diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
index f1f2221b..a6fdf41c 100644
--- a/rmf_site_editor/Cargo.toml
+++ b/rmf_site_editor/Cargo.toml
@@ -11,6 +11,10 @@ name = "librmf_site_editor"
 path = "src/main.rs"
 name = "rmf_site_editor"
 
+[[example]]
+name = "extending_site_editor"
+path = "examples/extending_menu.rs"
+
 [dependencies]
 bevy_egui = "0.19"
 bevy_mod_picking = "0.11"
diff --git a/rmf_site_editor/examples/extending_menu.rs b/rmf_site_editor/examples/extending_menu.rs
new file mode 100644
index 00000000..1454bb1f
--- /dev/null
+++ b/rmf_site_editor/examples/extending_menu.rs
@@ -0,0 +1,92 @@
+use bevy::prelude::*;
+use librmf_site_editor::{widgets::menu_bar::*, SiteEditor};
+
+#[derive(Debug, Default)]
+struct MyMenuPlugin;
+
+#[derive(Debug, Resource)]
+struct MyMenuHandler {
+    unique_export: Entity,
+    custom_nested_menu: Entity,
+}
+
+impl FromWorld for MyMenuHandler {
+    fn from_world(world: &mut World) -> Self {
+        // This is all it takes to register a new menu item
+        // We need to keep track of the entity in order to make
+        // sure that we can check the callback
+        let unique_export = world
+            .spawn(MenuItem::Text("My unique export".to_string()))
+            .id();
+
+        // Make it a child of the "File Menu"
+        let file_header = world.resource::<FileMenu>().get();
+        world
+            .entity_mut(file_header)
+            .push_children(&[unique_export]);
+
+        // For top level menus simply spawn a menu with no parent
+        let menu = world
+            .spawn(Menu::from_title("My Awesome Menu".to_string()))
+            .id();
+
+        // We can use bevy's parent-child system to handle nesting
+        let sub_menu = world
+            .spawn(Menu::from_title("My Awesome sub menu".to_string()))
+            .id();
+        world.entity_mut(menu).push_children(&[sub_menu]);
+
+        // Finally we can create a custom action
+        let custom_nested_menu = world
+            .spawn(MenuItem::Text("My Awesome Action".to_string()))
+            .id();
+        world
+            .entity_mut(sub_menu)
+            .push_children(&[custom_nested_menu]);
+
+        // Track the entity so that we know when to handle events from it in
+        Self {
+            unique_export,
+            custom_nested_menu,
+        }
+    }
+}
+
+/// Handler for unique export menu item. All one needs to do is check that you recieve
+/// an event that is of the same type as the one we are supposed to
+/// handle.
+fn watch_unique_export_click(mut reader: EventReader<MenuEvent>, menu_handle: Res<MyMenuHandler>) {
+    for event in reader.iter() {
+        if event.clicked() && event.source() == menu_handle.unique_export {
+            println!("Doing our epic export");
+        }
+    }
+}
+
+/// Handler for unique export menu item. All one needs to do is check that you recieve
+/// an event that is of the same type as the one we are supposed to
+/// handle.
+fn watch_submenu_click(mut reader: EventReader<MenuEvent>, menu_handle: Res<MyMenuHandler>) {
+    for event in reader.iter() {
+        if event.clicked() && event.source() == menu_handle.custom_nested_menu {
+            println!("Submenu clicked");
+        }
+    }
+}
+
+/// The actual plugin
+impl Plugin for MyMenuPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<MyMenuHandler>()
+            .add_system(watch_unique_export_click)
+            .add_system(watch_submenu_click);
+    }
+}
+
+/// Lets embed site editor in our application with our own plugin
+fn main() {
+    App::new()
+        .add_plugin(SiteEditor)
+        .add_plugin(MyMenuPlugin)
+        .run();
+}
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
index 03f69d96..19bdf0ad 100644
--- a/rmf_site_editor/src/lib.rs
+++ b/rmf_site_editor/src/lib.rs
@@ -24,8 +24,8 @@ mod settings;
 use settings::*;
 mod save;
 use save::*;
-mod widgets;
-use widgets::*;
+pub mod widgets;
+use widgets::{menu_bar::MenuPluginManager, *};
 
 pub mod occupancy;
 use occupancy::OccupancyPlugin;
@@ -126,66 +126,74 @@ pub fn run(command_line_args: Vec<String>) {
         }
     }
 
-    #[cfg(target_arch = "wasm32")]
-    {
-        app.add_plugins(
-            DefaultPlugins
-                .build()
-                .disable::<LogPlugin>()
-                .set(WindowPlugin {
-                    window: WindowDescriptor {
-                        title: "RMF Site Editor".to_owned(),
-                        canvas: Some(String::from("#rmf_site_editor_canvas")),
+    app.add_plugin(SiteEditor);
+    app.run();
+}
+
+pub struct SiteEditor;
+
+impl Plugin for SiteEditor {
+    fn build(&self, app: &mut App) {
+        #[cfg(target_arch = "wasm32")]
+        {
+            app.add_plugins(
+                DefaultPlugins
+                    .build()
+                    .disable::<LogPlugin>()
+                    .set(WindowPlugin {
+                        window: WindowDescriptor {
+                            title: "RMF Site Editor".to_owned(),
+                            canvas: Some(String::from("#rmf_site_editor_canvas")),
+                            ..default()
+                        },
                         ..default()
-                    },
-                    ..default()
-                })
-                .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
-        )
-        .add_system_set(
-            SystemSet::new()
-                .with_run_criteria(FixedTimestep::step(0.5))
-                .with_system(check_browser_window_size),
-        );
-    }
+                    })
+                    .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
+            )
+            .add_system_set(
+                SystemSet::new()
+                    .with_run_criteria(FixedTimestep::step(0.5))
+                    .with_system(check_browser_window_size),
+            );
+        }
 
-    #[cfg(not(target_arch = "wasm32"))]
-    {
-        app.add_plugins(
-            DefaultPlugins
-                .build()
-                .disable::<LogPlugin>()
-                .set(WindowPlugin {
-                    window: WindowDescriptor {
-                        title: "RMF Site Editor".to_owned(),
-                        width: 1600.,
-                        height: 900.,
+        #[cfg(not(target_arch = "wasm32"))]
+        {
+            app.add_plugins(
+                DefaultPlugins
+                    .build()
+                    .disable::<LogPlugin>()
+                    .set(WindowPlugin {
+                        window: WindowDescriptor {
+                            title: "RMF Site Editor".to_owned(),
+                            width: 1600.,
+                            height: 900.,
+                            ..default()
+                        },
                         ..default()
-                    },
-                    ..default()
-                })
-                .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
-        );
+                    })
+                    .add_after::<bevy::asset::AssetPlugin, _>(SiteAssetIoPlugin),
+            );
+        }
+        app.init_resource::<Settings>()
+            .add_startup_system(init_settings)
+            .insert_resource(DirectionalLightShadowMap { size: 2048 })
+            .add_plugin(LogHistoryPlugin)
+            .add_plugin(AabbUpdatePlugin)
+            .add_plugin(EguiPlugin)
+            .add_plugin(KeyboardInputPlugin)
+            .add_plugin(SavePlugin)
+            .add_plugin(SdfPlugin)
+            .add_state(AppState::MainMenu)
+            .add_plugin(MainMenuPlugin)
+            // .add_plugin(WarehouseGeneratorPlugin)
+            .add_plugin(WorkcellEditorPlugin)
+            .add_plugin(SitePlugin)
+            .add_plugin(InteractionPlugin)
+            .add_plugin(StandardUiLayout)
+            .add_plugin(AnimationPlugin)
+            .add_plugin(OccupancyPlugin)
+            .add_plugin(WorkspacePlugin)
+            .add_plugin(MenuPluginManager);
     }
-
-    app.init_resource::<Settings>()
-        .add_startup_system(init_settings)
-        .insert_resource(DirectionalLightShadowMap { size: 2048 })
-        .add_plugin(LogHistoryPlugin)
-        .add_plugin(AabbUpdatePlugin)
-        .add_plugin(EguiPlugin)
-        .add_plugin(KeyboardInputPlugin)
-        .add_plugin(SavePlugin)
-        .add_plugin(SdfPlugin)
-        .add_state(AppState::MainMenu)
-        .add_plugin(MainMenuPlugin)
-        // .add_plugin(WarehouseGeneratorPlugin)
-        .add_plugin(WorkcellEditorPlugin)
-        .add_plugin(SitePlugin)
-        .add_plugin(InteractionPlugin)
-        .add_plugin(StandardUiLayout)
-        .add_plugin(AnimationPlugin)
-        .add_plugin(OccupancyPlugin)
-        .add_plugin(WorkspacePlugin)
-        .run();
 }
diff --git a/rmf_site_editor/src/widgets/menu_bar.rs b/rmf_site_editor/src/widgets/menu_bar.rs
index 8b5bd4c8..5d746582 100644
--- a/rmf_site_editor/src/widgets/menu_bar.rs
+++ b/rmf_site_editor/src/widgets/menu_bar.rs
@@ -17,15 +17,163 @@
 
 use crate::{CreateNewWorkspace, FileEvents, LoadWorkspace, SaveWorkspace, VisibilityParameters};
 
+use bevy::prelude::{
+    App, Children, Component, Entity, EventWriter, FromWorld, Parent, Plugin, Query, Res, Resource,
+    Without, World,
+};
 use bevy_egui::{
-    egui::{self, Button},
+    egui::{self, epaint::ahash::HashSet, Button, Ui},
     EguiContext,
 };
 
+/// This component represents a menu. Menus and menu items
+/// can be arranged in trees using bevy's own parent-child system.
+#[derive(Component)]
+pub struct Menu {
+    text: String,
+}
+
+impl Menu {
+    /// Create a new menu from the title
+    pub fn from_title(text: String) -> Self {
+        Self { text }
+    }
+
+    /// Retrieve the menu name
+    fn get(&self) -> String {
+        self.text.clone()
+    }
+}
+
+/// Create a new menu item
+#[derive(Component)]
+#[non_exhaustive]
+pub enum MenuItem {
+    Text(String),
+}
+
+/// This resource provides the root entity for the file menu
+#[derive(Resource)]
+pub struct FileMenu {
+    /// Map of menu items
+    menu_item: Entity,
+}
+
+impl FileMenu {
+    pub fn get(&self) -> Entity {
+        return self.menu_item;
+    }
+}
+
+impl FromWorld for FileMenu {
+    fn from_world(world: &mut World) -> Self {
+        let menu_item = world
+            .spawn(Menu {
+                text: "File".to_string(),
+            })
+            .id();
+        Self { menu_item }
+    }
+}
+
+#[non_exhaustive]
+pub enum MenuEvent {
+    MenuClickEvent(Entity),
+}
+
+impl MenuEvent {
+    pub fn clicked(&self) -> bool {
+        matches!(self, Self::MenuClickEvent(_))
+    }
+
+    pub fn source(&self) -> Entity {
+        match self {
+            Self::MenuClickEvent(entity) => *entity,
+        }
+    }
+}
+
+pub struct MenuPluginManager;
+
+impl Plugin for MenuPluginManager {
+    fn build(&self, app: &mut App) {
+        app.add_event::<MenuEvent>().init_resource::<FileMenu>();
+    }
+}
+
+/// Helper function to render a submenu starting at the entity.
+fn render_sub_menu(
+    ui: &mut Ui,
+    entity: &Entity,
+    children: &Query<&Children>,
+    menus: &Query<(&Menu, Entity)>,
+    menu_items: &Query<&MenuItem>,
+    extension_events: &mut EventWriter<MenuEvent>,
+    skip_top_label: bool,
+) {
+    if let Ok(e) = menu_items.get(*entity) {
+        // Draw ui
+        match e {
+            MenuItem::Text(title) => {
+                if ui.add(Button::new(title)).clicked() {
+                    extension_events.send(MenuEvent::MenuClickEvent(*entity));
+                }
+            }
+        }
+        return;
+    }
+
+    let Ok((menu, _)) = menus.get(*entity) else {
+        return;
+    };
+
+    if !skip_top_label {
+        ui.menu_button(&menu.get(), |ui| {
+            let Ok(child_items) = children.get(*entity) else {
+                return;
+            };
+
+            for child in child_items.iter() {
+                render_sub_menu(
+                    ui,
+                    child,
+                    children,
+                    menus,
+                    menu_items,
+                    extension_events,
+                    false,
+                );
+            }
+        });
+    } else {
+        let Ok(child_items) = children.get(*entity) else {
+            return;
+        };
+
+        for child in child_items.iter() {
+            render_sub_menu(
+                ui,
+                child,
+                children,
+                menus,
+                menu_items,
+                extension_events,
+                false,
+            );
+        }
+    }
+}
+
 pub fn top_menu_bar(
     egui_context: &mut EguiContext,
     file_events: &mut FileEvents,
     params: &mut VisibilityParameters,
+    file_menu: &Res<FileMenu>,
+    top_level_components: &Query<(), Without<Parent>>,
+    children: &Query<&Children>,
+    menus: &Query<(&Menu, Entity)>,
+    menu_items: &Query<&MenuItem>,
+    extension_events: &mut EventWriter<MenuEvent>,
 ) {
     egui::TopBottomPanel::top("top_panel").show(egui_context.ctx_mut(), |ui| {
         egui::menu::bar(ui, |ui| {
@@ -56,6 +204,16 @@ pub fn top_menu_bar(
                 {
                     file_events.load_workspace.send(LoadWorkspace::Dialog);
                 }
+
+                render_sub_menu(
+                    ui,
+                    &file_menu.get(),
+                    children,
+                    menus,
+                    menu_items,
+                    extension_events,
+                    true,
+                );
             });
             ui.menu_button("View", |ui| {
                 if ui
@@ -145,6 +303,20 @@ pub fn top_menu_bar(
                     params.events.walls.send((!params.resources.walls.0).into());
                 }
             });
+
+            for (_, entity) in menus.iter().filter(|(_, entity)| {
+                top_level_components.contains(*entity) && *entity != file_menu.get()
+            }) {
+                render_sub_menu(
+                    ui,
+                    &entity,
+                    children,
+                    menus,
+                    menu_items,
+                    extension_events,
+                    false,
+                );
+            }
         });
     });
 }
diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
index 2253370e..f1118ec4 100644
--- a/rmf_site_editor/src/widgets/mod.rs
+++ b/rmf_site_editor/src/widgets/mod.rs
@@ -286,6 +286,12 @@ fn site_ui_layout(
     nav_graphs: NavGraphParams,
     layers: LayersParams,
     mut events: AppEvents,
+    file_menu: Res<FileMenu>,
+    children: Query<&Children>,
+    top_level_components: Query<(), Without<Parent>>,
+    menus: Query<(&Menu, Entity)>,
+    menu_items: Query<&MenuItem>,
+    mut extension_events: EventWriter<MenuEvent>,
 ) {
     egui::SidePanel::right("right_panel")
         .resizable(true)
@@ -350,6 +356,12 @@ fn site_ui_layout(
         &mut egui_context,
         &mut events.file_events,
         &mut events.visibility_parameters,
+        &file_menu,
+        &top_level_components,
+        &children,
+        &menus,
+        &menu_items,
+        &mut extension_events,
     );
 
     egui::TopBottomPanel::bottom("log_console")
@@ -385,6 +397,12 @@ fn site_drawing_ui_layout(
     inspector_params: InspectorParams,
     create_params: CreateParams,
     mut events: AppEvents,
+    file_menu: Res<FileMenu>,
+    children: Query<&Children>,
+    top_level_components: Query<(), Without<Parent>>,
+    menus: Query<(&Menu, Entity)>,
+    menu_items: Query<&MenuItem>,
+    mut extension_events: EventWriter<MenuEvent>,
 ) {
     egui::SidePanel::right("right_panel")
         .resizable(true)
@@ -435,6 +453,12 @@ fn site_drawing_ui_layout(
         &mut egui_context,
         &mut events.file_events,
         &mut events.visibility_parameters,
+        &file_menu,
+        &top_level_components,
+        &children,
+        &menus,
+        &menu_items,
+        &mut extension_events,
     );
 
     let egui_context = egui_context.ctx_mut();
@@ -461,6 +485,12 @@ fn site_visualizer_ui_layout(
     inspector_params: InspectorParams,
     mut events: AppEvents,
     levels: LevelParams,
+    file_menu: Res<FileMenu>,
+    top_level_components: Query<(), Without<Parent>>,
+    children: Query<&Children>,
+    menus: Query<(&Menu, Entity)>,
+    menu_items: Query<&MenuItem>,
+    mut extension_events: EventWriter<MenuEvent>,
 ) {
     egui::SidePanel::right("right_panel")
         .resizable(true)
@@ -512,6 +542,12 @@ fn site_visualizer_ui_layout(
         &mut egui_context,
         &mut events.file_events,
         &mut events.visibility_parameters,
+        &file_menu,
+        &top_level_components,
+        &children,
+        &menus,
+        &menu_items,
+        &mut extension_events,
     );
 
     let egui_context = egui_context.ctx_mut();
@@ -538,6 +574,12 @@ fn workcell_ui_layout(
     inspector_params: InspectorParams,
     create_params: CreateParams,
     mut events: AppEvents,
+    mut extension_events: EventWriter<MenuEvent>,
+    file_menu: Res<FileMenu>,
+    top_level_components: Query<(), Without<Parent>>,
+    children: Query<&Children>,
+    menus: Query<(&Menu, Entity)>,
+    menu_items: Query<&MenuItem>,
 ) {
     egui::SidePanel::right("right_panel")
         .resizable(true)
@@ -575,6 +617,12 @@ fn workcell_ui_layout(
         &mut egui_context,
         &mut events.file_events,
         &mut events.visibility_parameters,
+        &file_menu,
+        &top_level_components,
+        &children,
+        &menus,
+        &menu_items,
+        &mut extension_events,
     );
 
     let egui_context = egui_context.ctx_mut();