }
-        };
-        deps.remove(&dependent);
-        Ok(())
-    }
-
-    /// Use this when exiting SelectAnchor mode
-    fn cleanup(&mut self) {
-        self.cursor
-            .remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut self.visibility);
-        set_visibility(
-            self.cursor.site_anchor_placement,
-            &mut self.visibility,
-            false,
-        );
-        set_visibility(
-            self.cursor.level_anchor_placement,
-            &mut self.visibility,
-            false,
-        );
-        set_visibility(self.cursor.frame_placement, &mut self.visibility, false);
-        self.cursor.set_model_preview(&mut self.commands, None);
-        for e in self.hidden_entities.drawing_anchors.drain() {
-            set_visibility(e, &mut self.visibility, true);
-        }
-    }
-}
-
-pub struct SelectAnchorEdgeBuilder {
-    for_element: Option<Entity>,
-    placement: Side,
-    continuity: SelectAnchorContinuity,
-}
-
-impl SelectAnchorEdgeBuilder {
-    pub fn for_lane(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: EdgePlacement::new::<Lane<Entity>>(self.placement),
-            continuity: self.continuity,
-            scope: Scope::General,
-        }
-    }
-
-    pub fn for_measurement(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: EdgePlacement::new::<Measurement<Entity>>(self.placement),
-            continuity: self.continuity,
-            scope: Scope::Drawing,
-        }
-    }
-
-    pub fn for_wall(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: EdgePlacement::new::<Wall<Entity>>(self.placement).with_extra(
-                |params, entity| {
-                    params
-                        .commands
-                        .entity(entity)
-                        .insert(TextureNeedsAssignment);
-                },
-            ),
-            continuity: self.continuity,
-            scope: Scope::General,
-        }
-    }
-
-    pub fn for_door(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: EdgePlacement::new::<Door<Entity>>(self.placement),
-            continuity: self.continuity,
-            scope: Scope::General,
-        }
-    }
-
-    pub fn for_lift(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: EdgePlacement::new::<LiftProperties<Entity>>(self.placement),
-            continuity: self.continuity,
-            scope: Scope::Site,
-        }
-    }
-
-    pub fn for_category(self, category: Category) -> Option<SelectAnchor> {
-        match category {
-            Category::Lane => Some(self.for_lane()),
-            Category::Measurement => Some(self.for_measurement()),
-            Category::Wall => Some(self.for_wall()),
-            Category::Door => Some(self.for_door()),
-            Category::Lift => Some(self.for_lift()),
-            _ => None,
-        }
-    }
-}
-
-pub struct SelectAnchorPointBuilder {
-    for_element: Option<Entity>,
-    continuity: SelectAnchorContinuity,
-}
-
-impl SelectAnchorPointBuilder {
-    pub fn for_location(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: PointPlacement::new::<Location<Entity>>(),
-            continuity: self.continuity,
-            scope: Scope::General,
-        }
-    }
-
-    pub fn for_site_fiducial(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: PointPlacement::new::<Fiducial<Entity>>(),
-            continuity: self.continuity,
-            scope: Scope::Site,
-        }
-    }
-
-    pub fn for_drawing_fiducial(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: PointPlacement::new::<Fiducial<Entity>>(),
-            continuity: self.continuity,
-            scope: Scope::Drawing,
-        }
-    }
-
-    pub fn for_model(self, model: Model) -> SelectAnchor3D {
-        SelectAnchor3D {
-            bundle: PlaceableObject::Model(model),
-            parent: None,
-            target: self.for_element,
-            continuity: self.continuity,
-        }
-    }
-
-    pub fn for_visual(self, model: WorkcellModel) -> SelectAnchor3D {
-        SelectAnchor3D {
-            bundle: PlaceableObject::VisualMesh(model),
-            parent: None,
-            target: self.for_element,
-            continuity: self.continuity,
-        }
-    }
-
-    pub fn for_collision(self, model: WorkcellModel) -> SelectAnchor3D {
-        SelectAnchor3D {
-            bundle: PlaceableObject::CollisionMesh(model),
-            parent: None,
-            target: self.for_element,
-            continuity: self.continuity,
-        }
-    }
-
-    pub fn for_anchor(self, parent: Option<Entity>) -> SelectAnchor3D {
-        SelectAnchor3D {
-            bundle: PlaceableObject::Anchor,
-            parent: parent,
-            target: self.for_element,
-            continuity: self.continuity,
-        }
-    }
-}
-
-pub struct SelectAnchorPathBuilder {
-    for_element: Option<Entity>,
-    placement: Option<usize>,
-    continuity: SelectAnchorContinuity,
-}
-
-impl SelectAnchorPathBuilder {
-    pub fn for_floor(self) -> SelectAnchor {
-        SelectAnchor {
-            target: self.for_element,
-            placement: PathPlacement::new::<Floor<Entity>>(self.placement).with_extra(
-                |params, entity| {
-                    params
-                        .commands
-                        .entity(entity)
-                        .insert(TextureNeedsAssignment);
-                },
-            ),
-            continuity: self.continuity,
-            scope: Scope::General,
-        }
-    }
-}
-
-type PlacementArc = Arc<dyn Placement + Send + Sync>;
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
-pub enum Scope {
-    Drawing,
-    General,
-    Site,
-}
-
-impl Scope {
-    pub fn is_site(&self) -> bool {
-        match self {
-            Scope::Site => true,
-            _ => false,
-        }
-    }
-}
-
-/// This enum requests that the next selection should be an anchor, and that
-/// selection should be provided to one of the enumerated entities. When the
-/// inner object is None, that means the selection action should create a new
-/// instance of one.
-#[derive(Clone)]
-pub struct SelectAnchor {
-    target: Option<Entity>,
-    placement: PlacementArc,
-    continuity: SelectAnchorContinuity,
-    scope: Scope,
-}
-
-impl SelectAnchor {
-    pub fn site_scope(&self) -> bool {
-        self.scope.is_site()
-    }
-
-    pub fn replace_side(edge: Entity, side: Side) -> SelectAnchorEdgeBuilder {
-        SelectAnchorEdgeBuilder {
-            for_element: Some(edge),
-            placement: side,
-            continuity: SelectAnchorContinuity::ReplaceAnchor {
-                original_anchor: None,
-            },
-        }
-    }
-
-    /// Create a single new element of some edge-like type, e.g. Lane, Wall.
-    ///
-    /// # Examples
-    ///
-    /// ```ignore
-    /// let mode = SelectAnchor::create_one_new_edge().for_lane();
-    /// ```
-    pub fn create_one_new_edge() -> SelectAnchorEdgeBuilder {
-        SelectAnchorEdgeBuilder {
-            for_element: None,
-            placement: Side::Left,
-            continuity: SelectAnchorContinuity::InsertElement,
-        }
-    }
-
-    /// Creates a new path of elements for some edge-like type, e.g. Lane, Wall.
-    /// New elements will be continuously produced until the user backs out.
-    ///
-    /// # Examples
-    ///
-    /// ```ignore
-    /// let mode = SelectAnchor::create_new_path().for_wall();
-    /// ```
-    pub fn create_new_edge_sequence() -> SelectAnchorEdgeBuilder {
-        SelectAnchorEdgeBuilder {
-            for_element: None,
-            placement: Side::Left,
-            continuity: SelectAnchorContinuity::Continuous { previous: None },
-        }
-    }
-
-    /// Create one new location. After an anchor is selected the new location
-    /// will be created and the mode will return to Inspect.
-    pub fn create_new_point() -> SelectAnchorPointBuilder {
-        SelectAnchorPointBuilder {
-            for_element: None,
-            continuity: SelectAnchorContinuity::InsertElement,
-        }
-    }
-
-    /// Move an existing location to a new anchor.
-    // TODO(MXG): Make this accessible from the UI
-    pub fn replace_point(location: Entity, _original_anchor: Entity) -> SelectAnchorPointBuilder {
-        SelectAnchorPointBuilder {
-            for_element: Some(location),
-            continuity: SelectAnchorContinuity::ReplaceAnchor {
-                original_anchor: None,
-            },
-        }
-    }
-
-    /// Create a new floor. The user will be able to select anchors continuously
-    /// until they Backout. If the user selects an anchor that is already part
-    /// of the floor the selection will be ignored, unless it is the first
-    /// anchor of the floor, in which case a Backout will occur.
-    pub fn create_new_path() -> SelectAnchorPathBuilder {
-        SelectAnchorPathBuilder {
-            for_element: None,
-            placement: None,
-            continuity: SelectAnchorContinuity::Continuous { previous: None },
-        }
-    }
-
-    /// Replace which anchor one of the points on the floor is using.
-    pub fn replace_path_point(path: Entity, index: usize) -> SelectAnchorPathBuilder {
-        SelectAnchorPathBuilder {
-            for_element: Some(path),
-            placement: Some(index),
-            continuity: SelectAnchorContinuity::ReplaceAnchor {
-                original_anchor: None,
-            },
-        }
-    }
-
-    pub fn extend_path(path: Entity) -> SelectAnchorPathBuilder {
-        SelectAnchorPathBuilder {
-            for_element: Some(path),
-            placement: None,
-            continuity: SelectAnchorContinuity::InsertElement,
-        }
-    }
-
-    /// Whether a new object is being created
-    pub fn begin_creating(&self) -> bool {
-        match self.continuity {
-            SelectAnchorContinuity::ReplaceAnchor { .. } => false,
-            SelectAnchorContinuity::InsertElement | SelectAnchorContinuity::Continuous { .. } => {
-                self.target.is_none()
-            }
-        }
-    }
-
-    /// Get what the next mode should be if an anchor is selected during the
-    /// current mode. If None is returned, that means we are done selecting
-    /// anchors and should return to Inspect mode.
-    fn next<'w, 's>(
-        &self,
-        anchor_selection: AnchorSelection,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Self> {
-        let transition =
-            match self
-                .placement
-                .next(anchor_selection, self.continuity, self.target, params)
-            {
-                Ok(t) => t,
-                Err(_) => {
-                    return None;
-                }
-            };
-
-        if transition.target.is_finished || self.continuity.replacing().is_some() {
-            if let Some(finished_target) = transition.target.current(self.target) {
-                // Remove the Pending marker from the target because it has
-                // been finished.
-                params.commands.entity(finished_target).remove::<Pending>();
-                self.placement.finalize(finished_target, params);
-            } else {
-                error!(
-                    "An element was supposed to be finished by \
-                    SelectAnchor, but we could not find it"
-                );
-            }
-        }
-
-        let next_target = transition.target.next(self.target);
-        let next_placement = transition.placement.next;
-
-        match self.continuity {
-            SelectAnchorContinuity::ReplaceAnchor { .. } => {
-                // No matter what gets returned for next_target or next_placement
-                // we exit the ReplaceAnchor mode as soon as a selection is made.
-                return None;
-            }
-            SelectAnchorContinuity::InsertElement => {
-                if transition.target.is_finished {
-                    // For InsertElement mode we exit the SelectAnchor mode as
-                    // soon as a target is finished.
-                    return None;
-                } else {
-                    return Some(Self {
-                        target: next_target,
-                        placement: next_placement,
-                        continuity: self.continuity,
-                        scope: self.scope,
-                    });
-                }
-            }
-            SelectAnchorContinuity::Continuous { .. } => {
-                return Some(Self {
-                    target: next_target,
-                    placement: next_placement,
-                    continuity: if transition.target.is_finished {
-                        // If the target finished then the current target becomes
-                        // the previous target.
-                        let previous = transition.target.current(self.target);
-                        SelectAnchorContinuity::Continuous { previous }
-                    } else {
-                        // If the target is not finished then we just carry along
-                        // the previous continuity.
-                        self.continuity.clone()
-                    },
-                    scope: self.scope,
-                });
-            }
-        }
-    }
-
-    fn preview<'w, 's>(
-        &self,
-        anchor_selection: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> PreviewResult {
-        let transition = match self.placement.next(
-            AnchorSelection::existing(anchor_selection),
-            self.continuity,
-            self.target,
-            params,
-        ) {
-            Ok(t) => t,
-            Err(_) => {
-                return PreviewResult::Invalid;
-            }
-        };
-
-        let target = match transition.target.current(self.target) {
-            Some(target) => target,
-            None => {
-                // This shouldn't happen. If a target wasn't already assigned
-                // then a new one should have been created during the preview.
-                // We'll just indicate that we should exit the current mode by
-                // returning None.
-                return PreviewResult::Invalid;
-            }
-        };
-
-        if let Some(new_placement) = transition.placement.preview {
-            return PreviewResult::Updated(Self {
-                target: Some(target),
-                placement: new_placement.clone(),
-                continuity: self.continuity,
-                scope: self.scope,
-            });
-        }
-
-        if Some(target) == self.target {
-            // Neither the placement nor the target has changed due to this
-            // preview, so just return the Unchanged variant.
-            return PreviewResult::Unchanged;
-        }
-
-        return PreviewResult::Updated(Self {
-            target: Some(target),
-            placement: self.placement.clone(),
-            continuity: self.continuity,
-            scope: self.scope,
-        });
-    }
-
-    pub fn backout<'w, 's>(
-        &self,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> InteractionMode {
-        if let Some(target) = self.target {
-            let transition = match self.placement.backout(self.continuity, target, params) {
-                Ok(t) => t,
-                Err(_) => {
-                    params.cleanup();
-                    return InteractionMode::Inspect;
-                }
-            };
-
-            if transition.target.is_finished {
-                params.commands.entity(target).remove::<Pending>();
-                self.placement.finalize(target, params);
-            }
-
-            if transition.target.discontinue {
-                params.cleanup();
-                return InteractionMode::Inspect;
-            }
-
-            match self.continuity {
-                SelectAnchorContinuity::ReplaceAnchor { .. } => {
-                    // Backing out of ReplaceAnchor always means we go back to
-                    // Inspect mode.
-                    params.cleanup();
-                    return InteractionMode::Inspect;
-                }
-                SelectAnchorContinuity::InsertElement => {
-                    if transition.target.is_finished {
-                        // If we have finished inserting an element then stop here
-                        params.cleanup();
-                        return InteractionMode::Inspect;
-                    } else {
-                        return InteractionMode::SelectAnchor(Self {
-                            target: None,
-                            placement: transition.placement.next,
-                            continuity: SelectAnchorContinuity::InsertElement,
-                            scope: self.scope,
-                        });
-                    }
-                }
-                SelectAnchorContinuity::Continuous { .. } => {
-                    return InteractionMode::SelectAnchor(Self {
-                        target: None,
-                        placement: transition.placement.next,
-                        continuity: SelectAnchorContinuity::Continuous { previous: None },
-                        scope: self.scope,
-                    });
-                }
-            }
-        } else {
-            // If there is no current target then a backout means we should
-            // exit the SelectAnchor mode entirely.
-            params.cleanup();
-            return InteractionMode::Inspect;
-        }
-    }
-}
-
-#[derive(Clone)]
-enum PlaceableObject {
-    Model(Model),
-    Anchor,
-    VisualMesh(WorkcellModel),
-    CollisionMesh(WorkcellModel),
-}
-
-#[derive(Clone)]
-pub struct SelectAnchor3D {
-    bundle: PlaceableObject,
-    // Entity being edited
-    target: Option<Entity>,
-    // Proposed parent
-    parent: Option<Entity>,
-    // Continuity also stores the previous parent if needed
-    continuity: SelectAnchorContinuity,
-}
-
-impl SelectAnchor3D {
-    /// Create one new location. After an anchor is selected the new location
-    /// will be created and the mode will return to Inspect.
-    pub fn create_new_point() -> SelectAnchorPointBuilder {
-        SelectAnchorPointBuilder {
-            for_element: None,
-            continuity: SelectAnchorContinuity::InsertElement,
-        }
-    }
-
-    /// Move an existing location to a new anchor.
-    pub fn replace_point(location: Entity, original_anchor: Entity) -> SelectAnchorPointBuilder {
-        SelectAnchorPointBuilder {
-            for_element: Some(location),
-            continuity: SelectAnchorContinuity::ReplaceAnchor {
-                original_anchor: Some(original_anchor),
-            },
-        }
-    }
-
-    /// Whether a new object is being created
-    pub fn begin_creating(&self) -> bool {
-        match self.continuity {
-            SelectAnchorContinuity::ReplaceAnchor { .. } => false,
-            SelectAnchorContinuity::InsertElement | SelectAnchorContinuity::Continuous { .. } => {
-                self.target.is_none()
-            }
-        }
-    }
-
-    /// Always return none, 3D anchors are only selectable and we need to
-    /// return to Inspect mode.
-    fn next<'w, 's>(
-        &self,
-        _anchor_selection: AnchorSelection,
-        _params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Option<Self> {
-        None
-    }
-
-    /// Used for updating parents on parent assignment
-    fn update_parent<'w, 's>(
-        &mut self,
-        anchor_selection: AnchorSelection,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> Result<(), ()> {
-        if let Some(target) = self.target {
-            // Make sure the selected entity is an anchor
-            // TODO(luca) Should this be at the caller level?
-            match params.anchors.get(anchor_selection.entity()) {
-                Ok(anchor) => match anchor.1 {
-                    Anchor::Pose3D(_) => {}
-                    _ => return Err(()),
-                },
-                _ => return Err(()),
-            }
-
-            // Avoid endless loops by making sure the selected entity is not a child of the
-            // current one
-            for ancestor in AncestorIter::new(&params.parents, anchor_selection.entity()) {
-                if ancestor == target {
-                    return Err(());
-                }
-            }
-
-            if self.parent != Some(anchor_selection.entity()) {
-                match self.parent {
-                    Some(_new_parent) => {
-                        if anchor_selection.entity() != target {
-                            self.parent = Some(anchor_selection.entity());
-                        }
-                        return Ok(());
-                    }
-                    None => {
-                        error!("Reassigning parent for entity without a parent");
-                        return Err(());
-                    }
-                }
-            }
-            return Err(());
-        } else {
-            error!("DEV error replacing anchor without original");
-            return Err(());
-        }
-    }
-
-    fn preview<'w, 's>(
-        &mut self,
-        anchor_selection: Entity,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> PreviewResult {
-        // The only live update we need to do is on parent entity change
-        if let SelectAnchorContinuity::ReplaceAnchor { original_anchor: _ } = self.continuity {
-            match self.update_parent(AnchorSelection::Existing(anchor_selection), params) {
-                Ok(()) => {
-                    return PreviewResult::Updated3D(Self {
-                        bundle: self.bundle.clone(),
-                        parent: Some(anchor_selection),
-                        target: self.target,
-                        continuity: self.continuity,
-                    });
-                }
-                Err(()) => {
-                    return PreviewResult::Unchanged;
-                }
-            }
-        }
-        return PreviewResult::Unchanged;
-    }
-
-    pub fn backout<'w, 's>(
-        &self,
-        params: &mut SelectAnchorPlacementParams<'w, 's>,
-    ) -> InteractionMode {
-        params.cleanup();
-        return InteractionMode::Inspect;
-    }
-}
-
-enum PreviewResult {
-    /// The SelectAnchor state needs to be updated
-    Updated(SelectAnchor),
-    /// The SelectAnchor3D state needs to be updated
-    Updated3D(SelectAnchor3D),
-    /// The SelectAnchor state is unchanged
-    Unchanged,
-    /// The SelectAnchor request was invalid and should exit
-    Invalid,
-}
-
-pub fn handle_select_anchor_mode(
-    mut mode: ResMut<InteractionMode>,
-    anchors: Query<(), With<Anchor>>,
-    transforms: Query<&GlobalTransform>,
-    hovering: Res<Hovering>,
-    mouse_button_input: Res<ButtonInput<MouseButton>>,
-    touch_input: Res<Touches>,
-    mut params: SelectAnchorPlacementParams,
-    mut selected: Query<&mut Selected>,
-    mut selection: ResMut<Selection>,
-    mut select: EventReader<Select>,
-    mut hover: EventWriter<Hover>,
-    blockers: Option<Res<PickingBlockers>>,
-    workspace: Res<CurrentWorkspace>,
-    open_sites: Query<Entity, With<NameOfSite>>,
-    current_drawing: Res<CurrentEditDrawing>,
-) {
-    let mut request = match &*mode {
-        InteractionMode::SelectAnchor(request) => request.clone(),
-        _ => {
-            return;
-        }
-    };
-
-    if mode.is_changed() {
-        // The mode was changed to this one on this update cycle. We should
-        // check if something besides an anchor is being hovered, and clear it
-        // out if it is.
-        if let Some(hovering) = hovering.0 {
-            if anchors.contains(hovering) {
-                params
-                    .cursor
-                    .remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-            } else {
-                hover.send(Hover(None));
-                params
-                    .cursor
-                    .add_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-            }
-        } else {
-            params
-                .cursor
-                .add_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-        }
-
-        // Make the anchor placement component of the cursor visible
-        if request.site_scope() {
-            set_visibility(
-                params.cursor.site_anchor_placement,
-                &mut params.visibility,
-                true,
-            );
-        } else {
-            set_visibility(
-                params.cursor.level_anchor_placement,
-                &mut params.visibility,
-                true,
-            );
-        }
-
-        match request.scope {
-            Scope::General | Scope::Site => {
-                // If we are working with normal level or site requests, hide all drawing anchors
-                for anchor in params.anchors.iter().filter(|(e, _)| {
-                    params
-                        .parents
-                        .get(*e)
-                        .is_ok_and(|p| params.drawings.get(**p).is_ok())
-                }) {
-                    set_visibility(anchor.0, &mut params.visibility, false);
-                    params.hidden_entities.drawing_anchors.insert(anchor.0);
-                }
-            }
-            // Nothing to hide, it's done by the drawing editor plugin
-            Scope::Drawing => {}
-        }
-
-        // If we are creating a new object, then we should deselect anything
-        // that might be currently selected.
-        if request.begin_creating() {
-            if let Some(previous_selection) = selection.0 {
-                if let Ok(mut selected) = selected.get_mut(previous_selection) {
-                    selected.is_selected = false;
-                }
-                selection.0 = None;
-            }
-        }
-
-        if request.continuity.needs_original() {
-            // Keep track of the original anchor that we intend to replace so
-            // that we can revert any previews.
-            let for_element = match request.target {
-                Some(for_element) => for_element,
-                None => {
-                    error!(
-                        "for_element must be Some for ReplaceAnchor. \
-                        Reverting to Inspect Mode."
-                    );
-                    params.cleanup();
-                    *mode = InteractionMode::Inspect;
-                    return;
-                }
-            };
-
-            let original = match request.placement.save_original(for_element, &mut params) {
-                Some(original) => original,
-                None => {
-                    error!(
-                        "cannot locate an original anchor for \
-                        entity {:?}. Reverting to Inspect Mode.",
-                        for_element,
-                    );
-                    params.cleanup();
-                    *mode = InteractionMode::Inspect;
-                    return;
-                }
-            };
-
-            request.continuity = SelectAnchorContinuity::ReplaceAnchor {
-                original_anchor: Some(original),
-            };
-            // Save the new mode here in case it doesn't get saved by any
-            // branches in the rest of this system function.
-            *mode = InteractionMode::SelectAnchor(request.clone());
-        }
-    }
-
-    if hovering.is_changed() {
-        if hovering.0.is_none() {
-            params
-                .cursor
-                .add_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-        } else {
-            params
-                .cursor
-                .remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-        }
-    }
-
-    if select.is_empty() {
-        let clicked = mouse_button_input.just_pressed(MouseButton::Left)
-            || touch_input.iter_just_pressed().next().is_some();
-        let blocked = blockers.filter(|x| x.blocking()).is_some();
-
-        if clicked && !blocked {
-            // Since the user clicked but there are no actual selections, the
-            // user is effectively asking to create a new anchor at the current
-            // cursor location. We will create that anchor and treat it as if it
-            // were selected.
-            let tf = match transforms.get(params.cursor.frame) {
-                Ok(tf) => tf,
-                Err(_) => {
-                    error!(
-                        "Could not get transform for cursor frame \
-                        {:?} in SelectAnchor mode.",
-                        params.cursor.frame,
-                    );
-                    // TODO(MXG): Put in backout behavior here.
-                    return;
-                }
-            };
-
-            let new_anchor = match request.scope {
-                Scope::Site => {
-                    let site = workspace.to_site(&open_sites).expect("No current site??");
-                    let new_anchor = params.commands.spawn(AnchorBundle::at_transform(tf)).id();
-                    params.commands.entity(site).add_child(new_anchor);
-                    new_anchor
-                }
-                Scope::Drawing => {
-                    let drawing_entity = current_drawing
-                        .target()
-                        .expect("No drawing while spawning drawing anchor")
-                        .drawing;
-                    let (parent, ppm) = params
-                        .drawings
-                        .get(drawing_entity)
-                        .expect("Entity being edited is not a drawing");
-                    // We also need to have a transform such that the anchor will spawn in the
-                    // right spot
-                    let pose = compute_parent_inverse_pose(&tf, &transforms, parent);
-                    let ppm = ppm.0;
-                    let new_anchor = params
-                        .commands
-                        .spawn(AnchorBundle::new([pose.trans[0], pose.trans[1]].into()))
-                        .insert(Transform::from_scale(Vec3::new(ppm, ppm, 1.0)))
-                        .set_parent(parent)
-                        .id();
-                    new_anchor
-                }
-                Scope::General => params.commands.spawn(AnchorBundle::at_transform(tf)).id(),
-            };
-
-            request = match request.next(AnchorSelection::new(new_anchor), &mut params) {
-                Some(next_mode) => next_mode,
-                None => {
-                    params.cleanup();
-                    *mode = InteractionMode::Inspect;
-                    return;
-                }
-            };
-
-            *mode = InteractionMode::SelectAnchor(request);
-        } else {
-            // Offer a preview based on the current hovering status
-            let hovered = hovering.0.unwrap_or(params.cursor.level_anchor_placement);
-            let current = request
-                .target
-                .map(|target| request.placement.current(target, &params))
-                .flatten();
-
-            if Some(hovered) != current {
-                // We should only call this function if the current hovered
-                // anchor is not the one currently assigned. Otherwise we
-                // are wasting query+command effort.
-                match request.preview(hovered, &mut params) {
-                    PreviewResult::Updated(next) => {
-                        *mode = InteractionMode::SelectAnchor(next);
-                    }
-                    PreviewResult::Updated3D(next) => {
-                        *mode = InteractionMode::SelectAnchor3D(next);
-                    }
-                    PreviewResult::Unchanged => {
-                        // Do nothing, the mode has not changed
-                    }
-                    PreviewResult::Invalid => {
-                        // Something was invalid about the request, so we
-                        // will exit back to Inspect mode.
-                        params.cleanup();
-                        *mode = InteractionMode::Inspect;
-                    }
-                };
-            }
-        }
-    } else {
-        for new_selection in select
-            .read()
-            .filter_map(|s| s.0)
-            .filter(|s| anchors.contains(*s))
-        {
-            request = match request.next(AnchorSelection::existing(new_selection), &mut params) {
-                Some(next_mode) => next_mode,
-                None => {
-                    params.cleanup();
-                    *mode = InteractionMode::Inspect;
-                    return;
-                }
-            };
-        }
-
-        *mode = InteractionMode::SelectAnchor(request);
-    }
-}
-
-fn compute_parent_inverse_pose(
-    tf: &GlobalTransform,
-    transforms: &Query<&GlobalTransform>,
-    parent: Entity,
-) -> Pose {
-    let parent_tf = transforms
-        .get(parent)
-        .expect("Failed in fetching parent transform");
-
-    let inv_tf = parent_tf.affine().inverse();
-    let goal_tf = tf.affine();
-    let mut pose = Pose::default();
-    pose.rot = pose.rot.as_euler_extrinsic_xyz();
-    pose.align_with(&Transform::from_matrix((inv_tf * goal_tf).into()))
-}
-
-pub fn handle_select_anchor_3d_mode(
-    mut mode: ResMut<InteractionMode>,
-    anchors: Query<(), With<Anchor>>,
-    transforms: Query<&GlobalTransform>,
-    hovering: Res<Hovering>,
-    mouse_button_input: Res<ButtonInput<MouseButton>>,
-    touch_input: Res<Touches>,
-    mut params: SelectAnchorPlacementParams,
-    selection: Res<Selection>,
-    mut select: EventReader<Select>,
-    mut hover: EventWriter<Hover>,
-    blockers: Option<Res<PickingBlockers>>,
-    workspace: Res<CurrentWorkspace>,
-    app_state: Res<State<AppState>>,
-) {
-    let mut request = match &*mode {
-        InteractionMode::SelectAnchor3D(request) => request.clone(),
-        _ => {
-            return;
-        }
-    };
-
-    if mode.is_changed() {
-        // The mode was changed to this one on this update cycle. We should
-        // check if something besides an anchor is being hovered, and clear it
-        // out if it is.
-        if let Some(hovering) = hovering.0 {
-            if anchors.contains(hovering) {
-                params
-                    .cursor
-                    .remove_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-            } else {
-                hover.send(Hover(None));
-                params
-                    .cursor
-                    .add_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-            }
-        } else {
-            params
-                .cursor
-                .add_mode(SELECT_ANCHOR_MODE_LABEL, &mut params.visibility);
-        }
-
-        // Make the anchor placement component of the cursor visible
-        match request.bundle {
-            PlaceableObject::Anchor => {
-                set_visibility(params.cursor.frame_placement, &mut params.visibility, true);
-            }
-            PlaceableObject::Model(ref m) => {
-                // Spawn the model as a child of the cursor
-                params
-                    .cursor
-                    .set_model_preview(&mut params.commands, Some(m.clone()));
-            }
-            PlaceableObject::VisualMesh(ref m) | PlaceableObject::CollisionMesh(ref m) => {
-                // Spawn the model as a child of the cursor
-                params
-                    .cursor
-                    .set_workcell_model_preview(&mut params.commands, Some(m.clone()));
-            }
-        }
-
-        // Set the request parent to the currently selected element, to spawn new object as
-        // children of selected frames
-        if matches!(**app_state, AppState::WorkcellEditor) && request.begin_creating() {
-            request.parent = selection.0;
-        }
-    }
-
-    if select.is_empty() {
-        let clicked = mouse_button_input.just_pressed(MouseButton::Left)
-            || touch_input.iter_just_pressed().next().is_some();
-        let blocked = blockers.filter(|x| x.blocking()).is_some();
-
-        if clicked && !blocked {
-            if request.begin_creating() {
-                // Since the user clicked but there are no actual selections, the
-                // user is effectively asking to create a new anchor at the current
-                // cursor location. We will create that anchor and treat it as if it
-                // were selected.
-                let cursor_tf = transforms
-                    .get(params.cursor.frame)
-                    .expect("Unable to get transform for cursor frame");
-
-                let parent = request
-                    .parent
-                    .unwrap_or(workspace.root.expect("No workspace"));
-                let pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
-                let id = match request.bundle {
-                    PlaceableObject::Anchor => params
-                        .commands
-                        .spawn((
-                            AnchorBundle::new(Anchor::Pose3D(pose)),
-                            FrameMarker,
-                            NameInWorkcell("Unnamed".to_string()),
-                        ))
-                        .id(),
-                    PlaceableObject::Model(ref a) => {
-                        let mut model = a.clone();
-                        // If we are in workcell mode, add a "base link" frame to the model
-                        if matches!(**app_state, AppState::WorkcellEditor) {
-                            let child_id = params.commands.spawn(model).id();
-                            params
-                                .commands
-                                .spawn((
-                                    AnchorBundle::new(Anchor::Pose3D(pose))
-                                        .dependents(Dependents::single(child_id)),
-                                    FrameMarker,
-                                    NameInWorkcell("model_root".to_string()),
-                                ))
-                                .add_child(child_id)
-                                .id()
-                        } else {
-                            model.pose = pose;
-                            params.commands.spawn(model).id()
-                        }
-                    }
-                    PlaceableObject::VisualMesh(ref a) => {
-                        let mut model = a.clone();
-                        model.pose = pose;
-                        let mut cmd = params.commands.spawn(VisualMeshMarker);
-                        model.add_bevy_components(&mut cmd);
-                        cmd.id()
-                    }
-                    PlaceableObject::CollisionMesh(ref a) => {
-                        let mut model = a.clone();
-                        model.pose = pose;
-                        let mut cmd = params.commands.spawn(CollisionMeshMarker);
-                        model.add_bevy_components(&mut cmd);
-                        cmd.id()
-                    }
-                };
-                // Add child and dependent to parent
-                params.commands.entity(id).set_parent(parent);
-                if let Ok(mut deps) = params.dependents.get_mut(parent) {
-                    deps.insert(id);
-                }
-            } else {
-                // We are replacing an anchor, which in this mode refers to changing a parent
-                if let (Some(target), Some(parent)) = (request.target, request.parent) {
-                    if let Ok(old_parent) = params.parents.get(target) {
-                        if let Ok(mut deps) = params.dependents.get_mut(**old_parent) {
-                            deps.remove(&target);
-                        }
-                    }
-                    if let Ok(mut deps) = params.dependents.get_mut(parent) {
-                        deps.insert(target);
-                    }
-                    let mut cmd = params.commands.entity(target);
-                    cmd.set_parent(parent);
-                    // Anchors store their pose in the Anchor component, other elements in Pose,
-                    // set accordingly
-                    let previous_tf = transforms
-                        .get(target)
-                        .expect("Transform not found for entity");
-                    let pose = compute_parent_inverse_pose(&previous_tf, &transforms, parent);
-                    if anchors.get(target).is_ok() {
-                        cmd.insert(AnchorBundle::new(Anchor::Pose3D(pose)));
-                    } else {
-                        cmd.insert(pose);
-                    }
-                }
-            }
-
-            params.cleanup();
-            *mode = InteractionMode::Inspect;
-            return;
-        } else {
-            // Offer a preview based on the current hovering status
-            let hovered = hovering.0.unwrap_or(params.cursor.frame_placement);
-            let current = request.parent;
-
-            if Some(hovered) != current {
-                // We should only call this function if the current hovered
-                // anchor is not the one currently assigned. Otherwise we
-                // are wasting query+command effort.
-                match request.preview(hovered, &mut params) {
-                    PreviewResult::Updated(_next) => {
-                        // We should never get here
-                        unreachable!();
-                    }
-                    PreviewResult::Updated3D(next) => {
-                        *mode = InteractionMode::SelectAnchor3D(next);
-                    }
-                    PreviewResult::Unchanged => {
-                        // Do nothing, the mode has not changed
-                    }
-                    PreviewResult::Invalid => {
-                        // Something was invalid about the request, so we
-                        // will exit back to Inspect mode.
-                        params.cleanup();
-                        *mode = InteractionMode::Inspect;
-                    }
-                };
-            }
-        }
-    } else {
-        for new_selection in select
-            .read()
-            .filter_map(|s| s.0)
-            .filter(|s| anchors.contains(*s))
-        {
-            request = match request.next(AnchorSelection::existing(new_selection), &mut params) {
-                Some(next_mode) => next_mode,
-                None => {
-                    params.cleanup();
-                    *mode = InteractionMode::Inspect;
-                    return;
-                }
-            };
-        }
-    }
-    *mode = InteractionMode::SelectAnchor3D(request);
-}
-
-impl From<SelectAnchor> for InteractionMode {
-    fn from(mode: SelectAnchor) -> Self {
-        InteractionMode::SelectAnchor(mode)
-    }
-}
-
-impl From<SelectAnchor3D> for InteractionMode {
-    fn from(mode: SelectAnchor3D) -> Self {
-        InteractionMode::SelectAnchor3D(mode)
-    }
-}
diff --git a/rmf_site_editor/src/interaction/visual_cue.rs b/rmf_site_editor/src/interaction/visual_cue.rs
index a6dc4f7a..1835badf 100644
--- a/rmf_site_editor/src/interaction/visual_cue.rs
+++ b/rmf_site_editor/src/interaction/visual_cue.rs
@@ -66,11 +66,16 @@ impl VisibilityDependents {
     pub fn any(&self) -> bool {
         !self.none()
     }
+
+    pub fn union(mut self, other: Self) -> Self {
+        self.0 = self.0 | other.0;
+        self
+    }
 }
 
 /// A component to tag entities that are only meant to be visual cues and
 /// should be excluded from visualization or analysis of physical objects.
-#[derive(Component, Debug, Clone)]
+#[derive(Component, Debug, Clone, Copy)]
 pub struct VisualCue {
     /// Allow this visual cue to be outlined when it is interacted with
     pub allow_outline: bool,
@@ -82,9 +87,14 @@ pub struct VisualCue {
 }
 
 /// Copied from VisualCue or inherited from parents
-#[derive(Component, Debug, Clone, Deref, DerefMut)]
+#[derive(Component, Debug, Clone, Copy, Deref, DerefMut)]
 pub struct ComputedVisualCue(pub VisualCue);
 
+/// Apply this to structs which should never be viewed with the xray camera
+/// (i.e. they should never be rendered over objects that are in front of them)
+#[derive(Component, Debug, Clone, Copy)]
+pub struct DisableXray;
+
 impl VisualCue {
     pub fn outline() -> VisualCue {
         VisualCue {
@@ -122,6 +132,26 @@ impl VisualCue {
         }
         layers
     }
+
+    pub fn with_constraints(mut self, constraints: VisualCueConstraints) -> Self {
+        if constraints.disable_xray {
+            // Shift all xray visibility over to the regular visibility
+            self.regular = self.regular.union(self.xray);
+            // Then eliminate all xray visibility
+            self.xray = VisibilityDependents::new_none();
+        }
+        self
+    }
+}
+
+pub struct VisualCueConstraints {
+    pub disable_xray: bool,
+}
+
+impl VisualCueConstraints {
+    pub fn new(disable_xray: bool) -> Self {
+        Self { disable_xray }
+    }
 }
 
 /// This system propagates visual cue tags and the correct RenderLayer to all
@@ -135,6 +165,7 @@ pub fn propagate_visual_cues(
     changed_cues: Query<(Entity, &VisualCue), Or<(Changed<VisualCue>, Changed<Children>)>>,
     children: Query<&Children>,
     existing_cues: Query<(), With<VisualCue>>,
+    disabled_xray: Query<(), With<DisableXray>>,
 ) {
     for (e, root_cue) in &changed_cues {
         let mut queue = SmallVec::<[(Entity, VisualCue); 5]>::new();
@@ -143,7 +174,7 @@ pub fn propagate_visual_cues(
             commands
                 .entity(top)
                 .insert(top_cue.layers())
-                .insert(ComputedVisualCue(top_cue.clone()));
+                .insert(ComputedVisualCue(top_cue));
 
             if let Ok(children) = children.get(top) {
                 for child in children {
@@ -151,7 +182,9 @@ pub fn propagate_visual_cues(
                         continue;
                     }
 
-                    queue.push((*child, top_cue.clone()));
+                    let disable_xray = disabled_xray.get(*child).is_ok();
+                    let constraints = VisualCueConstraints::new(disable_xray);
+                    queue.push((*child, top_cue.clone().with_constraints(constraints)));
                 }
             }
         }
diff --git a/rmf_site_editor/src/keyboard.rs b/rmf_site_editor/src/keyboard.rs
index 03d8a241..5dfdb460 100644
--- a/rmf_site_editor/src/keyboard.rs
+++ b/rmf_site_editor/src/keyboard.rs
@@ -16,12 +16,13 @@
 */
 
 use crate::{
-    interaction::{ChangeMode, ChangeProjectionMode, InteractionMode, Selection},
+    interaction::{ChangeProjectionMode, Selection},
     site::{AlignSiteDrawings, Delete},
     CreateNewWorkspace, CurrentWorkspace, SaveWorkspace, WorkspaceLoader,
 };
 use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_egui::EguiContexts;
+use bevy_impulse::*;
 
 #[derive(Debug, Clone, Copy, Resource)]
 pub struct DebugMode(pub bool);
@@ -38,15 +39,20 @@ impl Plugin for KeyboardInputPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<DebugMode>()
             .add_systems(Last, handle_keyboard_input);
+
+        let keyboard_just_pressed =
+            app.spawn_continuous_service(Last, keyboard_just_pressed_stream);
+
+        app.insert_resource(KeyboardServices {
+            keyboard_just_pressed,
+        });
     }
 }
 
 fn handle_keyboard_input(
     keyboard_input: Res<ButtonInput<KeyCode>>,
     selection: Res<Selection>,
-    current_mode: Res<InteractionMode>,
     mut egui_context: EguiContexts,
-    mut change_mode: EventWriter<ChangeMode>,
     mut delete: EventWriter<Delete>,
     mut save_workspace: EventWriter<SaveWorkspace>,
     mut new_workspace: EventWriter<CreateNewWorkspace>,
@@ -80,19 +86,13 @@ fn handle_keyboard_input(
         change_camera_mode.send(ChangeProjectionMode::to_perspective());
     }
 
-    if keyboard_input.just_pressed(KeyCode::Escape) {
-        change_mode.send(ChangeMode::Backout);
-    }
-
     if keyboard_input.just_pressed(KeyCode::Delete)
         || keyboard_input.just_pressed(KeyCode::Backspace)
     {
-        if current_mode.is_inspecting() {
-            if let Some(selection) = selection.0 {
-                delete.send(Delete::new(selection));
-            } else {
-                warn!("No selected entity to delete");
-            }
+        if let Some(selection) = selection.0 {
+            delete.send(Delete::new(selection));
+        } else {
+            warn!("No selected entity to delete");
         }
     }
 
@@ -128,3 +128,26 @@ fn handle_keyboard_input(
         }
     }
 }
+
+pub fn keyboard_just_pressed_stream(
+    In(ContinuousService { key }): ContinuousServiceInput<(), (), StreamOf<KeyCode>>,
+    mut orders: ContinuousQuery<(), (), StreamOf<KeyCode>>,
+    keyboard_input: Res<ButtonInput<KeyCode>>,
+) {
+    let Some(mut orders) = orders.get_mut(&key) else {
+        return;
+    };
+
+    if orders.is_empty() {
+        return;
+    }
+
+    for key_code in keyboard_input.get_just_pressed() {
+        orders.for_each(|order| order.streams().send(StreamOf(*key_code)));
+    }
+}
+
+#[derive(Resource)]
+pub struct KeyboardServices {
+    pub keyboard_just_pressed: Service<(), (), StreamOf<KeyCode>>,
+}
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index b4682ea0..1c68ae6d 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -121,7 +121,7 @@ pub fn run_js() {
 
 pub fn run(command_line_args: Vec<String>) {
     let mut app = App::new();
-    let mut headless_export = None;
+    let mut _headless_export = None;
 
     #[cfg(not(target_arch = "wasm32"))]
     {
@@ -132,10 +132,10 @@ pub fn run(command_line_args: Vec<String>) {
                 command_line_args.import.map(Into::into),
             ));
         }
-        headless_export = command_line_args.headless_export;
+        _headless_export = command_line_args.headless_export;
     }
 
-    app.add_plugins(SiteEditor::default().headless_export(headless_export));
+    app.add_plugins(SiteEditor::default().headless_export(_headless_export));
     app.run();
 }
 
diff --git a/rmf_site_editor/src/osm_slippy_map.rs b/rmf_site_editor/src/osm_slippy_map.rs
index f0ffb325..b8a2107f 100644
--- a/rmf_site_editor/src/osm_slippy_map.rs
+++ b/rmf_site_editor/src/osm_slippy_map.rs
@@ -86,7 +86,6 @@ impl TryFrom<PathBuf> for OSMTile {
                 "Invalid path when converting to OSMTile, three elements are required".to_owned(),
             )?;
         let ytile = ytile.strip_suffix(".png").ok_or("Suffix not found")?;
-        dbg!(&zoom, &xtile, &ytile);
         Ok(OSMTile {
             xtile: xtile.parse::<i32>().map_err(|e| e.to_string())?,
             ytile: ytile.parse::<i32>().map_err(|e| e.to_string())?,
diff --git a/rmf_site_editor/src/site/anchor.rs b/rmf_site_editor/src/site/anchor.rs
index 1ce7d971..b7214114 100644
--- a/rmf_site_editor/src/site/anchor.rs
+++ b/rmf_site_editor/src/site/anchor.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{site::*, Issue, ValidateWorkspace};
-use bevy::{prelude::*, render::primitives::Sphere, utils::Uuid};
+use bevy::{ecs::system::Command, prelude::*, render::primitives::Sphere, utils::Uuid};
 use itertools::Itertools;
 use rmf_site_format::{Anchor, LevelElevation, LiftCabin};
 use std::collections::HashMap;
@@ -87,17 +87,6 @@ impl AnchorBundle {
 #[derive(Component, Debug, Default, Clone, Copy)]
 pub struct Subordinate(pub Option<Entity>);
 
-/// The PreviewAnchor component is held by exactly one Anchor entity that will
-/// follow the cursor when the interaction mode is to add a new Anchor.
-#[derive(Component)]
-pub struct PreviewAnchor {
-    /// If the preview anchor will be replacing an existing anchor, then this
-    /// field keeps track of which anchor is being replaced. This information
-    /// is helpful for sending dependents back to their original anchor if the
-    /// user cancels the add-anchor interaction mode.
-    replacing: Option<Entity>,
-}
-
 pub fn update_anchor_transforms(
     mut changed_anchors: Query<(&Anchor, &mut Transform), Changed<Anchor>>,
 ) {
@@ -252,3 +241,45 @@ pub fn check_for_close_unconnected_anchors(
         }
     }
 }
+
+pub struct ChangeDependent {
+    pub anchor: Entity,
+    pub dependent: Entity,
+    pub include: bool,
+}
+
+impl ChangeDependent {
+    pub fn add(anchor: Entity, dependent: Entity) -> Self {
+        Self {
+            anchor,
+            dependent,
+            include: true,
+        }
+    }
+
+    pub fn remove(anchor: Entity, dependent: Entity) -> Self {
+        Self {
+            anchor,
+            dependent,
+            include: false,
+        }
+    }
+}
+
+impl Command for ChangeDependent {
+    fn apply(self, world: &mut World) {
+        let Some(mut dependents) = world.get_mut::<Dependents>(self.anchor) else {
+            error!(
+                "Unable to change dependency of {:?} on anchor {:?}",
+                self.dependent, self.anchor,
+            );
+            return;
+        };
+
+        if self.include {
+            dependents.insert(self.dependent);
+        } else {
+            dependents.remove(&self.dependent);
+        }
+    }
+}
diff --git a/rmf_site_editor/src/site/fiducial.rs b/rmf_site_editor/src/site/fiducial.rs
index a480addd..b1b58aba 100644
--- a/rmf_site_editor/src/site/fiducial.rs
+++ b/rmf_site_editor/src/site/fiducial.rs
@@ -65,14 +65,25 @@ pub fn add_unused_fiducial_tracker(
 }
 
 pub fn update_fiducial_usage_tracker(
-    mut unused_fiducial_trackers: Query<(Entity, &mut FiducialUsage)>,
-    changed_parent: Query<Entity, (With<DrawingMarker>, Changed<Parent>)>,
-    changed_fiducial: Query<&Parent, (Changed<Affiliation<Entity>>, With<FiducialMarker>)>,
+    mut fiducial_usage_trackers: Query<(Entity, &mut FiducialUsage)>,
+    changed_scopes: Query<
+        Entity,
+        (
+            With<DrawingMarker>,
+            Or<(Changed<Parent>, Changed<Children>)>,
+        ),
+    >,
+    changed_fiducials: Query<
+        &Parent,
+        (
+            Or<(Changed<Affiliation<Entity>>, Changed<Parent>)>,
+            With<FiducialMarker>,
+        ),
+    >,
     sites: Query<(), With<NameOfSite>>,
     parent: Query<&Parent>,
     children: Query<&Children>,
     fiducials: Query<&Affiliation<Entity>, With<FiducialMarker>>,
-    changed_fiducials: Query<&Parent, (Changed<Affiliation<Entity>>, With<FiducialMarker>)>,
     fiducial_groups: Query<(Entity, &NameInSite, &Parent), (With<Group>, With<FiducialMarker>)>,
     changed_fiducial_groups: Query<
         Entity,
@@ -88,19 +99,19 @@ pub fn update_fiducial_usage_tracker(
     >,
     mut removed_fiducial_groups: RemovedComponents<Group>,
 ) {
-    for e in &changed_parent {
+    for e in &changed_scopes {
         if let Some(site) = find_parent_site(e, &sites, &parent) {
-            if let Ok((_, mut unused)) = unused_fiducial_trackers.get_mut(e) {
+            if let Ok((_, mut unused)) = fiducial_usage_trackers.get_mut(e) {
                 unused.site = site;
             }
         }
     }
 
-    for e in changed_parent
+    for e in changed_scopes
         .iter()
-        .chain(changed_fiducial.iter().map(|p| p.get()))
+        .chain(changed_fiducials.iter().map(|p| p.get()))
     {
-        let Ok((_, mut tracker)) = unused_fiducial_trackers.get_mut(e) else {
+        let Ok((_, mut tracker)) = fiducial_usage_trackers.get_mut(e) else {
             continue;
         };
         reset_fiducial_usage(e, &mut tracker, &fiducials, &fiducial_groups, &children);
@@ -110,7 +121,7 @@ pub fn update_fiducial_usage_tracker(
         let Ok((_, name, site)) = fiducial_groups.get(changed_group) else {
             continue;
         };
-        for (e, mut tracker) in &mut unused_fiducial_trackers {
+        for (e, mut tracker) in &mut fiducial_usage_trackers {
             if tracker.site == site.get() {
                 tracker.unused.insert(changed_group, name.0.clone());
                 let Ok(scope_children) = children.get(e) else {
@@ -137,15 +148,8 @@ pub fn update_fiducial_usage_tracker(
         }
     }
 
-    for parent in &changed_fiducials {
-        let Ok((e, mut tracker)) = unused_fiducial_trackers.get_mut(parent.get()) else {
-            continue;
-        };
-        reset_fiducial_usage(e, &mut tracker, &fiducials, &fiducial_groups, &children);
-    }
-
     for removed_group in removed_fiducial_groups.read() {
-        for (_, mut tracker) in &mut unused_fiducial_trackers {
+        for (_, mut tracker) in &mut fiducial_usage_trackers {
             tracker.used.remove(&removed_group);
             tracker.unused.remove(&removed_group);
         }
@@ -171,21 +175,21 @@ fn find_parent_site(
 }
 
 fn reset_fiducial_usage(
-    entity: Entity,
+    scope: Entity,
     tracker: &mut FiducialUsage,
     fiducials: &Query<&Affiliation<Entity>, With<FiducialMarker>>,
     fiducial_groups: &Query<(Entity, &NameInSite, &Parent), (With<Group>, With<FiducialMarker>)>,
     children: &Query<&Children>,
 ) {
     tracker.unused.clear();
+    tracker.used.clear();
     for (group, name, site) in fiducial_groups {
         if site.get() == tracker.site {
             tracker.unused.insert(group, name.0.clone());
-            tracker.used.remove(&group);
         }
     }
 
-    let Ok(scope_children) = children.get(entity) else {
+    let Ok(scope_children) = children.get(scope) else {
         return;
     };
     for child in scope_children {
@@ -242,6 +246,11 @@ pub fn assign_orphan_fiducials_to_parent(
     for (e, point) in &orphans {
         if let Ok(parent) = anchors.get(point.0) {
             commands.entity(e).set_parent(parent.get());
+        } else {
+            error!(
+                "No parent for anchor {:?} needed by fiducial {e:?}",
+                point.0
+            );
         }
     }
 }
@@ -257,9 +266,13 @@ pub fn update_changed_fiducial(
     anchors: AnchorParams,
 ) {
     for (e, point, mut tf) in fiducials.iter_mut() {
-        let position = anchors
-            .point_in_parent_frame_of(point.0, Category::Fiducial, e)
-            .unwrap();
+        let position = match anchors.point_in_parent_frame_of(point.0, Category::Fiducial, e) {
+            Ok(position) => position,
+            Err(err) => {
+                error!("failed to update fiducial: {err}");
+                return;
+            }
+        };
         tf.translation = position;
     }
 }
@@ -278,9 +291,14 @@ pub fn update_fiducial_for_moved_anchors(
     for dependents in &changed_anchors {
         for dependent in dependents.iter() {
             if let Ok((e, point, mut tf)) = fiducials.get_mut(*dependent) {
-                let position = anchors
-                    .point_in_parent_frame_of(point.0, Category::Fiducial, e)
-                    .unwrap();
+                let position =
+                    match anchors.point_in_parent_frame_of(point.0, Category::Fiducial, e) {
+                        Ok(position) => position,
+                        Err(err) => {
+                            error!("failed to update fiducial: {err}");
+                            continue;
+                        }
+                    };
                 tf.translation = position;
             }
         }
diff --git a/rmf_site_editor/src/site/level.rs b/rmf_site_editor/src/site/level.rs
index 25610cea..fda3ac9a 100644
--- a/rmf_site_editor/src/site/level.rs
+++ b/rmf_site_editor/src/site/level.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::site::*;
-use crate::{interaction::CameraControls, CurrentWorkspace};
+use crate::CurrentWorkspace;
 use bevy::prelude::*;
 
 pub fn update_level_visibility(
diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
index 3dd7de9c..2304c0e4 100644
--- a/rmf_site_editor/src/site/mod.rs
+++ b/rmf_site_editor/src/site/mod.rs
@@ -31,7 +31,7 @@ pub mod display_color;
 pub use display_color::*;
 
 pub mod drawing_editor;
-pub use drawing_editor::*;
+pub use drawing_editor::{alignment, *};
 
 pub mod door;
 pub use door::*;
@@ -118,8 +118,8 @@ pub mod wall;
 pub use wall::*;
 
 use crate::recency::{RecencyRank, RecencyRankingPlugin};
-use crate::{clear_old_issues_on_new_validate_event, AppState, RegisterIssueType};
-pub use rmf_site_format::*;
+use crate::{AppState, RegisterIssueType};
+pub use rmf_site_format::{DirectionalLight, PointLight, SpotLight, Style, *};
 
 use bevy::{prelude::*, render::view::visibility::VisibilitySystems, transform::TransformSystem};
 
@@ -392,16 +392,25 @@ impl Plugin for SitePlugin {
         .add_systems(
             PostUpdate,
             (
+                (
+                    propagate_model_properties,
+                    make_models_selectable,
+                    // Counter-intuitively, we want to expand the model scenes
+                    // after propagating the model properties through the scene.
+                    // The reason is that the entities for the scene won't be
+                    // available until the next cycle is finished, so we want to
+                    // wait until the next cycle before propagating the properties
+                    // of any newly added scenes.
+                    handle_model_loaded_events,
+                )
+                    .chain(),
                 add_measurement_visuals,
                 update_changed_measurement,
                 update_measurement_for_moved_anchors,
-                handle_model_loaded_events,
                 update_model_scenes,
                 update_affiliations,
                 update_members_of_groups.after(update_affiliations),
                 update_model_scales,
-                make_models_selectable,
-                propagate_model_render_layers,
                 handle_new_primitive_shapes,
                 add_drawing_visuals,
                 handle_loaded_drawing,
diff --git a/rmf_site_editor/src/site/model.rs b/rmf_site_editor/src/site/model.rs
index a1fb545a..3fbda1c3 100644
--- a/rmf_site_editor/src/site/model.rs
+++ b/rmf_site_editor/src/site/model.rs
@@ -16,8 +16,8 @@
 */
 
 use crate::{
-    interaction::{DragPlaneBundle, Selectable, MODEL_PREVIEW_LAYER},
-    site::{Category, PreventDeletion, SiteAssets},
+    interaction::{DragPlaneBundle, Preview, Selectable, MODEL_PREVIEW_LAYER},
+    site::{Category, Dependents, PreventDeletion, SiteAssets},
     site_asset_io::MODEL_ENVIRONMENT_VARIABLE,
 };
 use bevy::{
@@ -89,7 +89,14 @@ pub struct ModelSceneRoot;
 pub fn handle_model_loaded_events(
     mut commands: Commands,
     loading_models: Query<
-        (Entity, &PendingSpawning, &Scale, Option<&RenderLayers>),
+        (
+            Entity,
+            &PendingSpawning,
+            &Scale,
+            Option<&RenderLayers>,
+            Option<&Preview>,
+            Option<&Pending>,
+        ),
         With<ModelMarker>,
     >,
     mut current_scenes: Query<&mut ModelScene>,
@@ -97,11 +104,13 @@ pub fn handle_model_loaded_events(
     site_assets: Res<SiteAssets>,
     gltfs: Res<Assets<Gltf>>,
     untyped_assets: Res<Assets<LoadedUntypedAsset>>,
+    trashcan: Res<ModelTrashcan>,
+    mut dependents: Query<&mut Dependents>,
 ) {
     // For each model that is loading, check if its scene has finished loading
     // yet. If the scene has finished loading, then insert it as a child of the
     // model entity and make it selectable.
-    for (e, h, scale, render_layer) in loading_models.iter() {
+    for (e, h, scale, render_layer, preview, pending) in loading_models.iter() {
         if asset_server.is_loaded_with_dependencies(h.id()) {
             let Some(h) = untyped_assets.get(&**h) else {
                 warn!("Broken reference to untyped asset, this should not happen!");
@@ -159,7 +168,9 @@ pub fn handle_model_loaded_events(
             if let Some(id) = model_id {
                 let mut cmd = commands.entity(e);
                 cmd.insert(ModelSceneRoot).add_child(id);
-                if !render_layer.is_some_and(|l| l.iter().all(|l| l == MODEL_PREVIEW_LAYER)) {
+                let in_preview_layer =
+                    render_layer.is_some_and(|l| l.iter().all(|l| l == MODEL_PREVIEW_LAYER));
+                if !in_preview_layer && !preview.is_some() && !pending.is_some() {
                     cmd.insert(Selectable::new(e));
                 }
                 current_scenes.get_mut(e).unwrap().entity = Some(id);
@@ -167,6 +178,17 @@ pub fn handle_model_loaded_events(
             commands
                 .entity(e)
                 .remove::<(PreventDeletion, PendingSpawning)>();
+        } else {
+            if asset_server.load_state(h.id()) == LoadState::Failed {
+                for mut deps in &mut dependents {
+                    deps.remove(&e);
+                }
+
+                commands
+                    .entity(e)
+                    .remove::<(PreventDeletion, PendingSpawning)>()
+                    .set_parent(trashcan.0);
+            }
         }
     }
 }
@@ -401,7 +423,7 @@ pub fn clear_model_trashcan(
 
 pub fn make_models_selectable(
     mut commands: Commands,
-    new_scene_roots: Query<Entity, (Added<ModelSceneRoot>, Without<Pending>)>,
+    new_scene_roots: Query<Entity, (Added<ModelSceneRoot>, Without<Pending>, Without<Preview>)>,
     parents: Query<&Parent>,
     scene_roots: Query<(&Selectable, Option<&RenderLayers>), With<ModelMarker>>,
     all_children: Query<&Children>,
@@ -434,7 +456,6 @@ pub fn make_models_selectable(
         while let Some(e) = queue.pop() {
             commands
                 .entity(e)
-                .insert(selectable.clone())
                 .insert(DragPlaneBundle::new(selectable.element, Vec3::Z));
 
             if let Ok(mesh_handle) = mesh_handles.get(e) {
@@ -458,25 +479,68 @@ pub fn make_models_selectable(
 }
 
 /// Assigns the render layer of the root, if present, to all the children
-pub fn propagate_model_render_layers(
+pub fn propagate_model_properties(
     mut commands: Commands,
     new_scene_roots: Query<Entity, Added<ModelSceneRoot>>,
-    render_layers: Query<&RenderLayers>,
     parents: Query<&Parent>,
-    mesh_entities: Query<Entity, With<Handle<Mesh>>>,
+    mesh_entities: Query<(), With<Handle<Mesh>>>,
     children: Query<&Children>,
+    render_layers: Query<&RenderLayers>,
+    previews: Query<&Preview>,
+    pendings: Query<&Pending>,
 ) {
-    for e in &new_scene_roots {
-        let Some(render_layers) = AncestorIter::new(&parents, e)
-            .filter_map(|p| render_layers.get(p).ok())
-            .last()
-        else {
-            continue;
-        };
-        for c in DescendantIter::new(&children, e) {
-            if mesh_entities.get(c).is_ok() {
-                commands.entity(c).insert(render_layers.clone());
-            }
+    for root in &new_scene_roots {
+        propagate_model_property(
+            root,
+            &render_layers,
+            &parents,
+            &children,
+            &mesh_entities,
+            &mut commands,
+        );
+        propagate_model_property(
+            root,
+            &previews,
+            &parents,
+            &children,
+            &mesh_entities,
+            &mut commands,
+        );
+        propagate_model_property(
+            root,
+            &pendings,
+            &parents,
+            &children,
+            &mesh_entities,
+            &mut commands,
+        );
+    }
+}
+
+pub fn propagate_model_property<Property: Component + Clone + std::fmt::Debug>(
+    root: Entity,
+    property_query: &Query<&Property>,
+    parents: &Query<&Parent>,
+    children: &Query<&Children>,
+    mesh_entities: &Query<(), With<Handle<Mesh>>>,
+    commands: &mut Commands,
+) {
+    let property = match property_query.get(root) {
+        Ok(property) => property,
+        Err(_) => match AncestorIter::new(parents, root)
+            .filter_map(|p| property_query.get(p).ok())
+            .next()
+        {
+            Some(property) => property,
+            None => return,
+        },
+    };
+
+    commands.entity(root).insert(property.clone());
+
+    for c in DescendantIter::new(children, root) {
+        if mesh_entities.contains(c) {
+            commands.entity(c).insert(property.clone());
         }
     }
 }
diff --git a/rmf_site_editor/src/site/recall_plugin.rs b/rmf_site_editor/src/site/recall_plugin.rs
index 6f194202..36b24987 100644
--- a/rmf_site_editor/src/site/recall_plugin.rs
+++ b/rmf_site_editor/src/site/recall_plugin.rs
@@ -53,7 +53,9 @@ fn add_recaller<Recaller: Recall + Component + Default>(
     for (e, source) in &new_sources {
         let mut recaller = Recaller::default();
         recaller.remember(source);
-        commands.entity(e).insert(recaller);
+        commands.get_entity(e).map(|mut e_mut| {
+            e_mut.insert(recaller);
+        });
     }
 }
 
diff --git a/rmf_site_editor/src/site/sdf.rs b/rmf_site_editor/src/site/sdf.rs
index bba3470e..a15746e3 100644
--- a/rmf_site_editor/src/site/sdf.rs
+++ b/rmf_site_editor/src/site/sdf.rs
@@ -80,14 +80,13 @@ pub fn handle_new_primitive_shapes(
                     .filter_map(|p| selectables.get(p).ok())
                     .last()
                 {
-                    selectable.clone()
+                    selectable.element
                 } else {
-                    Selectable::new(e)
+                    e
                 };
-                commands.entity(id).insert((
-                    selectable,
-                    DragPlaneBundle::new(selectable.element, Vec3::Z),
-                ));
+                commands
+                    .entity(id)
+                    .insert(DragPlaneBundle::new(selectable, Vec3::Z));
             }
         }
     }
diff --git a/rmf_site_editor/src/site_asset_io.rs b/rmf_site_editor/src/site_asset_io.rs
index 8af6b997..9b997d89 100644
--- a/rmf_site_editor/src/site_asset_io.rs
+++ b/rmf_site_editor/src/site_asset_io.rs
@@ -293,7 +293,11 @@ impl Plugin for SiteAssetIoPlugin {
             "package",
             BevyAssetSource::build().with_reader(|| {
                 Box::new(SiteAssetReader::new(|path: &Path| {
-                    let path = (*expand_package_path(path.to_str().unwrap(), None)).to_owned();
+                    let path = (*expand_package_path(
+                        &("package://".to_owned() + path.to_str().unwrap()),
+                        None,
+                    ))
+                    .to_owned();
                     Box::pin(async move { load_from_file(path.into()) })
                 }))
             }),
diff --git a/rmf_site_editor/src/widgets/canvas_tooltips.rs b/rmf_site_editor/src/widgets/canvas_tooltips.rs
new file mode 100644
index 00000000..9cb34910
--- /dev/null
+++ b/rmf_site_editor/src/widgets/canvas_tooltips.rs
@@ -0,0 +1,79 @@
+/*
+ * 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 bevy::ecs::prelude::Resource;
+use bevy_egui::egui::{self, Context};
+use std::borrow::Cow;
+
+/// This resource holds a list of tooltips that are emitted by 3D canvas interactions
+/// and should be rendered near the cursor. Each tip will be given its own line in a
+/// text block.
+///
+/// The `tips` field is cleared out on each iteration to prevent sticky tooltips.
+#[derive(Resource, Default)]
+pub struct CanvasTooltips {
+    /// Push a `Cow::Borrowed("Your string literal here")` to push a `&'static str`,
+    /// which is the most efficient way to produce tooltip text.
+    ///
+    /// If your text is not a string literal then push `Cow::Owned(your_string)`.
+    tips: Vec<Cow<'static, str>>,
+    /// We keep track of previous tooltips to keep order as consistent as possible
+    /// to prevent flickering as it's possible for different systems to add in
+    /// tooltips at different times.
+    previous: Vec<Cow<'static, str>>,
+}
+
+impl CanvasTooltips {
+    pub fn add(&mut self, tip: Cow<'static, str>) {
+        if self.tips.contains(&tip) {
+            return;
+        }
+        self.tips.push(tip);
+    }
+}
+
+impl CanvasTooltips {
+    pub fn render(&mut self, ctx: &Context) {
+        if self.tips.is_empty() {
+            self.previous.clear();
+            return;
+        }
+
+        let mut decremented = 0;
+        for (i, old_tip) in self.previous.iter().enumerate() {
+            let i_actual = i - decremented;
+            if let Some((j, _)) = self
+                .tips
+                .iter()
+                .enumerate()
+                .find(|(_, new_tip)| *old_tip == **new_tip)
+            {
+                if i_actual != j {
+                    self.tips.swap(i_actual, j);
+                }
+            } else {
+                decremented += 1;
+            }
+        }
+
+        let text = self.tips.join("\n");
+
+        egui::containers::popup::show_tooltip_text(ctx, "cursor_tooltip".into(), text);
+
+        self.previous = self.tips.drain(..).collect();
+    }
+}
diff --git a/rmf_site_editor/src/widgets/creation.rs b/rmf_site_editor/src/widgets/creation.rs
index 9166a137..f89285c4 100644
--- a/rmf_site_editor/src/widgets/creation.rs
+++ b/rmf_site_editor/src/widgets/creation.rs
@@ -17,8 +17,10 @@
 
 use crate::{
     inspector::{InspectAssetSourceComponent, InspectScaleComponent},
-    interaction::{ChangeMode, SelectAnchor, SelectAnchor3D},
-    site::{AssetSource, DefaultFile, DrawingBundle, Recall, RecallAssetSource, Scale},
+    interaction::{AnchorSelection, ObjectPlacement, PlaceableObject, Selection},
+    site::{
+        AssetSource, CurrentLevel, DefaultFile, DrawingBundle, Recall, RecallAssetSource, Scale,
+    },
     widgets::{prelude::*, AssetGalleryStatus},
     AppState, CurrentWorkspace,
 };
@@ -43,12 +45,15 @@ impl Plugin for CreationPlugin {
 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>,
+    current_level: Res<'w, CurrentLevel>,
     pending_drawings: ResMut<'w, PendingDrawing>,
     pending_model: ResMut<'w, PendingModel>,
     asset_gallery: Option<ResMut<'w, AssetGalleryStatus>>,
     commands: Commands<'w, 's>,
+    anchor_selection: AnchorSelection<'w, 's>,
+    object_placement: ObjectPlacement<'w, 's>,
+    selection: Res<'w, Selection>,
 }
 
 impl<'w, 's> WidgetSystem<Tile> for Creation<'w, 's> {
@@ -75,44 +80,30 @@ impl<'w, 's> Creation<'w, 's> {
                 }
                 AppState::SiteEditor => {
                     if ui.button("Lane").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_lane().into(),
-                        ));
+                        self.anchor_selection.create_lanes();
                     }
 
                     if ui.button("Location").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_location().into(),
-                        ));
+                        self.anchor_selection.create_location();
                     }
 
                     if ui.button("Wall").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_edge_sequence().for_wall().into(),
-                        ));
+                        self.anchor_selection.create_walls();
                     }
 
                     if ui.button("Door").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_door().into(),
-                        ));
+                        self.anchor_selection.create_door();
                     }
 
                     if ui.button("Lift").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_lift().into(),
-                        ));
+                        self.anchor_selection.create_lift();
                     }
 
                     if ui.button("Floor").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_path().for_floor().into(),
-                        ));
+                        self.anchor_selection.create_floor();
                     }
                     if ui.button("Fiducial").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point().for_site_fiducial().into(),
-                        ));
+                        self.anchor_selection.create_site_fiducial();
                     }
 
                     ui.add_space(10.0);
@@ -147,23 +138,15 @@ impl<'w, 's> Creation<'w, 's> {
                 }
                 AppState::SiteDrawingEditor => {
                     if ui.button("Fiducial").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_new_point()
-                                .for_drawing_fiducial()
-                                .into(),
-                        ));
+                        self.anchor_selection.create_drawing_fiducial();
                     }
                     if ui.button("Measurement").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor::create_one_new_edge().for_measurement().into(),
-                        ));
+                        self.anchor_selection.create_measurements();
                     }
                 }
                 AppState::WorkcellEditor => {
                     if ui.button("Frame").clicked() {
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor3D::create_new_point().for_anchor(None).into(),
-                        ));
+                        self.place_object(PlaceableObject::Anchor);
                     }
                 }
             }
@@ -211,11 +194,7 @@ impl<'w, 's> Creation<'w, 's> {
                                                 scale: self.pending_model.scale,
                                                 ..default()
                                             };
-                                            self.change_mode.send(ChangeMode::To(
-                                                SelectAnchor3D::create_new_point()
-                                                    .for_model(model)
-                                                    .into(),
-                                            ));
+                                            self.spawn_model_2d(model);
                                         }
                                     }
                                     AppState::WorkcellEditor => {
@@ -230,10 +209,8 @@ impl<'w, 's> Creation<'w, 's> {
                                                 },
                                                 ..default()
                                             };
-                                            self.change_mode.send(ChangeMode::To(
-                                                SelectAnchor3D::create_new_point()
-                                                    .for_visual(workcell_model)
-                                                    .into(),
+                                            self.place_object(PlaceableObject::VisualMesh(
+                                                workcell_model,
                                             ));
                                         }
                                         if ui.button("Spawn collision").clicked() {
@@ -244,10 +221,8 @@ impl<'w, 's> Creation<'w, 's> {
                                                 },
                                                 ..default()
                                             };
-                                            self.change_mode.send(ChangeMode::To(
-                                                SelectAnchor3D::create_new_point()
-                                                    .for_collision(workcell_model)
-                                                    .into(),
+                                            self.place_object(PlaceableObject::CollisionMesh(
+                                                workcell_model,
                                             ));
                                         }
                                         ui.add_space(10.0);
@@ -259,6 +234,23 @@ impl<'w, 's> Creation<'w, 's> {
             }
         });
     }
+
+    pub fn place_object(&mut self, object: PlaceableObject) {
+        if let Some(workspace) = self.current_workspace.root {
+            self.object_placement
+                .place_object_3d(object, self.selection.0, workspace);
+        } else {
+            warn!("Unable to create [{object:?}] outside of a workspace");
+        }
+    }
+
+    pub fn spawn_model_2d(&mut self, object: Model) {
+        if let Some(level) = self.current_level.0 {
+            self.object_placement.place_object_2d(object, level);
+        } else {
+            warn!("Unable to create [{object:?}] outside of a level");
+        }
+    }
 }
 
 #[derive(Resource, Clone, Default)]
diff --git a/rmf_site_editor/src/widgets/fuel_asset_browser.rs b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
index 0c7a2885..859621ea 100644
--- a/rmf_site_editor/src/widgets/fuel_asset_browser.rs
+++ b/rmf_site_editor/src/widgets/fuel_asset_browser.rs
@@ -16,9 +16,10 @@
 */
 
 use crate::{
-    interaction::{ChangeMode, ModelPreviewCamera, SelectAnchor3D},
-    site::{AssetSource, FuelClient, Model, SetFuelApiKey, UpdateFuelCache},
+    interaction::{ModelPreviewCamera, ObjectPlacement, PlaceableObject, Selection},
+    site::{AssetSource, CurrentLevel, FuelClient, Model, SetFuelApiKey, UpdateFuelCache},
     widgets::prelude::*,
+    AppState, CurrentWorkspace,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{self, Button, ComboBox, ImageSource, RichText, ScrollArea, Ui, Window};
@@ -77,7 +78,11 @@ pub struct FuelAssetBrowser<'w, 's> {
     update_cache: EventWriter<'w, UpdateFuelCache>,
     set_api_key: EventWriter<'w, SetFuelApiKey>,
     commands: Commands<'w, 's>,
-    change_mode: EventWriter<'w, ChangeMode>,
+    place_object: ObjectPlacement<'w, 's>,
+    current_workspace: Res<'w, CurrentWorkspace>,
+    current_selection: Res<'w, Selection>,
+    current_level: Res<'w, CurrentLevel>,
+    app_state: Res<'w, State<AppState>>,
 }
 
 fn fuel_asset_browser_panel(In(input): In<PanelWidgetInput>, world: &mut World) {
@@ -275,9 +280,30 @@ impl<'w, 's> FuelAssetBrowser<'w, 's> {
                             ),
                             ..default()
                         };
-                        self.change_mode.send(ChangeMode::To(
-                            SelectAnchor3D::create_new_point().for_model(model).into(),
-                        ));
+
+                        match self.app_state.get() {
+                            AppState::SiteEditor => {
+                                if let Some(level) = self.current_level.0 {
+                                    self.place_object.place_object_2d(model, level);
+                                } else {
+                                    warn!("Cannot spawn a model outside of a workspace");
+                                }
+                            }
+                            AppState::WorkcellEditor => {
+                                if let Some(workspace) = self.current_workspace.root {
+                                    self.place_object.place_object_3d(
+                                        PlaceableObject::Model(model),
+                                        self.current_selection.0,
+                                        workspace,
+                                    );
+                                } else {
+                                    warn!("Cannot spawn a model outside of a workspace");
+                                }
+                            }
+                            _ => {
+                                warn!("Invalid mode for spawning a model: {:?}", &self.app_state);
+                            }
+                        }
                     }
                 }
             }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
index b71ea1a1..375b3460 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_edge.rs
@@ -16,7 +16,7 @@
 */
 
 use crate::{
-    interaction::{ChangeMode, SelectAnchor},
+    interaction::AnchorSelection,
     site::{Category, EdgeLabels, Original, SiteID},
     widgets::{
         inspector::{Inspect, InspectAnchor, InspectAnchorInput},
@@ -39,7 +39,7 @@ pub struct InspectEdge<'w, 's> {
             Option<&'static EdgeLabels>,
         ),
     >,
-    change_mode: EventWriter<'w, ChangeMode>,
+    anchor_selection: AnchorSelection<'w, 's>,
 }
 
 impl<'w, 's> ShareableWidget for InspectEdge<'w, 's> {}
@@ -138,19 +138,16 @@ impl<'w, 's> InspectEdge<'w, 's> {
         match response {
             Some(response) => {
                 if response.replace {
-                    if let Some(request) =
-                        SelectAnchor::replace_side(id, side).for_category(category)
-                    {
+                    let mut params = state.get_mut(world);
+                    if params.anchor_selection.replace_side(id, side, 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:?}"
+                            "Invalid type of element for replace_side operation: {category:?} \
+                            Please report this error to the site editor maintainers."
                         );
                     }
                 }
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
index 4e78394b..b1b108de 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs
@@ -76,6 +76,7 @@ pub struct InspectFiducial<'w, 's> {
     search_for_fiducial: ResMut<'w, SearchForFiducial>,
     commands: Commands<'w, 's>,
     change_affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
+    names: Query<'w, 's, &'static NameInSite>,
 }
 
 impl<'w, 's> WidgetSystem<Inspect> for InspectFiducial<'w, 's> {
@@ -92,6 +93,17 @@ impl<'w, 's> WidgetSystem<Inspect> for InspectFiducial<'w, 's> {
             return;
         };
         let Ok(tracker) = params.usage.get(parent.get()) else {
+            error!(
+                "Unable to find usage tracker for parent {:?} [{}] of fiducial {:?}",
+                parent.get(),
+                params
+                    .names
+                    .get(parent.get())
+                    .ok()
+                    .map(|n| n.0.as_str())
+                    .unwrap_or("<name missing>"),
+                selection,
+            );
             return;
         };
 
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_point.rs b/rmf_site_editor/src/widgets/inspector/inspect_point.rs
new file mode 100644
index 00000000..5c4de3e4
--- /dev/null
+++ b/rmf_site_editor/src/widgets/inspector/inspect_point.rs
@@ -0,0 +1,119 @@
+/*
+ * 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::{AnchorScope, AnchorSelection},
+    site::{DrawingMarker, Original, SiteID},
+    widgets::{
+        inspector::{Inspect, InspectAnchor, InspectAnchorInput},
+        prelude::*,
+    },
+};
+use bevy::prelude::*;
+use bevy_egui::egui::{Grid, Ui};
+use rmf_site_format::{NameOfSite, Point};
+
+#[derive(SystemParam)]
+pub struct InspectPoint<'w, 's> {
+    points: Query<
+        'w,
+        's,
+        (
+            &'static Parent,
+            &'static Point<Entity>,
+            Option<&'static Original<Point<Entity>>>,
+        ),
+    >,
+    scopes: Query<'w, 's, (Option<&'static NameOfSite>, Option<&'static DrawingMarker>)>,
+    anchor_selection: AnchorSelection<'w, 's>,
+}
+
+impl<'w, 's> ShareableWidget for InspectPoint<'w, 's> {}
+
+impl<'w, 's> WidgetSystem<Inspect> for InspectPoint<'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((parent, current_point, original)) = params.points.get(id) else {
+            return;
+        };
+
+        let point = match original {
+            Some(original) => original.0,
+            None => *current_point,
+        };
+
+        let parent = parent.get();
+        let scope = match params.scopes.get(parent) {
+            Ok((site, drawing)) => {
+                if site.is_some() {
+                    AnchorScope::Site
+                } else if drawing.is_some() {
+                    AnchorScope::Drawing
+                } else {
+                    AnchorScope::General
+                }
+            }
+            Err(_) => AnchorScope::General,
+        };
+
+        let anchor = point.0;
+        Grid::new("inspect_point").show(ui, |ui| {
+            ui.label("ID");
+            ui.label("");
+            ui.label("x");
+            ui.label("y");
+            ui.end_row();
+
+            let response = world.show::<InspectAnchor, _, _>(
+                InspectAnchorInput {
+                    anchor,
+                    is_dependency: true,
+                    panel,
+                },
+                ui,
+            );
+            ui.end_row();
+
+            match response {
+                Some(response) => {
+                    if response.replace {
+                        let mut params = state.get_mut(world);
+                        params.anchor_selection.replace_point(id, scope);
+                        info!("Triggered anchor replacement for point {id:?}");
+                    }
+                }
+                None => {
+                    error!(
+                        "The reference anchor for point {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_workcell_parent.rs b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
index 4f8fd877..6244c057 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_workcell_parent.rs
@@ -16,9 +16,10 @@
 */
 
 use crate::{
-    interaction::{ChangeMode, Hover, SelectAnchor3D},
+    interaction::{Hover, ObjectPlacement},
     site::{FrameMarker, MeshConstraint, NameInWorkcell, NameOfWorkcell},
     widgets::{prelude::*, Icons, Inspect, SelectorWidget},
+    CurrentWorkspace,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{ImageButton, Ui};
@@ -39,7 +40,8 @@ pub struct InspectWorkcellParent<'w, 's> {
     mesh_constraints: Query<'w, 's, &'static MeshConstraint<Entity>>,
     icons: Res<'w, Icons>,
     selector: SelectorWidget<'w, 's>,
-    change_mode: ResMut<'w, Events<ChangeMode>>,
+    object_placement: ObjectPlacement<'w, 's>,
+    current_workspace: Res<'w, CurrentWorkspace>,
 }
 
 impl<'w, 's> WidgetSystem<Inspect> for InspectWorkcellParent<'w, 's> {
@@ -78,9 +80,11 @@ impl<'w, 's> InspectWorkcellParent<'w, 's> {
                 assign_response.on_hover_text("Reassign");
 
                 if parent_replace {
-                    let request =
-                        SelectAnchor3D::replace_point(id, parent).for_anchor(Some(parent));
-                    self.change_mode.send(ChangeMode::To(request.into()));
+                    if let Some(workspace) = self.current_workspace.root {
+                        self.object_placement.replace_parent_3d(id, workspace)
+                    } else {
+                        warn!("Cannot replace a parent when no workspace is active");
+                    }
                 }
             });
         }
diff --git a/rmf_site_editor/src/widgets/inspector/mod.rs b/rmf_site_editor/src/widgets/inspector/mod.rs
index 544549de..79bb99ab 100644
--- a/rmf_site_editor/src/widgets/inspector/mod.rs
+++ b/rmf_site_editor/src/widgets/inspector/mod.rs
@@ -69,6 +69,9 @@ pub use inspect_location::*;
 pub mod inspect_mesh_constraint;
 pub use inspect_mesh_constraint::*;
 
+pub mod inspect_point;
+pub use inspect_point::*;
+
 pub mod inspect_primitive_shape;
 pub use inspect_primitive_shape::*;
 
@@ -181,6 +184,7 @@ impl Plugin for StandardInspectorPlugin {
                 InspectionPlugin::<InspectAnchor>::new(),
                 InspectionPlugin::<InspectAnchorDependents>::new(),
                 InspectionPlugin::<InspectEdge>::new(),
+                InspectionPlugin::<InspectPoint>::new(),
                 InspectionPlugin::<InspectGeography>::new(),
                 InspectFiducialPlugin::default(),
                 InspectionPlugin::<InspectLayer>::new(),
@@ -191,10 +195,10 @@ impl Plugin for StandardInspectorPlugin {
                 InspectionPlugin::<InspectMotion>::new(),
                 InspectionPlugin::<InspectPose>::new(),
                 InspectionPlugin::<InspectScale>::new(),
-                InspectionPlugin::<InspectLight>::new(),
                 // Reached the tuple limit
             ))
             .add_plugins((
+                InspectionPlugin::<InspectLight>::new(),
                 InspectionPlugin::<InspectDoor>::new(),
                 InspectionPlugin::<InspectAssetSource>::new(),
                 InspectionPlugin::<InspectPrimitiveShape>::new(),
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index 76f7a4ed..ad8aef49 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -68,6 +68,9 @@ use console::*;
 pub mod creation;
 use creation::*;
 
+pub mod canvas_tooltips;
+pub use canvas_tooltips::*;
+
 pub mod diagnostics;
 use diagnostics::*;
 
@@ -128,9 +131,10 @@ pub mod prelude {
     //! 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,
+        properties_panel::*, CanvasTooltips, Inspect, InspectionPlugin, PanelSide, PanelWidget,
+        PanelWidgetInput, PropertiesPanel, PropertiesTilePlugin, ShareableWidget, ShowError,
+        ShowResult, ShowSharedWidget, Tile, TryShowWidgetEntity, TryShowWidgetWorld, Widget,
+        WidgetSystem,
     };
     pub use bevy::ecs::{
         system::{SystemParam, SystemState},
@@ -146,31 +150,32 @@ pub struct StandardUiPlugin {}
 
 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(),
-            UserCameraDisplayPlugin::default(),
-        ))
-        .add_systems(Startup, init_ui_style)
-        .add_systems(
-            Update,
-            site_ui_layout
-                .in_set(RenderUiSet)
-                .run_if(AppState::in_displaying_mode()),
-        )
-        .add_systems(
-            PostUpdate,
-            (
-                resolve_light_export_file,
-                resolve_nav_graph_import_export_files,
+        app.init_resource::<CanvasTooltips>()
+            .add_plugins((
+                IconsPlugin::default(),
+                MenuBarPlugin::default(),
+                SdfExportMenuPlugin::default(),
+                StandardPropertiesPanelPlugin::default(),
+                FuelAssetBrowserPlugin::default(),
+                DiagnosticsPlugin::default(),
+                ConsoleWidgetPlugin::default(),
+                UserCameraDisplayPlugin::default(),
+            ))
+            .add_systems(Startup, init_ui_style)
+            .add_systems(
+                Update,
+                site_ui_layout
+                    .in_set(RenderUiSet)
+                    .run_if(AppState::in_displaying_mode()),
             )
-                .run_if(AppState::in_site_mode()),
-        );
+            .add_systems(
+                PostUpdate,
+                (
+                    resolve_light_export_file,
+                    resolve_nav_graph_import_export_files,
+                )
+                    .run_if(AppState::in_site_mode()),
+            );
     }
 }
 
@@ -409,7 +414,7 @@ pub fn site_ui_layout(
     render_panels(world, panel_widgets, egui_context_state);
 
     let mut egui_context = egui_context_state.get_mut(world);
-    let ctx = egui_context.ctx_mut();
+    let mut ctx = egui_context.ctx_mut().clone();
     let ui_has_focus =
         ctx.wants_pointer_input() || ctx.wants_keyboard_input() || ctx.is_pointer_over_area();
 
@@ -424,6 +429,9 @@ pub fn site_ui_layout(
         if hover.is_empty() {
             hover.send(Hover(None));
         }
+    } else {
+        // If the UI does not have focus then render the CanvasTooltips.
+        world.resource_mut::<CanvasTooltips>().render(&mut ctx);
     }
 }
 
diff --git a/rmf_site_editor/src/widgets/selector_widget.rs b/rmf_site_editor/src/widgets/selector_widget.rs
index 5db89737..e5a51883 100644
--- a/rmf_site_editor/src/widgets/selector_widget.rs
+++ b/rmf_site_editor/src/widgets/selector_widget.rs
@@ -59,7 +59,7 @@ impl<'w, 's> SelectorWidget<'w, 's> {
         let response = ui.add(Button::image_and_text(icon, text));
 
         if response.clicked() {
-            self.select.send(Select(Some(entity)));
+            self.select.send(Select::new(Some(entity)));
         } else if response.hovered() {
             self.hover.send(Hover(Some(entity)));
         }
diff --git a/rmf_site_editor/src/widgets/view_lights.rs b/rmf_site_editor/src/widgets/view_lights.rs
index aa2df1c4..f5f9add2 100644
--- a/rmf_site_editor/src/widgets/view_lights.rs
+++ b/rmf_site_editor/src/widgets/view_lights.rs
@@ -160,7 +160,7 @@ impl<'w, 's> ViewLights<'w, 's> {
                 })
                 .insert(Category::Light)
                 .id();
-            self.selector.select.send(Select(Some(new_light)));
+            self.selector.select.send(Select::new(Some(new_light)));
         }
 
         ui.separator();
diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
index 206f0197..12c3828e 100644
--- a/rmf_site_editor/src/workcell/mod.rs
+++ b/rmf_site_editor/src/workcell/mod.rs
@@ -49,7 +49,7 @@ use crate::{
     shapes::make_infinite_grid,
     site::{
         clear_model_trashcan, handle_model_loaded_events, handle_new_primitive_shapes,
-        handle_update_fuel_cache_requests, make_models_selectable, propagate_model_render_layers,
+        handle_update_fuel_cache_requests, make_models_selectable, propagate_model_properties,
         read_update_fuel_cache_results, reload_failed_models_with_new_api_key,
         update_anchor_transforms, update_model_scales, update_model_scenes,
         update_model_tentative_formats, update_transforms_for_changed_poses,
@@ -79,7 +79,18 @@ impl Plugin for WorkcellEditorPlugin {
             .add_systems(
                 Update,
                 (
-                    handle_model_loaded_events,
+                    (
+                        propagate_model_properties,
+                        make_models_selectable,
+                        // Counter-intuitively, we want to expand the model scenes
+                        // after propagating the model properties through the scene.
+                        // The reason is that the entities for the scene won't be
+                        // available until the next cycle is finished, so we want to
+                        // wait until the next cycle before propagating the properties
+                        // of any newly added scenes.
+                        handle_model_loaded_events,
+                    )
+                        .chain(),
                     update_model_scenes,
                     update_model_scales,
                     handle_new_primitive_shapes,
@@ -87,8 +98,6 @@ impl Plugin for WorkcellEditorPlugin {
                     replace_name_in_site_components,
                     handle_create_joint_events,
                     cleanup_orphaned_joints,
-                    propagate_model_render_layers,
-                    make_models_selectable,
                     handle_update_fuel_cache_requests,
                     read_update_fuel_cache_results,
                     reload_failed_models_with_new_api_key,
diff --git a/rmf_site_editor/src/workcell/model.rs b/rmf_site_editor/src/workcell/model.rs
index 4d4fb1e3..478d6488 100644
--- a/rmf_site_editor/src/workcell/model.rs
+++ b/rmf_site_editor/src/workcell/model.rs
@@ -15,7 +15,10 @@
  *
 */
 
-use crate::site::{Dependents, ModelTrashcan, Pending};
+use crate::{
+    interaction::{Preview, VisualCue},
+    site::{Dependents, ModelTrashcan, Pending},
+};
 use bevy::prelude::*;
 use rmf_site_format::{
     ModelMarker, NameInSite, NameInWorkcell, NameOfWorkcell, Pose, PrimitiveShape,
@@ -34,6 +37,7 @@ pub fn flatten_loaded_models_hierarchy(
         ),
     >,
     all_model_parents: Query<(Entity, &Parent), (With<ModelMarker>, Without<Pending>)>,
+    properties: Query<(Option<&VisualCue>, Option<&Preview>)>,
     mut poses: Query<&mut Pose>,
     mut dependents: Query<&mut Dependents>,
     parents: Query<&Parent>,
@@ -57,9 +61,27 @@ pub fn flatten_loaded_models_hierarchy(
             if let Ok(mut deps) = dependents.get_mut(**model_parent) {
                 deps.insert(e);
             }
-            for (t1, t2) in child_pose.trans.iter_mut().zip(parent_pose.trans.iter()) {
-                *t1 += t2;
-            }
+            let tf_child = child_pose.transform();
+            let tf_parent = parent_pose.transform();
+            *child_pose = (tf_parent * tf_child).into();
+
+            // Note: This is wiping out properties that we might try to apply to the
+            // original model entity. Because of this, we need to manually push those
+            // properties (e.g. VisualCue, Preview) along to the flattened entities.
+            // This might not scale well in the long run.
+            let mut e_mut = commands.entity(e);
+            if let Ok((cue, preview)) = properties.get(parent_entity) {
+                if let Some(cue) = cue {
+                    e_mut.insert(cue.clone());
+                }
+                if let Some(preview) = preview {
+                    e_mut.insert(preview.clone());
+                }
+            } else {
+                error!("Properties query failed while flattening model");
+                continue;
+            };
+
             // Now despawn the unnecessary model
             commands.entity(parent_entity).set_parent(trashcan.0);
         }
diff --git a/rmf_site_format/src/misc.rs b/rmf_site_format/src/misc.rs
index 4754f510..635f6d0e 100644
--- a/rmf_site_format/src/misc.rs
+++ b/rmf_site_format/src/misc.rs
@@ -38,6 +38,28 @@ impl Side {
         }
     }
 
+    /// In places where the `Side` enum is used to indicated start/end instead
+    /// of left/right, we use Left to indicate the starting side. This method
+    /// formally encodes that.
+    pub fn start() -> Side {
+        Side::Left
+    }
+
+    pub fn is_start(&self) -> bool {
+        matches!(self, Side::Left)
+    }
+
+    /// In places where the `Side` enum is used to indicated start/end instead
+    /// of left/right, we use Right to indicate the ending side. This method
+    /// formally encodes that.
+    pub fn end() -> Side {
+        Side::Right
+    }
+
+    pub fn is_end(&self) -> bool {
+        matches!(self, Side::Right)
+    }
+
     pub fn opposite(&self) -> Side {
         match self {
             Side::Left => Side::Right,
@@ -306,6 +328,13 @@ impl Default for Rotation {
     }
 }
 
+#[cfg(feature = "bevy")]
+impl From<Quat> for Rotation {
+    fn from(quat: Quat) -> Self {
+        Self::Quat(quat.to_array())
+    }
+}
+
 #[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq)]
 #[cfg_attr(feature = "bevy", derive(Component, Reflect))]
 #[cfg_attr(feature = "bevy", reflect(Component))]
@@ -368,6 +397,16 @@ impl Pose {
     }
 }
 
+#[cfg(feature = "bevy")]
+impl From<Transform> for Pose {
+    fn from(tf: Transform) -> Self {
+        Pose {
+            trans: tf.translation.into(),
+            rot: tf.rotation.into(),
+        }
+    }
+}
+
 /// The unique name of the site element within its site.
 /// NOTE: We call this `NameInSite` instead of just `Name` because `Name`
 /// conflicts with another `Name` defined in `bevy::prelude`.