diff --git a/CMakeLists.txt b/CMakeLists.txt
index 859f59c740..351aa3b631 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,7 +50,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED VERSION 12.2)
+ign_find_package(sdformat12 REQUIRED VERSION 12.3)
 set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------
@@ -110,7 +110,7 @@ set(IGN_PHYSICS_VER ${ignition-physics5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
-ign_find_package(ignition-sensors6 REQUIRED
+ign_find_package(ignition-sensors6 REQUIRED VERSION 6.0.1
   # component order is important
   COMPONENTS
     # non-rendering
diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf
index b07bd89925..f6653ed506 100644
--- a/examples/worlds/sensors.sdf
+++ b/examples/worlds/sensors.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <!--
-  Ignition Gazebo sensor demo
+  Ignition Gazebo sensor demo for sensors that do not require rendering.
 
   Listen to sensor readings:
 
diff --git a/include/ignition/gazebo/SdfEntityCreator.hh b/include/ignition/gazebo/SdfEntityCreator.hh
index e5c2442279..c54f8effe3 100644
--- a/include/ignition/gazebo/SdfEntityCreator.hh
+++ b/include/ignition/gazebo/SdfEntityCreator.hh
@@ -122,6 +122,13 @@ namespace ignition
       /// \return Joint entity.
       public: Entity CreateEntities(const sdf::Joint *_joint);
 
+      /// \brief Create all entities that exist in the sdf::Joint object and
+      /// load their plugins.
+      /// \param[in] _joint SDF joint object.
+      /// \param[in] _resolved True if all frames are already resolved
+      /// \return Joint entity.
+      public: Entity CreateEntities(const sdf::Joint *_joint, bool _resolved);
+
       /// \brief Create all entities that exist in the sdf::Visual object and
       /// load their plugins.
       /// \param[in] _visual SDF visual object.
diff --git a/include/ignition/gazebo/components/Recreate.hh b/include/ignition/gazebo/components/Recreate.hh
new file mode 100644
index 0000000000..bb053fe5f9
--- /dev/null
+++ b/include/ignition/gazebo/components/Recreate.hh
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_RECREATE_HH_
+#define IGNITION_GAZEBO_COMPONENTS_RECREATE_HH_
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component that identifies an entity needs to be recreated.
+  /// Currently, only Models will be processed for recreation by the
+  /// SimulationRunner in the ProcessRecreateEntitiesRemove and
+  /// ProcessRecreateEntitiesCreate functions.
+  ///
+  /// The GUI ModelEditor contains example code on how to use this
+  /// component. For example, the ModelEditor allows a user to add a link to an
+  /// existing model. The existing model is tagged with this component so
+  /// that it can be recreated by the server.
+  using Recreate = Component<NoData, class RecreateTag>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Recreate", Recreate)
+}
+}
+}
+}
+
+#endif
diff --git a/include/ignition/gazebo/components/Serialization.hh b/include/ignition/gazebo/components/Serialization.hh
index 2916058dc2..7ef0dd6639 100644
--- a/include/ignition/gazebo/components/Serialization.hh
+++ b/include/ignition/gazebo/components/Serialization.hh
@@ -105,6 +105,7 @@ namespace serializers
                                            const DataType &_data)
     {
       MsgType msg;
+      // cppcheck-suppress syntaxError
       if constexpr (traits::HasGazeboConvert<DataType, MsgType>::value)
       {
         msg = ignition::gazebo::convert<MsgType>(_data);
diff --git a/include/ignition/gazebo/detail/View.hh b/include/ignition/gazebo/detail/View.hh
index 93ea32c1b1..7b6ffd34b8 100644
--- a/include/ignition/gazebo/detail/View.hh
+++ b/include/ignition/gazebo/detail/View.hh
@@ -280,6 +280,10 @@ template<typename ...ComponentTypeTs>
 bool View<ComponentTypeTs...>::NotifyComponentRemoval(const Entity _entity,
     const ComponentTypeId _typeId)
 {
+  // if entity is still marked as to add, remove from the view
+  if (this->RequiresComponent(_typeId))
+    this->toAddEntities.erase(_entity);
+
   // make sure that _typeId is a type required by the view and that _entity is
   // already a part of the view
   if (!this->RequiresComponent(_typeId) ||
diff --git a/include/ignition/gazebo/gui/GuiEvents.hh b/include/ignition/gazebo/gui/GuiEvents.hh
index 8bac275993..1b4df9c549 100644
--- a/include/ignition/gazebo/gui/GuiEvents.hh
+++ b/include/ignition/gazebo/gui/GuiEvents.hh
@@ -18,6 +18,9 @@
 #define IGNITION_GAZEBO_GUI_GUIEVENTS_HH_
 
 #include <QEvent>
+#include <QMap>
+#include <QString>
+
 #include <set>
 #include <string>
 #include <utility>
@@ -176,6 +179,38 @@ namespace events
     /// \brief True if a transform mode is active.
     private: bool tranformModeActive;
   };
+
+  /// \brief Event that notifies an entity is to be added to the model editor
+  class ModelEditorAddEntity : public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _entity Entity added
+    /// \param[in] _type Entity type
+    /// \param[in] _parent Parent entity.
+    public: explicit ModelEditorAddEntity(QString _entity, QString _type,
+                ignition::gazebo::Entity _parent);
+
+    /// \brief Get the entity to add
+    public: QString Entity() const;
+
+    /// \brief Get the entity type
+    public: QString EntityType() const;
+
+
+    /// \brief Get the parent entity to add the entity to
+    public: ignition::gazebo::Entity ParentEntity() const;
+
+    /// \brief Get the data map.
+    /// \return the QMap of string, string holding custom data.
+    public: QMap<QString, QString> &Data();
+
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 7);
+
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+
 }  // namespace events
 }
 }  // namespace gui
diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
index 9a36adcc55..6110b2083c 100644
--- a/include/ignition/gazebo/rendering/RenderUtil.hh
+++ b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -18,6 +18,7 @@
 #define IGNITION_GAZEBO_RENDERUTIL_HH_
 
 #include <memory>
+#include <set>
 #include <string>
 #include <vector>
 
@@ -76,6 +77,14 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: void UpdateFromECM(const UpdateInfo &_info,
                                const EntityComponentManager &_ecm);
 
+    /// \brief Helper function to create visuals for new entities created in
+    /// ECM. This function is intended to be used by other GUI plugins when
+    /// new entities are created on the GUI side.
+    /// \param[in] _ecm Const reference to the entity component manager
+    /// \param[in] _entities Entities to create visuals for.
+    public: void CreateVisualsForEntities(const EntityComponentManager &_ecm,
+                                          const std::set<Entity> &_entities);
+
     /// \brief Set the rendering engine to use
     /// \param[in] _engineName Name of the rendering engine.
     public: void SetEngineName(const std::string &_engineName);
diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc
index 776aef93fb..398c7fceca 100644
--- a/src/EntityComponentManager.cc
+++ b/src/EntityComponentManager.cc
@@ -39,6 +39,8 @@
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/components/ParentLinkName.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include "ignition/gazebo/components/World.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -420,7 +422,30 @@ Entity EntityComponentManager::CloneImpl(Entity _entity, Entity _parent,
   }
   else if (!_name.empty() && !_allowRename)
   {
-    if (kNullEntity != this->EntityByComponents(components::Name(_name)))
+    // Get the entity's original parent. This is used to make sure we get
+    // the correct entity. For example, two different models may have a
+    // child with the name "link".
+    auto origParentComp =
+        this->Component<components::ParentEntity>(_entity);
+
+    // If there is an entity with the same name and user indicated renaming is
+    // not allowed then return null entity.
+    // If the entity or one of its ancestor has a Recreate component then carry
+    // on since the ECM is supposed to create a new entity with the same name.
+    Entity ent = this->EntityByComponents(components::Name(_name),
+        components::ParentEntity(origParentComp->Data()));
+
+    bool hasRecreateComp = false;
+    Entity recreateEnt = ent;
+    while (recreateEnt != kNullEntity && !hasRecreateComp)
+    {
+      hasRecreateComp = this->Component<components::Recreate>(recreateEnt) !=
+        nullptr;
+      auto parentComp = this->Component<components::ParentEntity>(recreateEnt);
+      recreateEnt = parentComp ? parentComp->Data() : kNullEntity;
+    }
+
+    if (kNullEntity != ent && !hasRecreateComp)
     {
       ignerr << "Requested to clone entity [" << _entity
         << "] with a name of [" << _name << "], but another entity already "
@@ -497,19 +522,35 @@ Entity EntityComponentManager::CloneImpl(Entity _entity, Entity _parent,
     Entity originalParentLink = kNullEntity;
     Entity originalChildLink = kNullEntity;
 
+    auto origParentComp =
+        this->Component<components::ParentEntity>(_entity);
+
     const auto &parentName =
       this->Component<components::ParentLinkName>(_entity);
-    if (parentName)
+    if (parentName && origParentComp)
     {
-      originalParentLink = this->EntityByComponents<components::Name>(
-          components::Name(parentName->Data()));
+      // Handle the case where the parent link name is the world.
+      if (common::lowercase(parentName->Data()) == "world")
+      {
+        originalParentLink = this->Component<components::ParentEntity>(
+            origParentComp->Data())->Data();
+      }
+      else
+      {
+        originalParentLink =
+          this->EntityByComponents<components::Name, components::ParentEntity>(
+              components::Name(parentName->Data()),
+              components::ParentEntity(origParentComp->Data()));
+      }
     }
 
     const auto &childName = this->Component<components::ChildLinkName>(_entity);
-    if (childName)
+    if (childName && origParentComp)
     {
-      originalChildLink = this->EntityByComponents<components::Name>(
-          components::Name(childName->Data()));
+      originalChildLink =
+        this->EntityByComponents<components::Name, components::ParentEntity>(
+          components::Name(childName->Data()),
+          components::ParentEntity(origParentComp->Data()));
     }
 
     if (!originalParentLink || !originalChildLink)
@@ -533,7 +574,14 @@ Entity EntityComponentManager::CloneImpl(Entity _entity, Entity _parent,
   for (const auto &childEntity :
       this->EntitiesByComponents(components::ParentEntity(_entity)))
   {
-    auto clonedChild = this->CloneImpl(childEntity, clonedEntity, "", true);
+    std::string name;
+    if (!_allowRename)
+    {
+      auto nameComp = this->Component<components::Name>(childEntity);
+      name = nameComp->Data();
+    }
+    auto clonedChild = this->CloneImpl(childEntity, clonedEntity, name,
+        _allowRename);
     if (kNullEntity == clonedChild)
     {
       ignerr << "Cloning child entity [" << childEntity << "] failed.\n";
@@ -1045,6 +1093,14 @@ bool EntityComponentManager::CreateComponentImplementation(
 
   this->dataPtr->createdCompTypes.insert(_componentTypeId);
 
+  // If the component is a components::ParentEntity, then make sure to
+  // update the entities graph.
+  if (_componentTypeId == components::ParentEntity::typeId)
+  {
+    auto parentComp = this->Component<components::ParentEntity>(_entity);
+    this->SetParentEntity(_entity, parentComp->Data());
+  }
+
   return updateData;
 }
 
@@ -1944,24 +2000,38 @@ bool EntityComponentManagerPrivate::ClonedJointLinkName(Entity _joint,
     return false;
   }
 
-  auto iter = this->originalToClonedLink.find(_originalLink);
-  if (iter == this->originalToClonedLink.end())
+  Entity clonedLink = kNullEntity;
+
+
+  std::string name;
+  // Handle the case where the link could have been the world.
+  if (_ecm->Component<components::World>(_originalLink) != nullptr)
   {
-    ignerr << "Error: attempted to clone links, but link ["
-           << _originalLink << "] was never cloned.\n";
-    return false;
+    // Use the special identifier "world".
+    name = "world";
   }
-  auto clonedLink = iter->second;
-
-  auto name = _ecm->Component<components::Name>(clonedLink);
-  if (!name)
+  else
   {
-    ignerr << "Link [" << _originalLink << "] was cloned, but its clone has no "
-           << "name.\n";
-    return false;
+    auto iter = this->originalToClonedLink.find(_originalLink);
+    if (iter == this->originalToClonedLink.end())
+    {
+      ignerr << "Error: attempted to clone links, but link ["
+        << _originalLink << "] was never cloned.\n";
+      return false;
+    }
+    clonedLink = iter->second;
+
+    auto nameComp = _ecm->Component<components::Name>(clonedLink);
+    if (!nameComp)
+    {
+      ignerr << "Link [" << _originalLink
+        << "] was cloned, but its clone has no name.\n";
+      return false;
+    }
+    name = nameComp->Data();
   }
 
-  _ecm->SetComponentData<ComponentTypeT>(_joint, name->Data());
+  _ecm->SetComponentData<ComponentTypeT>(_joint, name);
   return true;
 }
 
diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc
index cd0b8dcaf6..93463f6502 100644
--- a/src/EntityComponentManager_TEST.cc
+++ b/src/EntityComponentManager_TEST.cc
@@ -2797,15 +2797,21 @@ TEST_P(EntityComponentManagerFixture, CloneEntities)
   EXPECT_EQ(kNullEntity, failedClonedEntity);
 
   // create a joint with a parent and child link
+  const std::string parentModelEntityName = "parentModelEntity";
   const std::string parentLinkEntityName = "parentLinkEntity";
   const std::string childLinkEntityName = "childLinkEntity";
+  Entity parentModelEntity = manager.CreateEntity();
+  manager.CreateComponent(parentModelEntity,
+      components::Name(parentModelEntityName));
   Entity parentLinkEntity = manager.CreateEntity();
   manager.CreateComponent(parentLinkEntity,
       components::Name(parentLinkEntityName));
   manager.CreateComponent(parentLinkEntity, components::CanonicalLink());
+  manager.CreateComponent(parentLinkEntity,
+      components::ParentEntity(parentModelEntity));
   Entity jointEntity = manager.CreateEntity();
   manager.CreateComponent(jointEntity,
-      components::ParentEntity(parentLinkEntity));
+      components::ParentEntity(parentModelEntity));
   manager.CreateComponent(jointEntity, components::Name("jointEntity"));
   manager.CreateComponent(jointEntity, components::Joint());
   manager.CreateComponent(jointEntity,
@@ -2814,26 +2820,33 @@ TEST_P(EntityComponentManagerFixture, CloneEntities)
       components::ChildLinkName(childLinkEntityName));
   Entity childLinkEntity = manager.CreateEntity();
   manager.CreateComponent(childLinkEntity,
-      components::ParentEntity(jointEntity));
+      components::ParentEntity(parentModelEntity));
   manager.CreateComponent(childLinkEntity,
       components::Name(childLinkEntityName));
   manager.CreateComponent(childLinkEntity, components::Link());
-  EXPECT_EQ(13u, manager.EntityCount());
+  EXPECT_EQ(14u, manager.EntityCount());
 
   // clone a joint that has a parent and child link.
-  auto clonedParentLinkEntity = manager.Clone(parentLinkEntity, kNullEntity,
+  auto clonedParentModelEntity = manager.Clone(parentModelEntity, kNullEntity,
       "", true);
-  ASSERT_NE(kNullEntity, clonedParentLinkEntity);
-  EXPECT_EQ(16u, manager.EntityCount());
-  clonedEntities.insert(clonedParentLinkEntity);
+  ASSERT_NE(kNullEntity, clonedParentModelEntity);
+  // We just cloned a model with two links and a joint, a total of 4 new
+  // entities.
+  EXPECT_EQ(18u, manager.EntityCount());
+  clonedEntities.insert(clonedParentModelEntity);
   auto clonedJoints = manager.EntitiesByComponents(
-      components::ParentEntity(clonedParentLinkEntity));
+      components::ParentEntity(clonedParentModelEntity), components::Joint());
   ASSERT_EQ(1u, clonedJoints.size());
   clonedEntities.insert(clonedJoints[0]);
   auto clonedChildLinks = manager.EntitiesByComponents(
-      components::ParentEntity(clonedJoints[0]));
+      components::ParentEntity(clonedParentModelEntity), components::Link());
   ASSERT_EQ(1u, clonedChildLinks.size());
   clonedEntities.insert(clonedChildLinks[0]);
+  auto clonedChildCanonicalLinks = manager.EntitiesByComponents(
+      components::ParentEntity(clonedParentModelEntity),
+      components::CanonicalLink());
+  ASSERT_EQ(1u, clonedChildCanonicalLinks.size());
+  clonedEntities.insert(clonedChildCanonicalLinks[0]);
 
   // The cloned joint should have the cloned parent/child link names attached to
   // it, not the original parent/child link names
@@ -2845,17 +2858,19 @@ TEST_P(EntityComponentManagerFixture, CloneEntities)
     manager.Component<components::ChildLinkName>(clonedJoints[0]);
   ASSERT_NE(nullptr, clonedJointChildLinkName);
   EXPECT_NE(clonedJointChildLinkName->Data(), childLinkEntityName);
-  auto clonedParentLinkName =
-    manager.Component<components::Name>(clonedParentLinkEntity);
-  ASSERT_NE(nullptr, clonedParentLinkName);
-  EXPECT_EQ(clonedParentLinkName->Data(), clonedJointParentLinkName->Data());
+  auto clonedParentModelName =
+    manager.Component<components::Name>(clonedParentModelEntity);
+  ASSERT_NE(nullptr, clonedParentModelName);
+  auto clonedJointParentModelName = manager.Component<components::Name>(
+    manager.Component<components::ParentEntity>(clonedJoints[0])->Data());
+  EXPECT_EQ(clonedParentModelName->Data(), clonedJointParentModelName->Data());
   auto clonedChildLinkName =
     manager.Component<components::Name>(clonedChildLinks[0]);
   ASSERT_NE(nullptr, clonedChildLinkName);
   EXPECT_EQ(clonedJointChildLinkName->Data(), clonedChildLinkName->Data());
 
   // make sure that the name given to each cloned entity is unique
-  EXPECT_EQ(8u, clonedEntities.size());
+  EXPECT_EQ(9u, clonedEntities.size());
   for (const auto &entity : clonedEntities)
   {
     auto nameComp = manager.Component<components::Name>(entity);
@@ -2866,7 +2881,7 @@ TEST_P(EntityComponentManagerFixture, CloneEntities)
   // try to clone an entity that does not exist
   EXPECT_EQ(kNullEntity, manager.Clone(kNullEntity, topLevelEntity, "",
         allowRename));
-  EXPECT_EQ(16u, manager.EntityCount());
+  EXPECT_EQ(18u, manager.EntityCount());
 }
 
 /////////////////////////////////////////////////
diff --git a/src/ModelCommandAPI_TEST.cc b/src/ModelCommandAPI_TEST.cc
index 81beeb6b32..35a0463dbf 100644
--- a/src/ModelCommandAPI_TEST.cc
+++ b/src/ModelCommandAPI_TEST.cc
@@ -383,6 +383,49 @@ TEST(ModelCommandAPI, Commands)
   }
 }
 
+/////////////////////////////////////////////////
+// Tests `ign model -s` command with an airpressure sensor.
+TEST(ModelCommandAPI, AirPressureSensor)
+{
+  ignition::gazebo::ServerConfig serverConfig;
+  // Using an static model to avoid any movements in the simulation.
+  serverConfig.SetSdfFile(
+      ignition::common::joinPaths(std::string(PROJECT_SOURCE_PATH),
+        "test", "worlds", "air_pressure.sdf"));
+
+  ignition::gazebo::Server server(serverConfig);
+  // Run at least one iteration before continuing to guarantee correctly set up.
+  ASSERT_TRUE(server.Run(true, 5, false));
+  // Run without blocking.
+  server.Run(false, 0, false);
+
+  // Tested command: ign model -m altimeter_mode -l link -s altimeter_sensor
+  {
+    const std::string cmd = kIgnModelCommand
+      + "-m air_pressure_model -l link -s air_pressure_sensor";
+    std::string output = customExecStr(cmd);
+    ReplaceNegativeZeroValues(output);
+    const std::string expectedOutput =
+      "\nRequesting state for world [air_pressure_sensor]...\n\n"
+      "- Sensor [8]\n"
+      "  - Name: air_pressure_sensor\n"
+      "  - Parent: air_pressure_model [4]\n"
+      "  - Pose [ XYZ (m) ] [ RPY (rad) ]:\n"
+      "    [0.000000 0.000000 0.000000]\n"
+      "    [0.000000 0.000000 0.000000]\n"
+      "  - Reference altitude (m): 123\n"
+      "  - Pressure noise:\n"
+      "    - Mean (Pa): 0\n"
+      "    - Bias mean (Pa): 0\n"
+      "    - Standard deviation (Pa): 0\n"
+      "    - Bias standard deviation (Pa): 0\n"
+      "    - Precision: 0\n"
+      "    - Dynamic bias standard deviation (Pa): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n";
+    EXPECT_EQ(expectedOutput, output);
+  }
+}
+
 /////////////////////////////////////////////////
 // Tests `ign model -s` command with an altimeter.
 TEST(ModelCommandAPI, AltimeterSensor)
@@ -414,21 +457,77 @@ TEST(ModelCommandAPI, AltimeterSensor)
       "    [0.100000 0.200000 0.300000]\n"
       "    [0.000000 0.000000 0.000000]\n"
       "  - Vertical position noise:\n"
-      "    - Mean: 0\n"
-      "    - Bias mean: 0\n"
-      "    - Standard deviation: 0\n"
-      "    - Bias standard deviation: 0\n"
+      "    - Mean (m): 0\n"
+      "    - Bias mean (m): 0\n"
+      "    - Standard deviation (m): 0\n"
+      "    - Bias standard deviation (m): 0\n"
       "    - Precision: 0\n"
-      "    - Dynamic bias standard deviation: 0\n"
-      "    - Dynamic bias correlation time: 0\n"
+      "    - Dynamic bias standard deviation (m): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n"
       "  - Vertical velocity noise:\n"
-      "    - Mean: 0\n"
-      "    - Bias mean: 0\n"
-      "    - Standard deviation: 0\n"
-      "    - Bias standard deviation: 0\n"
+      "    - Mean (m/s): 0\n"
+      "    - Bias mean (m/s): 0\n"
+      "    - Standard deviation (m/s): 0\n"
+      "    - Bias standard deviation (m/s): 0\n"
       "    - Precision: 0\n"
-      "    - Dynamic bias standard deviation: 0\n"
-      "    - Dynamic bias correlation time: 0\n";
+      "    - Dynamic bias standard deviation (m/s): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n";
+    EXPECT_EQ(expectedOutput, output);
+  }
+}
+
+/////////////////////////////////////////////////
+// Tests `ign model -s` command with a gpu lidar sensor.
+TEST(ModelCommandAPI, GpuLidarSensor)
+{
+  ignition::gazebo::ServerConfig serverConfig;
+  // Using an static model to avoid any movements in the simulation.
+  serverConfig.SetSdfFile(
+      ignition::common::joinPaths(std::string(PROJECT_SOURCE_PATH),
+        "test", "worlds", "gpu_lidar.sdf"));
+
+  ignition::gazebo::Server server(serverConfig);
+  // Run at least one iteration before continuing to guarantee correctly set up.
+  ASSERT_TRUE(server.Run(true, 5, false));
+  // Run without blocking.
+  server.Run(false, 0, false);
+
+  // Tested command: ign model -m altimeter_mode -l link -s altimeter_sensor
+  {
+    const std::string cmd = kIgnModelCommand
+      + "-m gpu_lidar -l gpu_lidar_link -s gpu_lidar";
+    std::string output = customExecStr(cmd);
+    ReplaceNegativeZeroValues(output);
+    const std::string expectedOutput =
+      "\nRequesting state for world [gpu_lidar_sensor]...\n\n"
+      "- Sensor [8]\n"
+      "  - Name: gpu_lidar\n"
+      "  - Parent: gpu_lidar [4]\n"
+      "  - Pose [ XYZ (m) ] [ RPY (rad) ]:\n"
+      "    [0.000000 0.000000 0.000000]\n"
+      "    [0.000000 0.000000 0.000000]\n"
+      "  - Range:\n"
+      "    - Min (m): 0.08\n"
+      "    - Max (m): 10\n"
+      "    - Resolution: 0.01\n"
+      "  - Horizontal scan:\n"
+      "    - Samples: 640\n"
+      "    - Resolution: 1\n"
+      "    - Min angle (rad): -1.39626\n"
+      "    - Max angle (rad): 1.39626\n"
+      "  - Vertical scan:\n"
+      "    - Samples: 1\n"
+      "    - Resolution: 0.01\n"
+      "    - Min angle (rad): 0\n"
+      "    - Max angle (rad): 0\n"
+      "  - Noise:\n"
+      "    - Mean (m): 0\n"
+      "    - Bias mean (m): 0\n"
+      "    - Standard deviation (m): 0\n"
+      "    - Bias standard deviation (m): 0\n"
+      "    - Precision: 0\n"
+      "    - Dynamic bias standard deviation (m): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n";
     EXPECT_EQ(expectedOutput, output);
   }
 }
@@ -462,7 +561,32 @@ TEST(ModelCommandAPI, MagnetometerSensor)
       "  - Parent: magnetometer_model [8]\n"
       "  - Pose [ XYZ (m) ] [ RPY (rad) ]:\n"
       "    [0.000000 0.000000 0.000000]\n"
-      "    [0.000000 0.000000 0.000000]\n";
+      "    [0.000000 0.000000 0.000000]\n"
+      "  - X-axis noise:\n"
+      "    - Mean (T): 0\n"
+      "    - Bias mean (T): 0\n"
+      "    - Standard deviation (T): 0\n"
+      "    - Bias standard deviation (T): 0\n"
+      "    - Precision: 0\n"
+      "    - Dynamic bias standard deviation (T): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n"
+      "  - Y-axis noise:\n"
+      "    - Mean (T): 0\n"
+      "    - Bias mean (T): 0\n"
+      "    - Standard deviation (T): 0\n"
+      "    - Bias standard deviation (T): 0\n"
+      "    - Precision: 0\n"
+      "    - Dynamic bias standard deviation (T): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n"
+      "  - Z-axis noise:\n"
+      "    - Mean (T): 0\n"
+      "    - Bias mean (T): 0\n"
+      "    - Standard deviation (T): 0\n"
+      "    - Bias standard deviation (T): 0\n"
+      "    - Precision: 0\n"
+      "    - Dynamic bias standard deviation (T): 0\n"
+      "    - Dynamic bias correlation time (s): 0\n";
+
       EXPECT_EQ(expectedOutput, output);
   }
 }
@@ -512,7 +636,7 @@ TEST(ModelCommandAPI, RgbdCameraSensor)
       "    - Bias standard deviation: 0\n"
       "    - Precision: 0\n"
       "    - Dynamic bias standard deviation: 0\n"
-      "    - Dynamic bias correlation time: 0\n"
+      "    - Dynamic bias correlation time (s): 0\n"
       "  - Distortion K1: 0\n"
       "  - Distortion K2: 0\n"
       "  - Distortion K3: 0\n"
diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
index 11db16cbb5..17c8155765 100644
--- a/src/SdfEntityCreator.cc
+++ b/src/SdfEntityCreator.cc
@@ -588,6 +588,13 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Link *_link)
 
 //////////////////////////////////////////////////
 Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint)
+{
+  return this->CreateEntities(_joint, false);
+}
+
+//////////////////////////////////////////////////
+Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint,
+    bool _resolved)
 {
   IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Joint)");
 
@@ -645,34 +652,54 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint)
   this->dataPtr->ecm->CreateComponent(jointEntity ,
       components::ThreadPitch(_joint->ThreadPitch()));
 
+
   std::string resolvedParentLinkName;
-  const auto resolveParentErrors =
-    _joint->ResolveParentLink(resolvedParentLinkName);
-  if (!resolveParentErrors.empty())
+  if (_resolved)
   {
-    ignerr << "Failed to resolve parent link for joint '" << _joint->Name()
-           << "' with parent name '" << _joint->ParentLinkName() << "'"
-           << std::endl;
+    resolvedParentLinkName = _joint->ParentLinkName();
+  }
+  else
+  {
+
+    const auto resolveParentErrors =
+      _joint->ResolveParentLink(resolvedParentLinkName);
+    if (!resolveParentErrors.empty())
+    {
+      ignerr << "Failed to resolve parent link for joint '" << _joint->Name()
+             << "' with parent name '" << _joint->ParentLinkName() << "'"
+             << std::endl;
+      for (const auto &error : resolveParentErrors)
+      {
+        ignerr << error << std::endl;
+      }
 
-    return kNullEntity;
+      return kNullEntity;
+    }
   }
   this->dataPtr->ecm->CreateComponent(
       jointEntity, components::ParentLinkName(resolvedParentLinkName));
 
   std::string resolvedChildLinkName;
-  const auto resolveChildErrors =
-    _joint->ResolveChildLink(resolvedChildLinkName);
-  if (!resolveChildErrors.empty())
-  {
-    ignerr << "Failed to resolve child link for joint '" << _joint->Name()
-           << "' with child name '" << _joint->ChildLinkName() << "'"
-           << std::endl;
-    for (const auto &error : resolveChildErrors)
+  if (_resolved)
+  {
+    resolvedChildLinkName = _joint->ChildLinkName();
+  }
+  else
+  {
+    const auto resolveChildErrors =
+      _joint->ResolveChildLink(resolvedChildLinkName);
+    if (!resolveChildErrors.empty())
     {
-      ignerr << error << std::endl;
-    }
+      ignerr << "Failed to resolve child link for joint '" << _joint->Name()
+             << "' with child name '" << _joint->ChildLinkName() << "'"
+             << std::endl;
+      for (const auto &error : resolveChildErrors)
+      {
+        ignerr << error << std::endl;
+      }
 
-    return kNullEntity;
+      return kNullEntity;
+    }
   }
 
   this->dataPtr->ecm->CreateComponent(
diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
index 44fe814cda..2c11a7697e 100644
--- a/src/Server_TEST.cc
+++ b/src/Server_TEST.cc
@@ -232,7 +232,7 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin)
 
   // The simulation runner should not be running.
   EXPECT_FALSE(*server.Running(0));
-  EXPECT_EQ(2u, *server.SystemCount());
+  EXPECT_EQ(3u, *server.SystemCount());
 
   // Run the server
   igndbg << "Run server" << std::endl;
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
index 1369cb47cf..ae3b5af708 100644
--- a/src/SimulationRunner.cc
+++ b/src/SimulationRunner.cc
@@ -27,8 +27,10 @@
 #include "ignition/gazebo/components/Sensor.hh"
 #include "ignition/gazebo/components/Visual.hh"
 #include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/components/Physics.hh"
 #include "ignition/gazebo/components/PhysicsCmd.hh"
+#include "ignition/gazebo/components/Recreate.hh"
 #include "ignition/gazebo/Events.hh"
 #include "ignition/gazebo/SdfEntityCreator.hh"
 #include "ignition/gazebo/Util.hh"
@@ -820,6 +822,10 @@ void SimulationRunner::Step(const UpdateInfo &_info)
   IGN_PROFILE("SimulationRunner::Step");
   this->currentInfo = _info;
 
+  // Process new ECM state information, typically sent from the GUI after
+  // a change was made to the GUI's ECM.
+  this->ProcessNewWorldControlState();
+
   // Publish info
   this->PublishStats();
 
@@ -831,6 +837,12 @@ void SimulationRunner::Step(const UpdateInfo &_info)
   // Handle pending systems
   this->ProcessSystemQueue();
 
+  // Handle entities that need to be recreated.
+  // Put in a request to mark them as removed so that in the UpdateSystem call
+  // the systems can remove them first before new ones are created. This is
+  // so that we can recreate entities with the same name.
+  this->ProcessRecreateEntitiesRemove();
+
   // Update all the systems.
   this->UpdateSystems();
 
@@ -861,6 +873,12 @@ void SimulationRunner::Step(const UpdateInfo &_info)
   // Clear all new entities
   this->entityCompMgr.ClearNewlyCreatedEntities();
 
+  // Recreate any entities that have the Recreate component
+  // The entities will have different Entity ids but keep the same name
+  // Make sure this happens after ClearNewlyCreatedEntities, otherwise the
+  // cloned entities will loose their "New" state.
+  this->ProcessRecreateEntitiesCreate();
+
   // Process entity removals.
   this->entityCompMgr.ProcessRemoveEntityRequests();
 
@@ -1135,11 +1153,13 @@ bool SimulationRunner::OnWorldControlState(const msgs::WorldControlState &_req,
 {
   std::lock_guard<std::mutex> lock(this->msgBufferMutex);
 
-  // update the server ECM if the request contains SerializedState information
+  // Copy the state information if it exists
   if (_req.has_state())
-    this->entityCompMgr.SetState(_req.state());
-  // TODO(anyone) notify server systems of changes made to the ECM, if there
-  // were any?
+  {
+    if (this->newWorldControlState == nullptr)
+      this->newWorldControlState.reset(_req.New());
+    this->newWorldControlState->CopyFrom(_req);
+  }
 
   WorldControl control;
   control.pause = _req.world_control().pause();
@@ -1169,7 +1189,7 @@ bool SimulationRunner::OnWorldControlState(const msgs::WorldControlState &_req,
   {
     control.runToSimTime = std::chrono::seconds(
         _req.world_control().run_to_sim_time().sec()) +
-        std::chrono::nanoseconds(_req.world_control().run_to_sim_time().nsec());
+      std::chrono::nanoseconds(_req.world_control().run_to_sim_time().nsec());
   }
 
   this->worldControls.push_back(control);
@@ -1178,6 +1198,21 @@ bool SimulationRunner::OnWorldControlState(const msgs::WorldControlState &_req,
   return true;
 }
 
+/////////////////////////////////////////////////
+void SimulationRunner::ProcessNewWorldControlState()
+{
+  std::lock_guard<std::mutex> lock(this->msgBufferMutex);
+  // update the server ECM if the request contains SerializedState information
+  if (this->newWorldControlState && this->newWorldControlState->has_state())
+  {
+    this->entityCompMgr.SetState(this->newWorldControlState->state());
+
+    this->newWorldControlState.reset();
+  }
+  // TODO(anyone) notify server systems of changes made to the ECM, if there
+  // were any?
+}
+
 /////////////////////////////////////////////////
 bool SimulationRunner::OnPlaybackControl(const msgs::LogPlaybackControl &_req,
     msgs::Boolean &_res)
@@ -1251,6 +1286,73 @@ void SimulationRunner::ProcessWorldControl()
   this->worldControls.clear();
 }
 
+/////////////////////////////////////////////////
+void SimulationRunner::ProcessRecreateEntitiesRemove()
+{
+  IGN_PROFILE("SimulationRunner::ProcessRecreateEntitiesRemove");
+
+  // store the original entities to recreate and put in request to remove them
+  this->entityCompMgr.EachNoCache<components::Model,
+                           components::Recreate>(
+      [&](const Entity &_entity,
+          const components::Model *,
+          const components::Recreate *)->bool
+      {
+        this->entitiesToRecreate.insert(_entity);
+        this->entityCompMgr.RequestRemoveEntity(_entity, true);
+        return true;
+      });
+}
+
+/////////////////////////////////////////////////
+void SimulationRunner::ProcessRecreateEntitiesCreate()
+{
+  IGN_PROFILE("SimulationRunner::ProcessRecreateEntitiesCreate");
+
+  // clone the original entities
+  for (auto & ent : this->entitiesToRecreate)
+  {
+    auto nameComp = this->entityCompMgr.Component<components::Name>(ent);
+    auto parentComp =
+        this->entityCompMgr.Component<components::ParentEntity>(ent);
+    if (nameComp  && parentComp)
+    {
+      // set allowRenaming to false so the entities keep their original name
+      Entity clonedEntity = this->entityCompMgr.Clone(ent,
+         parentComp->Data(), nameComp->Data(), false);
+
+      // remove the Recreate component so they do not get recreated again in the
+      // next iteration
+      if (!this->entityCompMgr.RemoveComponent<components::Recreate>(ent))
+      {
+        ignerr << "Failed to remove Recreate component from entity["
+          << ent << "]" << std::endl;
+      }
+
+      if (!this->entityCompMgr.RemoveComponent<components::Recreate>(
+            clonedEntity))
+      {
+        ignerr << "Failed to remove Recreate component from entity["
+          << clonedEntity << "]" << std::endl;
+      }
+    }
+    else if (!nameComp)
+    {
+      ignerr << "Missing name component for entity[" << ent << "]. "
+        << "The entity will not be cloned during the recreation process."
+        << std::endl;
+    }
+    else if (!parentComp)
+    {
+      ignerr << "Missing parent component for entity[" << ent << "]. "
+        << "The entity will not be cloned during the recreation process."
+         << std::endl;
+    }
+  }
+
+  this->entitiesToRecreate.clear();
+}
+
 /////////////////////////////////////////////////
 bool SimulationRunner::Paused() const
 {
diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh
index 9f17d59b6b..a52210425e 100644
--- a/src/SimulationRunner.hh
+++ b/src/SimulationRunner.hh
@@ -27,6 +27,7 @@
 #include <list>
 #include <memory>
 #include <optional>
+#include <set>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
@@ -466,6 +467,18 @@ namespace ignition
         std::optional<Entity> _entity = std::nullopt,
         std::optional<std::shared_ptr<const sdf::Element>> _sdf = std::nullopt);
 
+      /// \brief Process entities with the components::Recreate component.
+      /// Put in a request to make them as removed
+      private: void ProcessRecreateEntitiesRemove();
+
+      /// \brief Process entities with the components::Recreate component.
+      /// Reccreate the entities by cloning from the original ones.
+      private: void ProcessRecreateEntitiesCreate();
+
+      /// \brief Process the new world state message, if it is present.
+      /// See the newWorldControlState variable below.
+      private: void ProcessNewWorldControlState();
+
       /// \brief This is used to indicate that a stop event has been received.
       private: std::atomic<bool> stopReceived{false};
 
@@ -627,6 +640,13 @@ namespace ignition
       /// WorldControl info (true) or not (false)
       private: bool stepping{false};
 
+      /// \brief A set of entities that need to be recreated
+      private: std::set<Entity> entitiesToRecreate;
+
+      /// \brief Holds new world state information so that it can be processed
+      /// at the appropriate time.
+      private: std::unique_ptr<msgs::WorldControlState> newWorldControlState;
+
       friend class LevelManager;
     };
     }
diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
index 6176cfdc89..fbcb8d19af 100644
--- a/src/SimulationRunner_TEST.cc
+++ b/src/SimulationRunner_TEST.cc
@@ -56,6 +56,7 @@
 #include "ignition/gazebo/Events.hh"
 #include "ignition/gazebo/Util.hh"
 #include "ignition/gazebo/config.hh"
+
 #include "../test/helpers/EnvTestFixture.hh"
 #include "SimulationRunner.hh"
 
diff --git a/src/cmd/ModelCommandAPI.cc b/src/cmd/ModelCommandAPI.cc
index f467668e9f..8e482b412d 100644
--- a/src/cmd/ModelCommandAPI.cc
+++ b/src/cmd/ModelCommandAPI.cc
@@ -21,9 +21,11 @@
 #include <vector>
 #include <map>
 
+#include <sdf/AirPressure.hh>
 #include <sdf/Altimeter.hh>
 #include <sdf/Camera.hh>
 #include <sdf/Imu.hh>
+#include <sdf/Lidar.hh>
 #include <sdf/Magnetometer.hh>
 #include <sdf/Noise.hh>
 #include <sdf/Sensor.hh>
@@ -34,9 +36,11 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
 #include <ignition/gazebo/EntityComponentManager.hh>
+#include <ignition/gazebo/components/AirPressureSensor.hh>
 #include <ignition/gazebo/components/Altimeter.hh>
 #include <ignition/gazebo/components/Camera.hh>
 #include <ignition/gazebo/components/ChildLinkName.hh>
+#include <ignition/gazebo/components/GpuLidar.hh>
 #include <ignition/gazebo/components/Imu.hh>
 #include <ignition/gazebo/components/Inertial.hh>
 #include <ignition/gazebo/components/Joint.hh>
@@ -165,23 +169,55 @@ void printPose(const uint64_t _entity, const EntityComponentManager &_ecm,
 /// \brief Print noise information.
 /// \param[in] _noise Noise to print.
 /// \param[in] _spaces Number of spaces to indent for every line.
-void printNoise(const sdf::Noise &_noise, int _spaces)
+void printNoise(const sdf::Noise &_noise, int _spaces,
+    const std::string &_units)
 {
-  std::cout << std::string(_spaces, ' ') << "- Mean: " << _noise.Mean() << "\n"
-    << std::string(_spaces, ' ') << "- Bias mean: "
+  std::string units = "";
+  if (!_units.empty())
+    units = std::string(" (") + _units + ")";
+
+  std::cout << std::string(_spaces, ' ') << "- Mean" << units << ": "
+    << _noise.Mean() << "\n"
+    << std::string(_spaces, ' ') << "- Bias mean" << units << ": "
     << _noise.BiasMean() << "\n"
-    << std::string(_spaces, ' ') << "- Standard deviation: "
+    << std::string(_spaces, ' ') << "- Standard deviation" << units << ": "
     << _noise.StdDev() << "\n"
-    << std::string(_spaces, ' ') << "- Bias standard deviation: "
+    << std::string(_spaces, ' ') << "- Bias standard deviation" << units << ": "
     << _noise.BiasStdDev() << "\n"
     << std::string(_spaces, ' ') << "- Precision: "
     << _noise.Precision() << "\n"
-    << std::string(_spaces, ' ') << "- Dynamic bias standard deviation: "
+    << std::string(_spaces, ' ') << "- Dynamic bias standard deviation"
+    << units << ": "
     << _noise.DynamicBiasStdDev() << "\n"
-    << std::string(_spaces, ' ') << "- Dynamic bias correlation time: "
+    << std::string(_spaces, ' ') << "- Dynamic bias correlation time (s): "
     << _noise.DynamicBiasCorrelationTime() << std::endl;
 }
 
+//////////////////////////////////////////////////
+/// \brief Print info about an air pressure sensor.
+/// \param[in] _entity Entity to print information for. Nothing is
+/// printed if the entity is not an air pressure sensor.
+/// \param[in] _ecm The entity component manager.
+/// \param[in] _spaces Number of spaces to indent for every line
+void printAirPressure(const uint64_t _entity,
+    const EntityComponentManager &_ecm, int _spaces)
+{
+  // Get the type and return if the _entity does not have the correct
+  // component.
+  auto comp = _ecm.Component<components::AirPressureSensor>(_entity);
+  if (!comp)
+    return;
+
+  const sdf::Sensor &sensor = comp->Data();
+  const sdf::AirPressure *air = sensor.AirPressureSensor();
+
+  std::cout << std::string(_spaces, ' ') << "- Reference altitude (m): "
+    << air->ReferenceAltitude() << "\n";
+
+  std::cout << std::string(_spaces, ' ') << "- Pressure noise:\n";
+  printNoise(air->PressureNoise(), _spaces + 2, "Pa");
+}
+
 //////////////////////////////////////////////////
 /// \brief Print info about an altimeter sensor.
 /// \param[in] _entity Entity to print information for. Nothing is
@@ -201,10 +237,10 @@ void printAltimeter(const uint64_t _entity, const EntityComponentManager &_ecm,
   const sdf::Altimeter *altimeter = sensor.AltimeterSensor();
 
   std::cout << std::string(_spaces, ' ') << "- Vertical position noise:\n";
-  printNoise(altimeter->VerticalPositionNoise(), _spaces + 2);
+  printNoise(altimeter->VerticalPositionNoise(), _spaces + 2, "m");
 
   std::cout << std::string(_spaces, ' ') << "- Vertical velocity noise:\n";
-  printNoise(altimeter->VerticalVelocityNoise(), _spaces + 2);
+  printNoise(altimeter->VerticalVelocityNoise(), _spaces + 2, "m/s");
 }
 
 //////////////////////////////////////////////////
@@ -265,7 +301,7 @@ void printCamera(const sdf::Camera *_camera, int _spaces)
 
   std::cout << std::string(_spaces, ' ')
     << "- Image noise:\n";
-  printNoise(_camera->ImageNoise(), _spaces + 2);
+  printNoise(_camera->ImageNoise(), _spaces + 2, "");
 
   std::cout << std::string(_spaces, ' ')
     << "- Distortion K1: " << _camera->DistortionK1()
@@ -395,23 +431,23 @@ void printImu(const uint64_t _entity, const EntityComponentManager &_ecm,
 
   std::cout << std::string(_spaces, ' ')
     << "- Linear acceleration X-axis noise:\n";
-  printNoise(imu->LinearAccelerationXNoise(), _spaces + 2);
+  printNoise(imu->LinearAccelerationXNoise(), _spaces + 2, "m/s^2");
   std::cout << std::string(_spaces, ' ')
     << "- Linear acceleration Y-axis noise:\n";
-  printNoise(imu->LinearAccelerationYNoise(), _spaces + 2);
+  printNoise(imu->LinearAccelerationYNoise(), _spaces + 2, "m/s^2");
   std::cout << std::string(_spaces, ' ')
     << "- Linear acceleration Z-axis noise:\n";
-  printNoise(imu->LinearAccelerationZNoise(), _spaces + 2);
+  printNoise(imu->LinearAccelerationZNoise(), _spaces + 2, "m/s^2");
 
   std::cout << std::string(_spaces, ' ')
     << "- Angular velocity X-axis noise:\n";
-  printNoise(imu->AngularVelocityXNoise(), _spaces + 2);
+  printNoise(imu->AngularVelocityXNoise(), _spaces + 2, "rad/s");
   std::cout << std::string(_spaces, ' ')
     << "- Angular velocity Y-axis noise:\n";
-  printNoise(imu->AngularVelocityYNoise(), _spaces + 2);
+  printNoise(imu->AngularVelocityYNoise(), _spaces + 2, "rad/s");
   std::cout << std::string(_spaces, ' ')
     << "- Angular velocity Z-axis noise:\n";
-  printNoise(imu->AngularVelocityZNoise(), _spaces + 2);
+  printNoise(imu->AngularVelocityZNoise(), _spaces + 2, "rad/s");
 
   std::cout << std::string(_spaces, ' ')
     << "- Gravity direction X [XYZ]: "
@@ -432,6 +468,51 @@ void printImu(const uint64_t _entity, const EntityComponentManager &_ecm,
     << "- Orientation enabled:" << imu->OrientationEnabled() << std::endl;
 }
 
+//////////////////////////////////////////////////
+void printGpuLidar(const uint64_t _entity,
+    const EntityComponentManager &_ecm, int _spaces)
+{
+  // Get the type and return if the _entity does not have the correct
+  // component.
+  auto comp = _ecm.Component<components::GpuLidar>(_entity);
+  if (!comp)
+    return;
+
+  const sdf::Sensor &sensor = comp->Data();
+  const sdf::Lidar *lidar = sensor.LidarSensor();
+
+  std::cout << std::string(_spaces, ' ') << "- Range:\n";
+  std::cout << std::string(_spaces+2, ' ') << "- Min (m): "
+    << lidar->RangeMin() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Max (m): "
+    << lidar->RangeMax() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Resolution: "
+    << lidar->RangeResolution() << std::endl;
+
+  std::cout << std::string(_spaces, ' ') << "- Horizontal scan:\n";
+  std::cout << std::string(_spaces+2, ' ') << "- Samples: "
+    << lidar->HorizontalScanSamples() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Resolution: "
+    << lidar->HorizontalScanResolution() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Min angle (rad): "
+    << lidar->HorizontalScanMinAngle() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Max angle (rad): "
+    << lidar->HorizontalScanMaxAngle() << std::endl;
+
+  std::cout << std::string(_spaces, ' ') << "- Vertical scan:\n";
+  std::cout << std::string(_spaces+2, ' ') << "- Samples: "
+    << lidar->VerticalScanSamples() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Resolution: "
+    << lidar->VerticalScanResolution() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Min angle (rad): "
+    << lidar->VerticalScanMinAngle() << std::endl;
+  std::cout << std::string(_spaces+2, ' ') << "- Max angle (rad): "
+    << lidar->VerticalScanMaxAngle() << std::endl;
+
+  std::cout << std::string(_spaces, ' ') << "- Noise:\n";
+  printNoise(lidar->LidarNoise(), _spaces + 2, "m");
+}
+
 //////////////////////////////////////////////////
 void printMagnetometer(const uint64_t _entity,
     const EntityComponentManager &_ecm, int _spaces)
@@ -446,11 +527,11 @@ void printMagnetometer(const uint64_t _entity,
   const sdf::Magnetometer *mag = sensor.MagnetometerSensor();
 
   std::cout << std::string(_spaces, ' ') << "- X-axis noise:\n";
-  printNoise(mag->XNoise(), _spaces + 2);
+  printNoise(mag->XNoise(), _spaces + 2, "T");
   std::cout << std::string(_spaces, ' ') << "- Y-axis noise:\n";
-  printNoise(mag->YNoise(), _spaces + 2);
+  printNoise(mag->YNoise(), _spaces + 2, "T");
   std::cout << std::string(_spaces, ' ') << "- Z-axis noise:\n";
-  printNoise(mag->ZNoise(), _spaces + 2);
+  printNoise(mag->ZNoise(), _spaces + 2, "T");
 }
 
 //////////////////////////////////////////////////
@@ -603,9 +684,12 @@ void printLinks(const uint64_t _modelEntity,
 
       // Run through all the sensor print statements. Each function will
       // exit early if the the sensor is the wrong type.
+      printAirPressure(sensor, _ecm, spaces + 2);
       printAltimeter(sensor, _ecm, spaces + 2);
       printCamera(sensor, _ecm, spaces + 2);
+      printGpuLidar(sensor, _ecm, spaces + 2);
       printImu(sensor, _ecm, spaces + 2);
+      printMagnetometer(sensor, _ecm, spaces + 2);
       printRgbdCamera(sensor, _ecm, spaces + 2);
     }
   }
diff --git a/src/gui/GuiEvents.cc b/src/gui/GuiEvents.cc
index dd89de306f..ed195212ed 100644
--- a/src/gui/GuiEvents.cc
+++ b/src/gui/GuiEvents.cc
@@ -35,6 +35,21 @@ class ignition::gazebo::gui::events::NewRemovedEntities::Implementation
   public: std::set<Entity> removedEntities;
 };
 
+class ignition::gazebo::gui::events::ModelEditorAddEntity::Implementation
+{
+  /// \brief Custom data map
+  public: QMap<QString, QString> data;
+
+  /// \breif Entity added.
+  public: QString entity;
+
+  /// \breif Entity type.
+  public: QString type;
+
+  /// \breif Parent entity.
+  public: ignition::gazebo::Entity parent;
+};
+
 using namespace ignition;
 using namespace gazebo;
 using namespace gui;
@@ -83,3 +98,37 @@ const std::set<Entity> &NewRemovedEntities::RemovedEntities() const
 {
   return this->dataPtr->removedEntities;
 }
+
+/////////////////////////////////////////////////
+ModelEditorAddEntity::ModelEditorAddEntity(QString _entity, QString _type,
+    ignition::gazebo::Entity _parent) :
+  QEvent(kType), dataPtr(utils::MakeImpl<Implementation>())
+{
+  this->dataPtr->entity = _entity;
+  this->dataPtr->type = _type;
+  this->dataPtr->parent = _parent;
+}
+
+/////////////////////////////////////////////////
+QString ModelEditorAddEntity::Entity() const
+{
+  return this->dataPtr->entity;
+}
+
+/////////////////////////////////////////////////
+QString ModelEditorAddEntity::EntityType() const
+{
+  return this->dataPtr->type;
+}
+
+/////////////////////////////////////////////////
+ignition::gazebo::Entity ModelEditorAddEntity::ParentEntity() const
+{
+  return this->dataPtr->parent;
+}
+
+/////////////////////////////////////////////////
+QMap<QString, QString> &ModelEditorAddEntity::Data()
+{
+  return this->dataPtr->data;
+}
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
index bcceed233c..62fcf2d096 100644
--- a/src/gui/plugins/CMakeLists.txt
+++ b/src/gui/plugins/CMakeLists.txt
@@ -121,6 +121,7 @@ add_subdirectory(modules)
 add_subdirectory(align_tool)
 add_subdirectory(banana_for_scale)
 add_subdirectory(component_inspector)
+add_subdirectory(component_inspector_editor)
 add_subdirectory(copy_paste)
 add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
diff --git a/src/gui/plugins/component_inspector_editor/AirPressure.cc b/src/gui/plugins/component_inspector_editor/AirPressure.cc
new file mode 100644
index 0000000000..5f8baf3d0a
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/AirPressure.cc
@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/AirPressure.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/AirPressureSensor.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "AirPressure.hh"
+#include "ComponentInspectorEditor.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+AirPressure::AirPressure(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("AirPressureImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::AirPressure *air = comp->Data().AirPressureSensor();
+
+    _item->setData(QString("AirPressure"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(air->ReferenceAltitude()),
+      QVariant(air->PressureNoise().Mean()),
+      QVariant(air->PressureNoise().BiasMean()),
+      QVariant(air->PressureNoise().StdDev()),
+      QVariant(air->PressureNoise().BiasStdDev()),
+      QVariant(air->PressureNoise().DynamicBiasStdDev()),
+      QVariant(air->PressureNoise().DynamicBiasCorrelationTime()),
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::AirPressureSensor::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void AirPressure::OnAirPressureNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();
+      if (airpressure)
+      {
+        sdf::Noise noise = airpressure->PressureNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        airpressure->SetPressureNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the air pressure data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the air pressure component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void AirPressure::OnAirPressureReferenceAltitude(
+    double _referenceAltitude)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::AirPressureSensor>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::AirPressure *airpressure = comp->Data().AirPressureSensor();
+      if (airpressure)
+      {
+        airpressure->SetReferenceAltitude(_referenceAltitude);
+      }
+      else
+        ignerr << "Unable to get the air pressure data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the air pressure component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/AirPressure.hh b/src/gui/plugins/component_inspector_editor/AirPressure.hh
new file mode 100644
index 0000000000..f7e5e2a5ef
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/AirPressure.hh
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_AIRPRESSURE_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_AIRPRESSURE_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles air pressure changes.
+  class AirPressure : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit AirPressure(ComponentInspectorEditor *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// air pressure sensor.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAirPressureNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes the air pressure
+    /// reference altitude.
+    /// \param[in] _referenceAltitude New reference altitude value.
+    public: Q_INVOKABLE void OnAirPressureReferenceAltitude(
+                double _referenceAltitude);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/AirPressure.qml b/src/gui/plugins/component_inspector_editor/AirPressure.qml
new file mode 100644
index 0000000000..c4a7c6853d
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/AirPressure.qml
@@ -0,0 +1,134 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying air pressure noise information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "Air pressure"
+      expandingHeaderToolTip: "Air pressure properties"
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        RowLayout {
+          id: rowLayout
+          width: layout.width
+
+          Text {
+            leftPadding: 10
+            id: referenceAltitudeText
+            text: "Reference altitude (m)"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+          StateAwareSpin {
+            id: referenceAltitudeSpin
+            Layout.fillWidth: true
+            height: 40
+            numberValue: model.data[0]
+            minValue: 0
+            maxValue: Number.MAX_VALUE
+            stepValue: 0.1
+            // Connect to the onNoiseUpdate signal in Noise.qml
+            Component.onCompleted: {
+              referenceAltitudeSpin.onChange.connect(
+                  AirPressureImpl.OnAirPressureReferenceAltitude)
+            }
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: noiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Pressure Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the pressure noise values.
+        Noise {
+          id: pressureNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[1]
+          meanBias: model.data[2]
+          stdDevValue: model.data[3]
+          stdDevBias: model.data[4]
+          dynamicBiasStdDev: model.data[5]
+          dynamicBiasCorrelationTime: model.data[6]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            pressureNoise.onNoiseUpdate.connect(
+                AirPressureImpl.OnAirPressureNoise)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Altimeter.cc b/src/gui/plugins/component_inspector_editor/Altimeter.cc
new file mode 100644
index 0000000000..480a6c5eaa
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Altimeter.cc
@@ -0,0 +1,131 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/Altimeter.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/Altimeter.hh>
+
+#include "Altimeter.hh"
+#include "ComponentInspectorEditor.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Altimeter::Altimeter(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("AltimeterImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::Altimeter *alt = comp->Data().AltimeterSensor();
+
+    _item->setData(QString("Altimeter"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(alt->VerticalPositionNoise().Mean()),
+      QVariant(alt->VerticalPositionNoise().BiasMean()),
+      QVariant(alt->VerticalPositionNoise().StdDev()),
+      QVariant(alt->VerticalPositionNoise().BiasStdDev()),
+      QVariant(alt->VerticalPositionNoise().DynamicBiasStdDev()),
+      QVariant(alt->VerticalPositionNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(alt->VerticalVelocityNoise().Mean()),
+      QVariant(alt->VerticalVelocityNoise().BiasMean()),
+      QVariant(alt->VerticalVelocityNoise().StdDev()),
+      QVariant(alt->VerticalVelocityNoise().BiasStdDev()),
+      QVariant(alt->VerticalVelocityNoise().DynamicBiasStdDev()),
+      QVariant(alt->VerticalVelocityNoise().DynamicBiasCorrelationTime()),
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::Altimeter::typeId, creator);
+}
+/////////////////////////////////////////////////
+Q_INVOKABLE void Altimeter::OnAltimeterPositionNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();
+      if (altimeter)
+      {
+        sdf::Noise noise = altimeter->VerticalPositionNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        altimeter->SetVerticalPositionNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the altimeter data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the altimeter component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Altimeter::OnAltimeterVelocityNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Altimeter>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Altimeter *altimeter = comp->Data().AltimeterSensor();
+      if (altimeter)
+      {
+        sdf::Noise noise = altimeter->VerticalVelocityNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        altimeter->SetVerticalVelocityNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the altimeter data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the altimeter component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/Altimeter.hh b/src/gui/plugins/component_inspector_editor/Altimeter.hh
new file mode 100644
index 0000000000..a55a7f6090
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Altimeter.hh
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_ALTIMETER_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_ALTIMETER_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles altimeter changes.
+  class Altimeter : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit Altimeter(ComponentInspectorEditor *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// altimeter sensor's position noise.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+      public: Q_INVOKABLE void OnAltimeterPositionNoise(
+                  double _mean, double _meanBias, double _stdDev,
+                  double _stdDevBias, double _dynamicBiasStdDev,
+                  double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// altimeter sensor's velocity noise.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAltimeterVelocityNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Altimeter.qml b/src/gui/plugins/component_inspector_editor/Altimeter.qml
new file mode 100644
index 0000000000..f895aa56d2
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Altimeter.qml
@@ -0,0 +1,144 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying altimeter noise information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "Altimeter"
+      expandingHeaderToolTip: "Altimeter sensor properties" 
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        // Space out the section header.
+        Rectangle {
+          id: verticalPositionNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            id: verticalPositionNoiseText
+            text: "Vertical Position Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the position noise values.
+        Noise {
+          id: verticalPositionNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[0]
+          meanBias: model.data[1]
+          stdDevValue: model.data[2]
+          stdDevBias: model.data[3]
+          dynamicBiasStdDev: model.data[4]
+          dynamicBiasCorrelationTime: model.data[5]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            verticalPositionNoise.onNoiseUpdate.connect(
+                AltimeterImpl.OnAltimeterPositionNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: verticalVelocityNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Vertical Velocity Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the velocity noise values.
+        Noise {
+          id: verticalVelocityNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[6]
+          meanBias: model.data[7]
+          stdDevValue: model.data[8]
+          stdDevBias: model.data[9]
+          dynamicBiasStdDev: model.data[10]
+          dynamicBiasCorrelationTime: model.data[11]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            verticalVelocityNoise.onNoiseUpdate.connect(
+                AltimeterImpl.OnAltimeterVelocityNoise)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Boolean.qml b/src/gui/plugins/component_inspector_editor/Boolean.qml
new file mode 100644
index 0000000000..0400ae3a98
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Boolean.qml
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+
+Rectangle {
+  id: booleanComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    Rectangle {
+      id: content
+      Layout.fillWidth: true
+      height: typeHeader.height
+      color: "transparent"
+
+      Switch {
+        id: booleanSwitch
+        anchors.right: content.right
+        height: typeHeader.height * 0.8
+        y: typeHeader.height * 0.1
+        checked: model.data
+        enabled: false
+
+        Binding {
+          target: booleanSwitch.indicator
+          property: 'height'
+          value: booleanSwitch.height
+        }
+
+        // groove
+        Binding {
+          target: (booleanSwitch.indicator ? booleanSwitch.indicator.children[0] : null)
+          property: 'height'
+          value: booleanSwitch.height * 0.8
+        }
+
+        // handle
+        Binding {
+          target: (booleanSwitch.indicator ? booleanSwitch.indicator.children[1] : null)
+          property: 'height'
+          value: booleanSwitch.height
+        }
+      }
+
+      ToolTip {
+        visible: ma.containsMouse
+        delay: tooltipDelay
+        text: content.checked ? "True" : "False"
+        enter: null
+        exit: null
+      }
+      MouseArea {
+        id: ma
+        anchors.fill: content
+        hoverEnabled: true
+        acceptedButtons: Qt.RightButton
+      }
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/CMakeLists.txt b/src/gui/plugins/component_inspector_editor/CMakeLists.txt
new file mode 100644
index 0000000000..e303fe3eb9
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/CMakeLists.txt
@@ -0,0 +1,23 @@
+gz_add_gui_plugin(ComponentInspectorEditor
+  SOURCES
+    AirPressure.cc
+    Altimeter.cc
+    ComponentInspectorEditor.cc
+    Imu.cc
+    JointType.cc
+    Lidar.cc
+    Magnetometer.cc
+    ModelEditor.cc
+    Pose3d.cc
+    Types.cc
+  QT_HEADERS
+    AirPressure.hh
+    Altimeter.hh
+    ComponentInspectorEditor.hh
+    Imu.hh
+    JointType.hh
+    Lidar.hh
+    Magnetometer.hh
+    ModelEditor.hh
+    Pose3d.hh
+)
diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc
new file mode 100644
index 0000000000..8c14082c2a
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc
@@ -0,0 +1,1402 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+
+#include <iostream>
+#include <list>
+#include <map>
+#include <regex>
+#include <vector>
+
+#include <QColorDialog>
+#include <ignition/common/Console.hh>
+#include <ignition/common/MeshManager.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/Actor.hh"
+#include "ignition/gazebo/components/AngularAcceleration.hh"
+#include "ignition/gazebo/components/AngularVelocity.hh"
+#include "ignition/gazebo/components/BatterySoC.hh"
+#include "ignition/gazebo/components/CastShadows.hh"
+#include "ignition/gazebo/components/CenterOfVolume.hh"
+#include "ignition/gazebo/components/ChildLinkName.hh"
+#include "ignition/gazebo/components/Collision.hh"
+#include "ignition/gazebo/components/Factory.hh"
+#include "ignition/gazebo/components/Gravity.hh"
+#include "ignition/gazebo/components/Joint.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
+#include "ignition/gazebo/components/Level.hh"
+#include "ignition/gazebo/components/Light.hh"
+#include "ignition/gazebo/components/LightCmd.hh"
+#include "ignition/gazebo/components/LightType.hh"
+#include "ignition/gazebo/components/LinearAcceleration.hh"
+#include "ignition/gazebo/components/LinearVelocity.hh"
+#include "ignition/gazebo/components/LinearVelocitySeed.hh"
+#include "ignition/gazebo/components/Link.hh"
+#include "ignition/gazebo/components/MagneticField.hh"
+#include "ignition/gazebo/components/Material.hh"
+#include "ignition/gazebo/components/Model.hh"
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/ParentLinkName.hh"
+#include "ignition/gazebo/components/Performer.hh"
+#include "ignition/gazebo/components/PerformerAffinity.hh"
+#include "ignition/gazebo/components/Physics.hh"
+#include "ignition/gazebo/components/PhysicsEnginePlugin.hh"
+#include "ignition/gazebo/components/Pose.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include "ignition/gazebo/components/RenderEngineGuiPlugin.hh"
+#include "ignition/gazebo/components/RenderEngineServerPlugin.hh"
+#include "ignition/gazebo/components/SelfCollide.hh"
+#include "ignition/gazebo/components/Sensor.hh"
+#include "ignition/gazebo/components/SourceFilePath.hh"
+#include "ignition/gazebo/components/SphericalCoordinates.hh"
+#include "ignition/gazebo/components/Static.hh"
+#include "ignition/gazebo/components/ThreadPitch.hh"
+#include "ignition/gazebo/components/Transparency.hh"
+#include "ignition/gazebo/components/Visual.hh"
+#include "ignition/gazebo/components/Volume.hh"
+#include "ignition/gazebo/components/WindMode.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
+#include "ignition/gazebo/Util.hh"
+
+#include "AirPressure.hh"
+#include "Altimeter.hh"
+#include "ComponentInspectorEditor.hh"
+#include "Imu.hh"
+#include "JointType.hh"
+#include "Lidar.hh"
+#include "Magnetometer.hh"
+#include "ModelEditor.hh"
+#include "Pose3d.hh"
+
+namespace ignition::gazebo
+{
+  class ComponentInspectorEditorPrivate
+  {
+    /// \brief Model holding all the current components.
+    public: ComponentsModel componentsModel;
+
+    /// \brief Entity being inspected. Default to world.
+    public: Entity entity{1};
+
+    /// \brief World entity
+    public: Entity worldEntity{kNullEntity};
+
+    /// \brief Name of the world
+    public: std::string worldName;
+
+    /// \brief Entity name
+    public: std::string entityName;
+
+    /// \brief Entity type, such as 'world' or 'model'.
+    public: QString type;
+
+    /// \brief Nested model or not
+    public: bool nestedModel = false;
+
+    /// \brief If a model, keep track of available links
+    public: QStringList modelLinks = {};
+
+    /// \brief Whether currently locked on a given entity
+    public: bool locked{false};
+
+    /// \brief Whether updates are currently paused.
+    public: bool paused{false};
+
+    /// \brief Whether simulation is currently paused.
+    public: bool simPaused{true};
+
+    /// \brief Transport node for making command requests
+    public: transport::Node node;
+
+    /// \brief Transport node for making command requests
+    public: ModelEditor modelEditor;
+
+    /// \brief Air pressure sensor inspector elements
+    public: std::unique_ptr<ignition::gazebo::AirPressure> airPressure;
+
+    /// \brief Altimeter sensor inspector elements
+    public: std::unique_ptr<ignition::gazebo::Altimeter> altimeter;
+
+    /// \brief Imu inspector elements
+    public: std::unique_ptr<ignition::gazebo::Imu> imu;
+
+    /// \brief Joint inspector elements
+    public: std::unique_ptr<ignition::gazebo::JointType> joint;
+
+    /// \brief Lidar inspector elements
+    public: std::unique_ptr<ignition::gazebo::Lidar> lidar;
+
+    /// \brief Magnetometer inspector elements
+    public: std::unique_ptr<ignition::gazebo::Magnetometer> magnetometer;
+
+    /// \brief Pose inspector elements
+    public: std::unique_ptr<ignition::gazebo::Pose3d> pose3d;
+
+    /// \brief Set of callbacks to execute during the Update function.
+    public: std::vector<
+            std::function<void(EntityComponentManager &)>> updateCallbacks;
+
+    /// \brief A map of component type to creation functions.
+    public: std::map<ComponentTypeId, ComponentCreator> componentCreators;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  int lightType = -1;
+  if (_data.type() == msgs::Light::POINT)
+  {
+    lightType = 0;
+  }
+  else if (_data.type() == msgs::Light::SPOT)
+  {
+    lightType = 1;
+  }
+  else if (_data.type() == msgs::Light::DIRECTIONAL)
+  {
+    lightType = 2;
+  }
+
+  _item->setData(QString("Light"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(_data.specular().r()),
+    QVariant(_data.specular().g()),
+    QVariant(_data.specular().b()),
+    QVariant(_data.specular().a()),
+    QVariant(_data.diffuse().r()),
+    QVariant(_data.diffuse().g()),
+    QVariant(_data.diffuse().b()),
+    QVariant(_data.diffuse().a()),
+    QVariant(_data.range()),
+    QVariant(_data.attenuation_linear()),
+    QVariant(_data.attenuation_constant()),
+    QVariant(_data.attenuation_quadratic()),
+    QVariant(_data.cast_shadows()),
+    QVariant(_data.direction().x()),
+    QVariant(_data.direction().y()),
+    QVariant(_data.direction().z()),
+    QVariant(_data.spot_inner_angle()),
+    QVariant(_data.spot_outer_angle()),
+    QVariant(_data.spot_falloff()),
+    QVariant(_data.intensity()),
+    QVariant(lightType)
+  }), ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item,
+    const math::Vector3d &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Vector3d"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(_data.X()),
+    QVariant(_data.Y()),
+    QVariant(_data.Z())
+  }), ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const std::string &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("String"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QString::fromStdString(_data),
+      ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item,
+    const std::ostringstream &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Raw"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QString::fromStdString(_data.str()),
+      ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const bool &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Boolean"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(_data, ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const int &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Integer"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(_data, ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const Entity &_data)
+{
+  setData(_item, static_cast<int>(_data));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const double &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Float"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(_data, ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item, const sdf::Physics &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Physics"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(_data.MaxStepSize()),
+    QVariant(_data.RealTimeFactor())
+  }), ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item,
+    const sdf::Material &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Material"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(_data.Ambient().R() * 255),
+    QVariant(_data.Ambient().G() * 255),
+    QVariant(_data.Ambient().B() * 255),
+    QVariant(_data.Ambient().A() * 255),
+    QVariant(_data.Diffuse().R() * 255),
+    QVariant(_data.Diffuse().G() * 255),
+    QVariant(_data.Diffuse().B() * 255),
+    QVariant(_data.Diffuse().A() * 255),
+    QVariant(_data.Specular().R() * 255),
+    QVariant(_data.Specular().G() * 255),
+    QVariant(_data.Specular().B() * 255),
+    QVariant(_data.Specular().A() * 255),
+    QVariant(_data.Emissive().R() * 255),
+    QVariant(_data.Emissive().G() * 255),
+    QVariant(_data.Emissive().B() * 255),
+    QVariant(_data.Emissive().A() * 255)
+  }), ComponentsModel::RoleNames().key("data"));
+
+  // TODO(anyone) Only shows colors of material,
+  // need to add others (e.g., pbr)
+}
+
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item,
+    const math::SphericalCoordinates &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("SphericalCoordinates"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(QString::fromStdString(math::SphericalCoordinates::Convert(
+        _data.Surface()))),
+    QVariant(_data.LatitudeReference().Degree()),
+    QVariant(_data.LongitudeReference().Degree()),
+    QVariant(_data.ElevationReference()),
+    QVariant(_data.HeadingOffset().Degree()),
+  }), ComponentsModel::RoleNames().key("data"));
+}
+
+//////////////////////////////////////////////////
+void ignition::gazebo::setUnit(QStandardItem *_item, const std::string &_unit)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString::fromStdString(_unit),
+      ComponentsModel::RoleNames().key("unit"));
+}
+
+/////////////////////////////////////////////////
+std::string shortName(const std::string &_typeName)
+{
+  // Remove namespaces
+  auto name = _typeName.substr(_typeName.rfind('.')+1);
+
+  // Split CamelCase
+  std::regex reg("(\\B[A-Z])");
+  name = std::regex_replace(name, reg, " $1");
+
+  return name;
+}
+
+/////////////////////////////////////////////////
+ComponentsModel::ComponentsModel() : QStandardItemModel()
+{
+}
+
+/////////////////////////////////////////////////
+QStandardItem *ComponentsModel::AddComponentType(
+    ignition::gazebo::ComponentTypeId _typeId)
+{
+  IGN_PROFILE_THREAD_NAME("Qt thread");
+  IGN_PROFILE("ComponentsModel::AddComponentType");
+
+  auto typeName = QString::fromStdString(
+      components::Factory::Instance()->Name(_typeId));
+
+  auto itemIt = this->items.find(_typeId);
+
+  // Existing component item
+  if (itemIt != this->items.end())
+  {
+    return itemIt->second;
+  }
+
+  // New component item
+  auto item = new QStandardItem(typeName);
+  item->setData(QString::fromStdString(shortName(
+      typeName.toStdString())), this->roleNames().key("shortName"));
+  item->setData(typeName, this->roleNames().key("typeName"));
+  item->setData(QString::number(_typeId),
+      this->roleNames().key("typeId"));
+
+  this->invisibleRootItem()->appendRow(item);
+  this->items[_typeId] = item;
+  return item;
+}
+
+/////////////////////////////////////////////////
+void ComponentsModel::RemoveComponentType(
+      ignition::gazebo::ComponentTypeId _typeId)
+{
+  IGN_PROFILE_THREAD_NAME("Qt thread");
+  IGN_PROFILE("ComponentsModel::RemoveComponentType");
+
+  auto itemIt = this->items.find(_typeId);
+
+  // Existing component item
+  if (itemIt != this->items.end())
+  {
+    this->invisibleRootItem()->removeRow(itemIt->second->row());
+    this->items.erase(_typeId);
+  }
+}
+
+/////////////////////////////////////////////////
+QHash<int, QByteArray> ComponentsModel::roleNames() const
+{
+  return ComponentsModel::RoleNames();
+}
+
+/////////////////////////////////////////////////
+QHash<int, QByteArray> ComponentsModel::RoleNames()
+{
+  return {std::pair(100, "typeName"),
+          std::pair(101, "typeId"),
+          std::pair(102, "shortName"),
+          std::pair(103, "dataType"),
+          std::pair(104, "unit"),
+          std::pair(105, "data"),
+          std::pair(106, "entity")};
+}
+
+/////////////////////////////////////////////////
+ComponentInspectorEditor::ComponentInspectorEditor()
+  : GuiSystem(), dataPtr(std::make_unique<ComponentInspectorEditorPrivate>())
+{
+  qRegisterMetaType<ignition::gazebo::ComponentTypeId>();
+  qRegisterMetaType<Entity>("Entity");
+}
+
+/////////////////////////////////////////////////
+ComponentInspectorEditor::~ComponentInspectorEditor() = default;
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Component inspector editor";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+
+  // Connect model
+  this->Context()->setContextProperty(
+      "ComponentsModel", &this->dataPtr->componentsModel);
+
+  this->dataPtr->modelEditor.Load();
+
+  // Create air pressure
+  this->dataPtr->airPressure = std::make_unique<AirPressure>(this);
+
+  // Create altimeter
+  this->dataPtr->altimeter = std::make_unique<Altimeter>(this);
+
+  // Create the imu
+  this->dataPtr->imu = std::make_unique<Imu>(this);
+
+  // Create the joint
+  this->dataPtr->joint = std::make_unique<JointType>(this);
+
+  // Create the lidar
+  this->dataPtr->lidar = std::make_unique<Lidar>(this);
+
+  // Create the magnetometer
+  this->dataPtr->magnetometer = std::make_unique<Magnetometer>(this);
+
+  // Create the pose3d
+  this->dataPtr->pose3d = std::make_unique<Pose3d>(this);
+}
+
+//////////////////////////////////////////////////
+void ComponentInspectorEditor::Update(const UpdateInfo &_info,
+    EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("ComponentInspectorEditor::Update");
+
+  this->SetSimPaused(_info.paused);
+
+  auto componentTypes = _ecm.ComponentTypes(this->dataPtr->entity);
+
+  // List all components
+  for (const auto &typeId : componentTypes)
+  {
+    // Type components
+    if (typeId == components::World::typeId)
+    {
+      this->dataPtr->worldEntity = this->dataPtr->entity;
+      this->SetType("world");
+      continue;
+    }
+
+    if (typeId == components::Model::typeId)
+    {
+      this->SetType("model");
+
+      // check if entity is nested model
+      auto parentComp = _ecm.Component<components::ParentEntity>(
+           this->dataPtr->entity);
+      if (parentComp)
+      {
+        auto modelComp = _ecm.Component<components::Model>(parentComp->Data());
+        this->dataPtr->nestedModel = (modelComp);
+      }
+      this->NestedModelChanged();
+
+      // Get available links for the model.
+      this->dataPtr->modelLinks.clear();
+      _ecm.EachNoCache<
+        components::Name,
+        components::Link,
+        components::ParentEntity>([&](const ignition::gazebo::Entity &,
+              const components::Name *_name,
+              const components::Link *,
+              const components::ParentEntity *_parent) -> bool
+            {
+              if (_parent->Data() == this->dataPtr->entity)
+              {
+                this->dataPtr->modelLinks.push_back(
+                    QString::fromStdString(_name->Data()));
+              }
+              return true;
+            });
+      this->ModelLinksChanged();
+      continue;
+    }
+
+    if (typeId == components::Link::typeId)
+    {
+      this->SetType("link");
+      continue;
+    }
+
+    if (typeId == components::Collision::typeId)
+    {
+      this->SetType("collision");
+      continue;
+    }
+
+    if (typeId == components::Visual::typeId)
+    {
+      this->SetType("visual");
+      continue;
+    }
+
+    if (typeId == components::Sensor::typeId)
+    {
+      this->SetType("sensor");
+      continue;
+    }
+
+    if (typeId == components::Joint::typeId)
+    {
+      this->SetType("joint");
+      continue;
+    }
+
+    if (typeId == components::Performer::typeId)
+    {
+      this->SetType("performer");
+      continue;
+    }
+
+    if (typeId == components::Level::typeId)
+    {
+      this->SetType("level");
+      continue;
+    }
+
+    if (typeId == components::Actor::typeId)
+    {
+      this->SetType("actor");
+      continue;
+    }
+
+    // Get component item
+    QStandardItem *item;
+    auto itemIt = this->dataPtr->componentsModel.items.find(typeId);
+    if (itemIt != this->dataPtr->componentsModel.items.end())
+    {
+      item = itemIt->second;
+    }
+    // Add component to list
+    else
+    {
+      item = this->dataPtr->componentsModel.AddComponentType(typeId);
+    }
+
+    item->setData(QString::number(this->dataPtr->entity),
+                  ComponentsModel::RoleNames().key("entity"));
+
+    if (nullptr == item)
+    {
+      ignerr << "Failed to get item for component type [" << typeId << "]"
+             << std::endl;
+      continue;
+    }
+
+    // Populate component-specific data
+    if (typeId == components::AngularAcceleration::typeId)
+    {
+      auto comp = _ecm.Component<components::AngularAcceleration>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s\u00B2");
+      }
+    }
+    else if (typeId == components::AngularVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::AngularVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s");
+      }
+    }
+    else if (typeId == components::AnimationName::typeId)
+    {
+      auto comp = _ecm.Component<components::AnimationName>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::BatterySoC::typeId)
+    {
+      auto comp = _ecm.Component<components::BatterySoC>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::CastShadows::typeId)
+    {
+      auto comp = _ecm.Component<components::CastShadows>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::CenterOfVolume::typeId)
+    {
+      auto comp = _ecm.Component<components::CenterOfVolume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
+    else if (typeId == components::ChildLinkName::typeId)
+    {
+      auto comp = _ecm.Component<components::ChildLinkName>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Gravity::typeId)
+    {
+      auto comp = _ecm.Component<components::Gravity>(this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m/s\u00B2");
+      }
+    }
+    else if (typeId == components::LaserRetro::typeId)
+    {
+      auto comp = _ecm.Component<components::LaserRetro>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::LinearAcceleration::typeId)
+    {
+      auto comp = _ecm.Component<components::LinearAcceleration>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m/s\u00B2");
+      }
+    }
+    else if (typeId == components::LinearVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::LinearVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m/s");
+      }
+    }
+    else if (typeId == components::MagneticField::typeId)
+    {
+      auto comp = _ecm.Component<components::MagneticField>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "T");
+      }
+    }
+    else if (typeId == components::Name::typeId)
+    {
+      auto comp = _ecm.Component<components::Name>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+
+      if (this->dataPtr->entity == this->dataPtr->worldEntity)
+        this->dataPtr->worldName = comp->Data();
+      this->dataPtr->entityName = comp->Data();
+    }
+    else if (typeId == components::LightType::typeId)
+    {
+      auto comp = _ecm.Component<components::LightType>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::ParentEntity::typeId)
+    {
+      auto comp = _ecm.Component<components::ParentEntity>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::ParentLinkName::typeId)
+    {
+      auto comp = _ecm.Component<components::ParentLinkName>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::PerformerAffinity::typeId)
+    {
+      auto comp = _ecm.Component<components::PerformerAffinity>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Light::typeId)
+    {
+      this->SetType("light");
+      auto comp = _ecm.Component<components::Light>(this->dataPtr->entity);
+      if (comp)
+      {
+        msgs::Light lightMsgs = convert<msgs::Light>(comp->Data());
+        setData(item, lightMsgs);
+      }
+    }
+    else if (typeId == components::Physics::typeId)
+    {
+      auto comp = _ecm.Component<components::Physics>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::PhysicsCollisionDetector::typeId)
+    {
+      auto comp = _ecm.Component<components::PhysicsCollisionDetector>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::PhysicsSolver::typeId)
+    {
+      auto comp = _ecm.Component<components::PhysicsSolver>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::RenderEngineGuiPlugin::typeId)
+    {
+      auto comp = _ecm.Component<components::RenderEngineGuiPlugin>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::RenderEngineServerPlugin::typeId)
+    {
+      auto comp = _ecm.Component<components::RenderEngineServerPlugin>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Static::typeId)
+    {
+      auto comp = _ecm.Component<components::Static>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::SelfCollide::typeId)
+    {
+      auto comp =
+          _ecm.Component<components::SelfCollide>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::SensorTopic::typeId)
+    {
+      auto comp =
+          _ecm.Component<components::SensorTopic>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::SourceFilePath::typeId)
+    {
+      auto comp =
+          _ecm.Component<components::SourceFilePath>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::SphericalCoordinates::typeId)
+    {
+      auto comp = _ecm.Component<components::SphericalCoordinates>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::ThreadPitch::typeId)
+    {
+      auto comp = _ecm.Component<components::ThreadPitch>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m");
+      }
+    }
+    else if (typeId == components::Transparency::typeId)
+    {
+      auto comp = _ecm.Component<components::Transparency>(
+          this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Volume::typeId)
+    {
+      auto comp = _ecm.Component<components::Volume>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m\u00B3");
+      }
+    }
+    else if (typeId == components::WindMode::typeId)
+    {
+      auto comp = _ecm.Component<components::WindMode>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::WorldAngularAcceleration::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldAngularAcceleration>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s\u00B2");
+      }
+    }
+    else if (typeId == components::WorldAngularVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldAngularVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "rad/s");
+      }
+    }
+    else if (typeId == components::WorldLinearVelocity::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldLinearVelocity>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m/s");
+      }
+    }
+    else if (typeId == components::WorldLinearVelocitySeed::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldLinearVelocitySeed>(
+          this->dataPtr->entity);
+      if (comp)
+      {
+        setData(item, comp->Data());
+        setUnit(item, "m/s");
+      }
+    }
+    else if (typeId == components::WorldPose::typeId)
+    {
+      auto comp = _ecm.Component<components::WorldPose>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
+    else if (typeId == components::Material::typeId)
+    {
+      auto comp = _ecm.Component<components::Material>(this->dataPtr->entity);
+      if (comp)
+      {
+        this->SetType("material");
+        setData(item, comp->Data());
+      }
+    }
+    else if (this->dataPtr->componentCreators.find(typeId) !=
+          this->dataPtr->componentCreators.end())
+    {
+      this->dataPtr->componentCreators[typeId](
+          _ecm, this->dataPtr->entity, item);
+    }
+  }
+
+  // Remove components no longer present - list items to remove
+  std::list<ignition::gazebo::ComponentTypeId> itemsToRemove;
+  for (auto itemIt : this->dataPtr->componentsModel.items)
+  {
+    auto typeId = itemIt.first;
+    if (componentTypes.find(typeId) == componentTypes.end())
+    {
+      itemsToRemove.push_back(typeId);
+    }
+  }
+
+  // Remove components in list
+  for (auto typeId : itemsToRemove)
+  {
+    QMetaObject::invokeMethod(&this->dataPtr->componentsModel,
+        "RemoveComponentType",
+        Qt::QueuedConnection,
+        Q_ARG(ignition::gazebo::ComponentTypeId, typeId));
+  }
+
+  this->dataPtr->modelEditor.Update(_info, _ecm);
+
+  // Process all of the update callbacks
+  for (auto cb : this->dataPtr->updateCallbacks)
+    cb(_ecm);
+  this->dataPtr->updateCallbacks.clear();
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::AddUpdateCallback(UpdateCallback _cb)
+{
+  this->dataPtr->updateCallbacks.push_back(_cb);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::RegisterComponentCreator(ComponentTypeId _id,
+    ComponentCreator _creatorFn)
+{
+  this->dataPtr->componentCreators[_id] = _creatorFn;
+}
+
+/////////////////////////////////////////////////
+bool ComponentInspectorEditor::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (!this->dataPtr->locked)
+  {
+    if (_event->type() == gazebo::gui::events::EntitiesSelected::kType)
+    {
+      auto event = reinterpret_cast<gui::events::EntitiesSelected *>(_event);
+      if (event && !event->Data().empty())
+      {
+        this->SetEntity(*event->Data().begin());
+      }
+    }
+
+    if (_event->type() == gazebo::gui::events::DeselectAllEntities::kType)
+    {
+      auto event = reinterpret_cast<gui::events::DeselectAllEntities *>(
+          _event);
+      if (event)
+      {
+        this->SetEntity(kNullEntity);
+      }
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+Entity ComponentInspectorEditor::GetEntity() const
+{
+  return this->dataPtr->entity;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetEntity(const gazebo::Entity &_entity)
+{
+  // If nothing is selected, display world properties
+  if (_entity == kNullEntity)
+  {
+    this->dataPtr->entity = this->dataPtr->worldEntity;
+  }
+  else
+  {
+    this->dataPtr->entity = _entity;
+  }
+  this->EntityChanged();
+}
+
+/////////////////////////////////////////////////
+QString ComponentInspectorEditor::Type() const
+{
+  return this->dataPtr->type;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetType(const QString &_type)
+{
+  this->dataPtr->type = _type;
+  this->TypeChanged();
+}
+
+/////////////////////////////////////////////////
+bool ComponentInspectorEditor::Locked() const
+{
+  return this->dataPtr->locked;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetLocked(bool _locked)
+{
+  this->dataPtr->locked = _locked;
+  this->LockedChanged();
+}
+
+/////////////////////////////////////////////////
+bool ComponentInspectorEditor::SimPaused() const
+{
+  return this->dataPtr->simPaused;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetSimPaused(bool _paused)
+{
+  if (_paused != this->dataPtr->simPaused)
+  {
+    this->dataPtr->simPaused = _paused;
+    this->SimPausedChanged();
+  }
+}
+
+/////////////////////////////////////////////////
+bool ComponentInspectorEditor::Paused() const
+{
+  return this->dataPtr->paused;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetPaused(bool _paused)
+{
+  this->dataPtr->paused = _paused;
+  this->PausedChanged();
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnLight(
+  double _rSpecular, double _gSpecular, double _bSpecular, double _aSpecular,
+  double _rDiffuse, double _gDiffuse, double _bDiffuse, double _aDiffuse,
+  double _attRange, double _attLinear, double _attConstant,
+  double _attQuadratic, bool _castShadows, double _directionX,
+  double _directionY, double _directionZ, double _innerAngle,
+  double _outerAngle, double _falloff, double _intensity, int _type)
+{
+  std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+      [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting light configuration" << std::endl;
+  };
+
+  ignition::msgs::Light req;
+  req.set_name(this->dataPtr->entityName);
+  req.set_id(this->dataPtr->entity);
+  ignition::msgs::Set(req.mutable_diffuse(),
+    ignition::math::Color(_rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse));
+  ignition::msgs::Set(req.mutable_specular(),
+    ignition::math::Color(_rSpecular, _gSpecular, _bSpecular, _aSpecular));
+  req.set_range(_attRange);
+  req.set_attenuation_linear(_attLinear);
+  req.set_attenuation_constant(_attConstant);
+  req.set_attenuation_quadratic(_attQuadratic);
+  req.set_cast_shadows(_castShadows);
+  req.set_intensity(_intensity);
+  if (_type == 0)
+    req.set_type(ignition::msgs::Light::POINT);
+  else if (_type == 1)
+    req.set_type(ignition::msgs::Light::SPOT);
+  else
+    req.set_type(ignition::msgs::Light::DIRECTIONAL);
+
+  if (_type == 1)  // sdf::LightType::SPOT
+  {
+    req.set_spot_inner_angle(_innerAngle);
+    req.set_spot_outer_angle(_outerAngle);
+    req.set_spot_falloff(_falloff);
+  }
+
+  // if sdf::LightType::SPOT || sdf::LightType::DIRECTIONAL
+  if (_type == 1 || _type == 2)
+  {
+    ignition::msgs::Set(req.mutable_direction(),
+      ignition::math::Vector3d(_directionX, _directionY, _directionZ));
+  }
+
+  auto lightConfigService = "/world/" + this->dataPtr->worldName +
+    "/light_config";
+  lightConfigService = transport::TopicUtils::AsValidTopic(lightConfigService);
+  if (lightConfigService.empty())
+  {
+    ignerr << "Invalid light command service topic provided" << std::endl;
+    return;
+  }
+  this->dataPtr->node.Request(lightConfigService, req, cb);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnPhysics(double _stepSize,
+    double _realTimeFactor)
+{
+  std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+      [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+        ignerr << "Error setting physics parameters" << std::endl;
+  };
+
+  ignition::msgs::Physics req;
+  req.set_max_step_size(_stepSize);
+  req.set_real_time_factor(_realTimeFactor);
+  auto physicsCmdService = "/world/" + this->dataPtr->worldName
+      + "/set_physics";
+  physicsCmdService = transport::TopicUtils::AsValidTopic(physicsCmdService);
+  if (physicsCmdService.empty())
+  {
+    ignerr << "Invalid physics command service topic provided" << std::endl;
+    return;
+  }
+  this->dataPtr->node.Request(physicsCmdService, req, cb);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnMaterialColor(
+  double _rAmbient, double _gAmbient, double _bAmbient, double _aAmbient,
+  double _rDiffuse, double _gDiffuse, double _bDiffuse, double _aDiffuse,
+  double _rSpecular, double _gSpecular, double _bSpecular, double _aSpecular,
+  double _rEmissive, double _gEmissive, double _bEmissive, double _aEmissive,
+  QString _type, QColor _currColor)
+{
+  // when type is not empty, open qt color dialog
+  std::string type = _type.toStdString();
+  if (!type.empty())
+  {
+    QColor newColor = QColorDialog::getColor(
+        _currColor, nullptr, "Pick a color",
+        {QColorDialog::DontUseNativeDialog, QColorDialog::ShowAlphaChannel});
+
+    // returns if the user hits cancel
+    if (!newColor.isValid())
+      return;
+
+    if (type == "ambient")
+    {
+      _rAmbient = newColor.red();
+      _gAmbient = newColor.green();
+      _bAmbient = newColor.blue();
+      _aAmbient = newColor.alpha();
+    }
+    else if (type == "diffuse")
+    {
+      _rDiffuse = newColor.red();
+      _gDiffuse = newColor.green();
+      _bDiffuse = newColor.blue();
+      _aDiffuse = newColor.alpha();
+    }
+    else if (type == "specular")
+    {
+      _rSpecular = newColor.red();
+      _gSpecular = newColor.green();
+      _bSpecular = newColor.blue();
+      _aSpecular = newColor.alpha();
+    }
+    else if (type == "emissive")
+    {
+      _rEmissive = newColor.red();
+      _gEmissive = newColor.green();
+      _bEmissive = newColor.blue();
+      _aEmissive = newColor.alpha();
+    }
+    else
+    {
+      ignerr << "Invalid material type: " << type << std::endl;
+      return;
+    }
+  }
+
+  std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+      [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting material color configuration"
+             << " on visual" << std::endl;
+  };
+
+  msgs::Visual req;
+  req.set_id(this->dataPtr->entity);
+
+  msgs::Set(req.mutable_material()->mutable_ambient(),
+    math::Color(_rAmbient / 255.0, _gAmbient / 255.0,
+      _bAmbient / 255.0, _aAmbient / 255.0));
+  msgs::Set(req.mutable_material()->mutable_diffuse(),
+    math::Color(_rDiffuse / 255.0, _gDiffuse / 255.0,
+      _bDiffuse / 255.0, _aDiffuse / 255.0));
+  msgs::Set(req.mutable_material()->mutable_specular(),
+    math::Color(_rSpecular / 255.0, _gSpecular / 255.0,
+      _bSpecular / 255.0, _aSpecular / 255.0));
+  msgs::Set(req.mutable_material()->mutable_emissive(),
+    math::Color(_rEmissive / 255.0, _gEmissive / 255.0,
+      _bEmissive / 255.0, _aEmissive / 255.0));
+
+  auto materialCmdService = "/world/" + this->dataPtr->worldName
+      + "/visual_config";
+  materialCmdService = transport::TopicUtils::AsValidTopic(materialCmdService);
+  if (materialCmdService.empty())
+  {
+    ignerr << "Invalid material command service topic provided" << std::endl;
+    return;
+  }
+  this->dataPtr->node.Request(materialCmdService, req, cb);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnSphericalCoordinates(QString _surface,
+    double _latitude, double _longitude, double _elevation,
+    double _heading)
+{
+  if (_surface != QString("EARTH_WGS84"))
+  {
+    ignerr << "Surface [" << _surface.toStdString() << "] not supported."
+           << std::endl;
+    return;
+  }
+
+  std::function<void(const msgs::Boolean &, const bool)> cb =
+      [](const msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting spherical coordinates." << std::endl;
+  };
+
+  msgs::SphericalCoordinates req;
+  req.set_surface_model(msgs::SphericalCoordinates::EARTH_WGS84);
+  req.set_latitude_deg(_latitude);
+  req.set_longitude_deg(_longitude);
+  req.set_elevation(_elevation);
+  req.set_heading_deg(_heading);
+
+  auto sphericalCoordsCmdService = "/world/" + this->dataPtr->worldName
+      + "/set_spherical_coordinates";
+  sphericalCoordsCmdService =
+      transport::TopicUtils::AsValidTopic(sphericalCoordsCmdService);
+  if (sphericalCoordsCmdService.empty())
+  {
+    ignerr << "Invalid spherical coordinates service" << std::endl;
+    return;
+  }
+  this->dataPtr->node.Request(sphericalCoordsCmdService, req, cb);
+}
+
+/////////////////////////////////////////////////
+bool ComponentInspectorEditor::NestedModel() const
+{
+  return this->dataPtr->nestedModel;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::SetModelLinks(const QStringList &_modelLinks)
+{
+  this->dataPtr->modelLinks = _modelLinks;
+  this->ModelLinksChanged();
+}
+
+/////////////////////////////////////////////////
+QStringList ComponentInspectorEditor::ModelParentLinks() const
+{
+  QStringList result = this->dataPtr->modelLinks;
+  result.append("world");
+  return result;
+}
+
+/////////////////////////////////////////////////
+QStringList ComponentInspectorEditor::ModelChildLinks() const
+{
+  return this->dataPtr->modelLinks;
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnAddEntity(const QString &_entity,
+    const QString &_type)
+{
+  // currently just assumes parent is the model
+  // todo(anyone) support adding visuals / collisions / sensors to links
+  ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+      _entity, _type, this->dataPtr->entity);
+
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      &addEntityEvent);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnAddJoint(const QString &_jointType,
+                                    const QString &_parentLink,
+                                    const QString &_childLink)
+{
+  ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+      _jointType, "joint", this->dataPtr->entity);
+
+  addEntityEvent.Data().insert("parent_link", _parentLink);
+  addEntityEvent.Data().insert("child_link", _childLink);
+
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      &addEntityEvent);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspectorEditor::OnLoadMesh(const QString &_entity,
+    const QString &_type, const QString &_mesh)
+{
+  std::string meshStr = _mesh.toStdString();
+  if (QUrl(_mesh).isLocalFile())
+  {
+    // mesh to sdf model
+    common::rtrim(meshStr);
+
+    if (!common::MeshManager::Instance()->IsValidFilename(meshStr))
+    {
+      QString errTxt = QString::fromStdString("Invalid URI: " + meshStr +
+        "\nOnly mesh file types DAE, OBJ, and STL are supported.");
+      return;
+    }
+
+    ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+        _entity, _type, this->dataPtr->entity);
+
+    addEntityEvent.Data().insert("uri", QString(meshStr.c_str()));
+
+    ignition::gui::App()->sendEvent(
+        ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+        &addEntityEvent);
+  }
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspectorEditor,
+                    ignition::gui::Plugin)
diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh
new file mode 100644
index 0000000000..f4e2ac3b8d
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh
@@ -0,0 +1,447 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOREDITOR_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOREDITOR_HH_
+
+#include <map>
+#include <memory>
+#include <string>
+
+#include <sdf/Material.hh>
+#include <sdf/Physics.hh>
+#include <sdf/Joint.hh>
+
+#include <ignition/math/Vector3.hh>
+
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/gui/GuiSystem.hh>
+#include <ignition/gazebo/Types.hh>
+
+#include <ignition/msgs/light.pb.h>
+
+#include "Types.hh"
+Q_DECLARE_METATYPE(ignition::gazebo::ComponentTypeId)
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditorPrivate;
+
+  /// \brief Generic function to set data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template <class DataType>
+  void setData(QStandardItem *_item, const DataType &_data)
+  {
+    // cppcheck-suppress syntaxError
+    // cppcheck-suppress unmatchedSuppression
+    if constexpr (traits::IsOutStreamable<std::ostream, DataType>::value)
+    {
+      std::stringstream ss;
+      ss << _data;
+      setData(_item, ss.str());
+    }
+    else
+    {
+      ignwarn << "Attempting to set unsupported data type to item ["
+              << _item->text().toStdString() << "]" << std::endl;
+    }
+  }
+  /// \brief Specialized to set string data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const std::string &_data);
+
+  /// \brief Specialized to set light data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const msgs::Light &_data);
+
+  /// \brief Specialized to set vector data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const math::Vector3d &_data);
+
+  /// \brief Specialized to set Physics data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const sdf::Physics &_data);
+
+  /// \brief Specialized to set Spherical Coordinates data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const math::SphericalCoordinates &_data);
+
+  /// \brief Specialized to set boolean data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const bool &_data);
+
+  /// \brief Specialized to set integer data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const int &_data);
+
+  /// \brief Specialized to set double data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const double &_data);
+
+  /// \brief Specialized to set stream data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const std::ostream &_data);
+
+  /// \brief Specialized to set material data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const sdf::Material &_data);
+
+
+  /// \brief Set the unit of a given item.
+  /// \param[in] _item Item whose unit will be set.
+  /// \param[in] _unit Unit to be displayed, such as 'm' for meters.
+  void setUnit(QStandardItem *_item, const std::string &_unit);
+
+  /// \brief Model holding information about components, such as their type
+  /// and data.
+  class ComponentsModel : public QStandardItemModel
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: explicit ComponentsModel();
+
+    /// \brief Destructor
+    public: ~ComponentsModel() override = default;
+
+    // Documentation inherited
+    public: QHash<int, QByteArray> roleNames() const override;
+
+    /// \brief Static version of roleNames
+    /// \return A hash connecting a unique identifier to a role name.
+    public: static QHash<int, QByteArray> RoleNames();
+
+    /// \brief Add a component type to the inspector.
+    /// \param[in] _typeId Type of component to be added.
+    /// \return Newly created item.
+    public slots: QStandardItem *AddComponentType(
+        ignition::gazebo::ComponentTypeId _typeId);
+
+    /// \brief Remove a component type from the inspector.
+    /// \param[in] _typeId Type of component to be removed.
+    public slots: void RemoveComponentType(
+        ignition::gazebo::ComponentTypeId _typeId);
+
+    /// \brief Keep track of items in the tree, according to type ID.
+    public: std::map<ComponentTypeId, QStandardItem *> items;
+  };
+
+  /// \brief Displays a tree view with all the entities in the world.
+  ///
+  /// ## Configuration
+  /// None
+  class ComponentInspectorEditor : public gazebo::GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Entity
+    Q_PROPERTY(
+      Entity entity
+      READ GetEntity
+      WRITE SetEntity
+      NOTIFY EntityChanged
+    )
+
+    /// \brief Type
+    Q_PROPERTY(
+      QString type
+      READ Type
+      WRITE SetType
+      NOTIFY TypeChanged
+    )
+
+    /// \brief Type
+    Q_PROPERTY(
+      QStringList modelParentLinks
+      READ ModelParentLinks
+      NOTIFY ModelLinksChanged
+    )
+
+    /// \brief Type
+    Q_PROPERTY(
+      QStringList modelChildLinks
+      READ ModelChildLinks
+      NOTIFY ModelLinksChanged
+    )
+
+    /// \brief Locked
+    Q_PROPERTY(
+      bool locked
+      READ Locked
+      WRITE SetLocked
+      NOTIFY LockedChanged
+    )
+
+    /// \brief Paused
+    Q_PROPERTY(
+      bool paused
+      READ Paused
+      WRITE SetPaused
+      NOTIFY PausedChanged
+    )
+
+    /// \brief Simulation paused
+    Q_PROPERTY(
+      bool simPaused
+      READ SimPaused
+      NOTIFY SimPausedChanged
+    )
+
+    /// \brief Nested Model
+    Q_PROPERTY(
+      bool nestedModel
+      READ NestedModel
+      NOTIFY NestedModelChanged
+    )
+
+    /// \brief Constructor
+    public: ComponentInspectorEditor();
+
+    /// \brief Destructor
+    public: ~ComponentInspectorEditor() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &, EntityComponentManager &) override;
+
+    /// \brief Callback in Qt thread when specular changes.
+    /// \param[in] _rSpecular specular red
+    /// \param[in] _gSpecular specular green
+    /// \param[in] _bSpecular specular blue
+    /// \param[in] _aSpecular specular alpha
+    /// \param[in] _rDiffuse Diffuse red
+    /// \param[in] _gDiffuse Diffuse green
+    /// \param[in] _bDiffuse Diffuse blue
+    /// \param[in] _aDiffuse Diffuse alpha
+    /// \param[in] _attRange Range attenuation
+    /// \param[in] _attLinear Linear attenuation
+    /// \param[in] _attConstant Constant attenuation
+    /// \param[in] _attQuadratic Quadratic attenuation
+    /// \param[in] _castShadows Specify if this light should cast shadows
+    /// \param[in] _directionX X direction of the light
+    /// \param[in] _directionY Y direction of the light
+    /// \param[in] _directionZ Z direction of the light
+    /// \param[in] _innerAngle Inner angle of the spotlight
+    /// \param[in] _outerAngle Outer angle of the spotlight
+    /// \param[in] _falloff Falloff of the spotlight
+    /// \param[in] _intensity Intensity of the light
+    /// \param[in] _type light type
+    public: Q_INVOKABLE void OnLight(
+      double _rSpecular, double _gSpecular, double _bSpecular,
+      double _aSpecular, double _rDiffuse, double _gDiffuse,
+      double _bDiffuse, double _aDiffuse, double _attRange,
+      double _attLinear, double _attConstant, double _attQuadratic,
+      bool _castShadows, double _directionX, double _directionY,
+      double _directionZ, double _innerAngle, double _outerAngle,
+      double _falloff, double _intensity, int _type);
+
+    /// \brief Callback in Qt thread when physics' properties change.
+    /// \param[in] _stepSize step size
+    /// \param[in] _realTimeFactor real time factor
+    public: Q_INVOKABLE void OnPhysics(double _stepSize,
+        double _realTimeFactor);
+
+    // \brief Callback in Qt thread when material color changes for a visual
+    /// \param[in] _rAmbient ambient red
+    /// \param[in] _gAmbient ambient green
+    /// \param[in] _bAmbient ambient blue
+    /// \param[in] _aAmbient ambient alpha
+    /// \param[in] _rDiffuse diffuse red
+    /// \param[in] _gDiffuse diffuse green
+    /// \param[in] _bDiffuse diffuse blue
+    /// \param[in] _aDiffuse diffuse alpha
+    /// \param[in] _rSpecular specular red
+    /// \param[in] _gSpecular specular green
+    /// \param[in] _bSpecular specular blue
+    /// \param[in] _aSpecular specular alpha
+    /// \param[in] _rEmissive emissive red
+    /// \param[in] _gEmissive emissive green
+    /// \param[in] _bEmissive emissive blue
+    /// \param[in] _aEmissive emissive alpha
+    /// \param[in] _type if type is not empty, opens QColorDialog.
+    /// The possible types are ambient, diffuse, specular, or emissive.
+    /// \param[in] _currColor used for QColorDialog to show the current color
+    /// in the open dialog.
+    public: Q_INVOKABLE void OnMaterialColor(
+      double _rAmbient, double _gAmbient, double _bAmbient,
+      double _aAmbient, double _rDiffuse, double _gDiffuse,
+      double _bDiffuse, double _aDiffuse, double _rSpecular,
+      double _gSpecular, double _bSpecular, double _aSpecular,
+      double _rEmissive, double _gEmissive, double _bEmissive,
+      double _aEmissive, QString _type, QColor _currColor);
+
+    /// \brief Callback in Qt thread when spherical coordinates change.
+    /// \param[in] _surface Surface model
+    /// \param[in] _latitude Latitude in degrees
+    /// \param[in] _longitude Longitude in degrees
+    /// \param[in] _elevation Elevation in meters
+    /// \param[in] _heading Heading in degrees
+    public: Q_INVOKABLE void OnSphericalCoordinates(QString _surface,
+        double _latitude, double _longitude, double _elevation,
+        double _heading);
+
+    /// \brief Get whether the entity is a nested model or not
+    /// \return True if the entity is a nested model, false otherwise
+    public: Q_INVOKABLE bool NestedModel() const;
+
+    /// \brief Notify that is nested model property has changed
+    signals: void NestedModelChanged();
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \brief Get the entity currently inspected.
+    /// \return Entity ID.
+    public: Q_INVOKABLE Entity GetEntity() const;
+
+    /// \brief Set the entity currently inspected.
+    /// \param[in] _entity Entity ID.
+    public: Q_INVOKABLE void SetEntity(const gazebo::Entity &_entity);
+
+    /// \brief Notify that entity has changed.
+    signals: void EntityChanged();
+
+    /// \brief Get the type of entity currently inspected.
+    /// \return Type, such as 'world' or 'model'
+    public: Q_INVOKABLE QString Type() const;
+
+    /// \brief Set the type of entity currently inspected.
+    /// \param[in] _type Type, such as 'world' or 'model'.
+    public: Q_INVOKABLE void SetType(const QString &_entity);
+
+    /// \brief Notify that entity type has changed
+    signals: void TypeChanged();
+
+    /// \brief Get whether the inspector is currently locked on an entity.
+    /// \return True for locked
+    public: Q_INVOKABLE bool Locked() const;
+
+    /// \brief Set whether the inspector is currently locked on an entity.
+    /// \param[in] _locked True for locked.
+    public: Q_INVOKABLE void SetLocked(bool _locked);
+
+    /// \brief Notify that locked has changed.
+    signals: void LockedChanged();
+
+    /// \brief Get whether simulation is currently paused.
+    /// \return True for paused.
+    public: Q_INVOKABLE bool SimPaused() const;
+
+    /// \brief Notify that simulation paused state has changed.
+    signals: void SimPausedChanged();
+
+    /// \brief Set whether simulation is currently paused.
+    /// \param[in] _paused True for paused.
+    public: void SetSimPaused(bool _paused);
+
+    /// \brief Get whether the inspector is currently paused for updates.
+    /// \return True for paused.
+    public: Q_INVOKABLE bool Paused() const;
+
+    /// \brief Set whether the inspector is currently paused for updates.
+    /// \param[in] _paused True for paused.
+    public: Q_INVOKABLE void SetPaused(bool _paused);
+
+    /// \brief Notify that paused has changed.
+    signals: void PausedChanged();
+
+    /// \brief Callback in Qt thread when an entity is to be added
+    /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
+    /// \param[in] _type Entity type, e.g. link, visual, collision, etc
+    public: Q_INVOKABLE void OnAddEntity(const QString &_entity,
+                const QString &_type);
+
+    /// \brief Callback in Qt thread when a joint is to be added
+    /// \param[in] _jointType Type of joint to add (revolute, fixed, etc)
+    /// \param[in] _parentLink Name of the link to be the parent link
+    /// \param[in] _childLink Name of the link to be the child link
+    public: Q_INVOKABLE void OnAddJoint(const QString &_jointType,
+                const QString &_parentLink,
+                const QString &_childLink);
+
+    /// \brief Return the list of availabe links that are suitable for
+    /// parent links in joints if a model is selected.
+    /// \return List of available links.
+    public: Q_INVOKABLE QStringList ModelParentLinks() const;
+
+    /// \brief Return the list of availabe links that are suitable for
+    /// child links in joints if a model is selected.
+    /// \return List of available links.
+    public: Q_INVOKABLE QStringList ModelChildLinks() const;
+
+    /// \brief Set the list of availabe links when a model is selected.
+    /// \param[in] _modelLinks List of available links.
+    public: Q_INVOKABLE void SetModelLinks(const QStringList &_modelLinks);
+
+    /// \brief Notify that locked has changed.
+    signals: void ModelLinksChanged();
+
+    /// \brief Callback to insert a new entity
+    /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
+    /// \param[in] _type Entity type, e.g. link, visual, collision, etc
+    /// \param[in] _mesh Mesh file to load.
+    public: Q_INVOKABLE void OnLoadMesh(const QString &_entity,
+                const QString &_type, const QString &_mesh);
+
+
+    /// \brief Add a callback that will be executed during the next Update.
+    /// \param[in] _cb The callback to run.
+    public: void AddUpdateCallback(UpdateCallback _cb);
+
+    /// \brief Register a component creator. A component creator is
+    /// responsible for selecting the correct QML and setting the
+    /// appropriate data for a ComponentTypeId.
+    /// \param[in] _id The component type id to associate with the creation
+    /// function.
+    /// \param[in] _creatorFn Function to call in order to create the QML
+    /// component.
+    public: void RegisterComponentCreator(ComponentTypeId _id,
+                ComponentCreator _creatorFn);
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<ComponentInspectorEditorPrivate> dataPtr;
+  };
+}
+}
+
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qml b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qml
new file mode 100644
index 0000000000..1434a599d2
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qml
@@ -0,0 +1,776 @@
+/*
+ * Copyright (C) 2019 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import IgnGazebo 1.0 as IgnGazebo
+
+
+Rectangle {
+  id: componentInspectorEditor
+  color: lightGrey
+  Layout.minimumWidth: 400
+  Layout.minimumHeight: 375
+  anchors.fill: parent
+
+  /**
+   * Time delay for tooltip to show, in ms
+   */
+  property int tooltipDelay: 500
+
+  /**
+   * Height of each item in pixels
+   */
+  property int itemHeight: 30
+
+  /**
+   * Entity type
+   */
+  property string entityType: ComponentInspectorEditor.type
+
+  /**
+   * Get if entity is nested model or not
+   */
+  property bool nestedModel : ComponentInspectorEditor.nestedModel
+
+  /**
+   * Light grey according to theme
+   */
+  property color lightGrey: (Material.theme == Material.Light) ?
+    Material.color(Material.Grey, Material.Shade100) :
+    Material.color(Material.Grey, Material.Shade800)
+
+  /**
+   * Dark grey according to theme
+   */
+  property color darkGrey: (Material.theme == Material.Light) ?
+    Material.color(Material.Grey, Material.Shade200) :
+    Material.color(Material.Grey, Material.Shade900)
+
+  /**
+   * Highlight color
+   */
+  property color highlightColor: Qt.rgba(
+    Material.accent.r,
+    Material.accent.g,
+    Material.accent.b, 0.3)
+
+  function delegateQml(_model) {
+    if (_model === null || _model.dataType == undefined)
+      return 'NoData.qml'
+
+    return _model.dataType + '.qml'
+  }
+
+  /// \brief Get whether simulation is paused
+  function getSimPaused() {
+    return ComponentInspectorEditor.simPaused
+  }
+
+  // Get number of decimal digits based on a width value
+  // \param[in] _width Pixel width
+  // \return Number of decimals that fit with the provided width.
+  function getDecimals(_width) {
+    // Use full decimals if the width is <= 0, which allows the value
+    // to appear correctly.
+    if (_width <= 0 || _width > 110)
+      return 6
+
+    if (_width <= 80)
+      return 2
+
+    return 4
+  }
+
+  // Get number of decimal digits based on a widget's width, and adjust the
+  // widget's value to prevent zero padding.
+  // \param[in, out] _widgetId The widget id that will display the value. This
+  // widget's width attribute is used to determine the number of decimals.
+  // \param[in] _value The value that should be used to set the _widgetId's
+  // value attribute.
+  function getDecimalsAdjustValue(_widgetId, _value) {
+    // Make sure to update the value, otherwise zeros are used intead of 
+    // the actual values.
+    _widgetId.value = _widgetId.activeFocus ? _widgetId.value : _value
+    return getDecimals(_widgetId.width)
+  }
+
+  /**
+   * Forward light changes to C++
+   */
+  function onLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular,
+                   _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+                   _attRange, _attLinear, _attConstant, _attQuadratic,
+                   _castShadows, _directionX, _directionY, _directionZ,
+                   _innerAngle, _outerAngle, _falloff, _intensity, _type) {
+    ComponentInspectorEditor.OnLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular,
+                               _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+                               _attRange, _attLinear, _attConstant, _attQuadratic,
+                               _castShadows, _directionX, _directionY, _directionZ,
+                               _innerAngle, _outerAngle, _falloff, _intensity, _type)
+  }
+
+  /*
+   * Forward physics changes to C++
+   */
+  function onPhysics(_stepSize, _realTimeFactor) {
+    ComponentInspectorEditor.OnPhysics(_stepSize, _realTimeFactor)
+  }
+
+  /**
+   * Forward material color changes to C++
+   */
+  function onMaterialColor(_rAmbient, _gAmbient, _bAmbient, _aAmbient,
+                           _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+                           _rSpecular, _gSpecular, _bSpecular, _aSpecular,
+                           _rEmissive, _gEmissive, _bEmissive, _aEmissive,
+                           _type, _currColor) {
+    ComponentInspectorEditor.OnMaterialColor(
+        _rAmbient, _gAmbient, _bAmbient, _aAmbient,
+        _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+        _rSpecular, _gSpecular, _bSpecular, _aSpecular,
+        _rEmissive, _gEmissive, _bEmissive, _aEmissive,
+        _type, _currColor)
+  }
+
+  /*
+   * Forward spherical coordinate changes to C++
+   */
+  function onSphericalCoordinates(_surface, _lat, _lon, _elevation, _heading) {
+    ComponentInspectorEditor.OnSphericalCoordinates(_surface, _lat, _lon, _elevation,
+        _heading);
+  }
+
+  // The component for a menu section header
+  Component {
+    id: menuSectionHeading
+    Rectangle {
+      height: childrenRect.height
+
+      Text {
+          text: sectionText
+          font.pointSize: 10
+          padding: 5
+      }
+    }
+  }
+
+  Dialog {
+    id: jointDialog
+    modal: true
+    focus: true
+    header: ColumnLayout {
+      id: jointAddHeader
+      Text {
+        text:"Add joint"
+        font.pointSize: 14
+        padding: 20
+      }
+
+      Text {
+        text:"Select the parent and child links"
+        font.pointSize: 12
+        leftPadding: 20
+        rightPadding: 20
+        bottomPadding: 20
+      }
+    }
+
+    standardButtons: Dialog.Ok | Dialog.Cancel
+
+    property string jointType: "empty"
+
+    contentItem: ColumnLayout {
+      Text {
+        id: parentBoxText
+        text: "Parent Link"
+      }
+      ComboBox {
+        id: parentBox
+        model: ComponentInspectorEditor.modelParentLinks
+        currentIndex: 0
+      }
+      Text {
+        id: childBoxText
+        text: "Child Link"
+      }
+      ComboBox {
+        id: childBox
+        model: ComponentInspectorEditor.modelChildLinks
+        currentIndex: 1
+      }
+    }
+
+    onAccepted: {
+      ComponentInspectorEditor.OnAddJoint(jointType, parentBox.currentText, childBox.currentText)
+    }
+  }
+
+  Rectangle {
+    id: header
+    height: lockButton.height
+    anchors.top: parent.top
+    anchors.left: parent.left
+    anchors.right: parent.right
+    width: parent.width
+    color: darkGrey
+
+    RowLayout {
+      anchors.fill: parent
+      spacing: 0
+
+      IgnGazebo.TypeIcon {
+        id: icon
+        height: lockButton.height * 0.8
+        width: lockButton.height * 0.8
+        entityType: ComponentInspectorEditor.type
+      }
+
+      Label {
+        text: ComponentInspectorEditor.type
+        font.capitalization: Font.Capitalize
+        color: Material.theme == Material.Light ? "#444444" : "#cccccc"
+        font.pointSize: 12
+        padding: 3
+      }
+
+      Item {
+        height: entityLabel.height
+        Layout.fillWidth: true
+      }
+
+      ToolButton {
+        id: lockButton
+        checkable: true
+        checked: false
+        text: "Lock entity"
+        contentItem: Image {
+          fillMode: Image.Pad
+          horizontalAlignment: Image.AlignHCenter
+          verticalAlignment: Image.AlignVCenter
+          source: lockButton.checked ? "qrc:/Gazebo/images/lock.svg" :
+                                       "qrc:/Gazebo/images/unlock.svg"
+          sourceSize.width: 18;
+          sourceSize.height: 18;
+        }
+        ToolTip.text: lockButton.checked ? "Unlock entity" : "Lock entity"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onToggled: {
+          ComponentInspectorEditor.locked = lockButton.checked
+        }
+      }
+
+      ToolButton {
+        id: pauseButton
+        checkable: true
+        checked: false
+        text: pauseButton.checked ? "\u25B6" : "\u275A\u275A"
+        contentItem: Text {
+          text: pauseButton.text
+          color: "#b5b5b5"
+          horizontalAlignment: Text.AlignHCenter
+          verticalAlignment: Text.AlignVCenter
+        }
+        ToolTip.text: pauseButton.checked ? "Resume updates" : "Pause updates"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onToggled: {
+          ComponentInspectorEditor.paused = pauseButton.checked
+        }
+      }
+
+      ToolButton {
+        id: addLinkButton
+        checkable: false
+        text: "Add entity"
+        visible: entityType == "model"
+        contentItem: Image {
+          fillMode: Image.Pad
+          horizontalAlignment: Image.AlignHCenter
+          verticalAlignment: Image.AlignVCenter
+          source: "qrc:/Gazebo/images/plus-link.png"
+          sourceSize.width: 18;
+          sourceSize.height: 18;
+        }
+        ToolTip.text: "Add a link or light to a model"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onClicked: {
+          getSimPaused() ? addLinkMenu.open() : linkAddPausePopup.open()
+        }
+        Popup {
+          id: linkAddPausePopup
+          modal: true
+          focus: true
+          x: parent.width - linkAdPopupContentText.width
+          y: parent.height + linkAdPopupContentText.height
+          contentItem: Text {
+            id: linkAdPopupContentText
+            padding: 10
+            text: "Pause simulation to add a link, light, or joint"
+          }
+          closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutsideParent
+        }
+
+        FileDialog {
+          id: loadFileDialog
+          title: "Load mesh"
+          folder: shortcuts.home
+          nameFilters: [ "Collada files (*.dae)", "(*.stl)", "(*.obj)" ]
+          selectMultiple: false
+          selectExisting: true
+          onAccepted: {
+            ComponentInspectorEditor.OnLoadMesh("mesh", "link", fileUrl)
+          }
+        }
+
+        Menu {
+          id: addLinkMenu
+
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader {
+              property string sectionText: "Link"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
+          MenuItem {
+            id: boxLink
+            text: "Box"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("box", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: capsuleLink
+            text: "Capsule"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("capsule", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: cylinderLink
+            text: "Cylinder"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("cylinder", "link");
+            }
+          }
+
+          MenuItem {
+            id: ellipsoidLink
+            text: "Ellipsoid"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("ellipsoid", "link");
+            }
+          }
+
+          MenuItem {
+            id: emptyLink
+            text: "Empty"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("empty", "link");
+            }
+          }
+
+          MenuItem {
+            id: meshLink
+            text: "Mesh"
+            onClicked: {
+              loadFileDialog.open()
+            }
+          }
+
+          MenuItem {
+            id: sphereLink
+            text: "Sphere"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("sphere", "link");
+            }
+          }
+
+          MenuSeparator {
+            padding: 0
+            topPadding: 12
+            bottomPadding: 12
+            contentItem: Rectangle {
+              implicitWidth: 200
+              implicitHeight: 1
+              color: "#1E000000"
+            }
+          }
+
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader {
+              property string sectionText: "Light"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
+          MenuItem {
+            id: directionalLink
+            text: "Directional"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("directional", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: pointLink
+            text: "Point"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("point", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: spotLink
+            text: "Spot"
+            onClicked: {
+              ComponentInspectorEditor.OnAddEntity("spot", "link");
+              addLinkMenu.close()
+            }
+          }
+
+          MenuSeparator {
+            padding: 0
+            topPadding: 12
+            bottomPadding: 12
+            contentItem: Rectangle {
+              implicitWidth: 200
+              implicitHeight: 1
+              color: "#1E000000"
+            }
+          }
+
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader {
+              property string sectionText: "Joint"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
+          MenuItem {
+            id: ballJoint
+            text: "Ball"
+            onClicked: {
+              jointDialog.jointType = "ball"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: continuousJoint
+            text: "Continuous"
+            onClicked: {
+              jointDialog.jointType = "continuous"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: fixedJoint
+            text: "Fixed"
+            onClicked: {
+              jointDialog.jointType = "fixed"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: gearboxJoint
+            text: "Gearbox"
+            onClicked: {
+              jointDialog.jointType = "gearbox"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: prismaticJoint
+            text: "Prismatic"
+            onClicked: {
+              jointDialog.jointType = "prismatic"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: revoluteJoint
+            text: "Revolute"
+            onClicked: {
+              jointDialog.jointType = "revolute"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: revolute2Joint
+            text: "Revolute2"
+            onClicked: {
+              jointDialog.jointType = "revolute2"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: screwJoint
+            text: "Screw"
+            onClicked: {
+              jointDialog.jointType = "screw"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+
+          MenuItem {
+            id: universalJoint
+            text: "Universal"
+            onClicked: {
+              jointDialog.jointType = "universal"
+              jointDialog.open()
+              addLinkMenu.close()
+            }
+          }
+        }
+      }
+
+      ToolButton {
+        id: addSensorButton
+        checkable: false
+        text: "Add sensor"
+        visible: entityType == "link"
+        contentItem: Image {
+          fillMode: Image.Pad
+          horizontalAlignment: Image.AlignHCenter
+          verticalAlignment: Image.AlignVCenter
+          source: "qrc:/Gazebo/images/plus-sensor.png"
+          sourceSize.width: 18;
+          sourceSize.height: 18;
+        }
+        ToolTip.text: "Add a sensor to a link"
+        ToolTip.visible: hovered
+        ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+        onClicked: {
+          getSimPaused() ? addSensorMenu.open() : sensorAddPausePopup.open()
+        }
+        Popup {
+          id: sensorAddPausePopup
+          modal: true
+          focus: true
+          x: parent.width - sensorAddPopupContentText.width
+          y: parent.height + sensorAddPopupContentText.height
+          contentItem: Text {
+            id: sensorAddPopupContentText
+            padding: 10
+            text: "Pause simulation to add a sensor"
+          }
+          closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutsideParent
+        }
+
+        Menu {
+          id: addSensorMenu
+          MenuItem {
+            id: airPressure
+            text: "Air pressure"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(airPressure.text, "sensor");
+            }
+          }
+      
+          MenuItem {
+            id: altimeter
+            text: "Altimeter"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(altimeter.text, "sensor");
+            }
+          }
+      
+          MenuItem {
+            id: cameraSensorMenu
+            text: "Camera >"
+
+            MouseArea {
+              id: viewSubCameraArea
+              anchors.fill: parent
+              hoverEnabled: true
+              onEntered: cameraSubmenu.open()
+            }
+          }
+      
+          MenuItem {
+            id: contact
+            text: "Contact"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(contact.text, "sensor");
+            }
+          }
+      
+          MenuItem {
+            id: forceTorque
+            text: "Force torque"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(forceTorque.text, "sensor");
+            }
+          }
+
+          /*MenuItem {
+            id: gps
+            text: "GPS"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(gps.text, "sensor");
+            }
+          }*/
+
+          MenuItem {
+            id: gpuLidar
+            text: "GPU Lidar"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("gpu_lidar", "sensor");
+            }
+          }
+
+          MenuItem {
+            id: imu
+            text: "IMU"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(imu.text, "sensor");
+            }
+          }
+      
+          MenuItem {
+            id: magnetometer
+            text: "Magnetometer"
+            onTriggered: {
+              ComponentInspectorEditor.OnAddEntity(magnetometer.text, "sensor");
+            }
+          }
+        }
+      
+        Menu {
+          id: cameraSubmenu
+          x: addSensorMenu.x - addSensorMenu.width
+          y: addSensorMenu.y + cameraSensorMenu.y
+
+          MenuItem {
+            id: depth
+            text: "Depth"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("depth_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: logical
+            text: "Logical"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("logical_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: monocular
+            text: "Monocular"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("camera", "sensor");
+            }
+          }
+          /*MenuItem {
+            id: multicamera
+            text: "Multicamera"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("multicamera", "sensor");
+            }
+          }*/
+          MenuItem {
+            id: rgbd
+            text: "RGBD"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("rgbd_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: segmentation
+            text: "Segmentation"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("segmentation_camera", "sensor");
+            }
+          }
+          MenuItem {
+            id: thermal
+            text: "Thermal"
+             onTriggered: {
+              ComponentInspectorEditor.OnAddEntity("thermal_camera", "sensor");
+            }
+          }
+        }
+      }
+
+      Label {
+        id: entityLabel
+        text: 'Entity ' + ComponentInspectorEditor.entity
+        Layout.minimumWidth: 80
+        color: Material.theme == Material.Light ? "#444444" : "#cccccc"
+        font.pointSize: 12
+        padding: 5
+      }
+    }
+  }
+
+  ListView {
+    anchors.top: header.bottom
+    anchors.bottom: parent.bottom
+    anchors.left: parent.left
+    anchors.right: parent.right
+    model: {
+      try {
+        return ComponentsModel;
+      }
+      catch (e) {
+        // The QML is loaded before we set the context property
+        return null
+      }
+    }
+    spacing: 5
+
+    delegate: Loader {
+      id: loader
+      source: delegateQml(model)
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qrc b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qrc
new file mode 100644
index 0000000000..7f01fd6c96
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.qrc
@@ -0,0 +1,28 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="ComponentInspectorEditor/">
+  <file>AirPressure.qml</file>
+  <file>Altimeter.qml</file>
+  <file>Boolean.qml</file>
+  <file>ComponentInspectorEditor.qml</file>
+  <file>ExpandingTypeHeader.qml</file>
+  <file>Float.qml</file>
+  <file>Imu.qml</file>
+  <file>Integer.qml</file>
+  <file>JointType.qml</file>
+  <file>Lidar.qml</file>
+  <file>LidarScan.qml</file>
+  <file>Light.qml</file>
+  <file>Magnetometer.qml</file>
+  <file>Material.qml</file>
+  <file>NoData.qml</file>
+  <file>Noise.qml</file>
+  <file>Physics.qml</file>
+  <file>Pose3d.qml</file>
+  <file>SphericalCoordinates.qml</file>
+  <file>String.qml</file>
+  <file>TypeHeader.qml</file>
+  <file>Vector3d.qml</file>
+  <file>StateAwareSpin.qml</file>
+  <file>plottable_icon.svg</file>
+</qresource>
+</RCC>
diff --git a/src/gui/plugins/component_inspector_editor/ExpandingTypeHeader.qml b/src/gui/plugins/component_inspector_editor/ExpandingTypeHeader.qml
new file mode 100644
index 0000000000..eb98b926fc
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ExpandingTypeHeader.qml
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+
+// Header
+Rectangle {
+  id: header
+  width: parent.width
+  height: typeHeader.height
+  color: "transparent"
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Left indentation
+  property int indentation: 10
+
+  property string expandingHeaderText: ""
+  property string expandingHeaderToolTip: ""
+
+  RowLayout {
+    anchors.fill: parent
+    Item {
+      width: margin
+    }
+    Image {
+      id: icon
+      sourceSize.height: indentation
+      sourceSize.width: indentation
+      fillMode: Image.Pad
+      Layout.alignment : Qt.AlignVCenter
+      source: content.show ?
+          "qrc:/Gazebo/images/chevron-down.svg" : "qrc:/Gazebo/images/chevron-right.svg"
+    }
+    TypeHeader {
+      id: typeHeader
+      headerText: expandingHeaderText
+      headerToolTip: expandingHeaderToolTip
+    }
+    Item {
+      Layout.fillWidth: true
+    }
+  }
+  MouseArea {
+    anchors.fill: parent
+    hoverEnabled: true
+    cursorShape: Qt.PointingHandCursor
+    onClicked: {
+      content.show = !content.show
+    }
+    onEntered: {
+      header.color = highlightColor
+    }
+    onExited: {
+      header.color = "transparent"
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Float.qml b/src/gui/plugins/component_inspector_editor/Float.qml
new file mode 100644
index 0000000000..94140d4deb
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Float.qml
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+Rectangle {
+  id: numberComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Maximum spinbox value
+  property double spinMax: Number.MAX_VALUE
+
+  // Unit
+  property string unit: model && model.unit != undefined ? model.unit : ''
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    // TODO(anyone) Support write mode
+    Text {
+      id: content
+      Layout.fillWidth: true
+      horizontalAlignment: Text.AlignRight
+      color: Material.theme == Material.Light ? "black" : "white"
+      font.pointSize: 12
+      text: {
+        var decimals = getDecimals(content.width)
+        var valueText = model.data.toFixed(decimals)
+        if (unit !== '')
+          valueText += ' ' + unit
+        return valueText
+      }
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Imu.cc b/src/gui/plugins/component_inspector_editor/Imu.cc
new file mode 100644
index 0000000000..4dbd6a099a
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Imu.cc
@@ -0,0 +1,298 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/Imu.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/Imu.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "ComponentInspectorEditor.hh"
+#include "Imu.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Imu::Imu(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("ImuImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::Imu>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::Imu *imu = comp->Data().ImuSensor();
+
+    _item->setData(QString("Imu"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(imu->LinearAccelerationXNoise().Mean()),
+      QVariant(imu->LinearAccelerationXNoise().BiasMean()),
+      QVariant(imu->LinearAccelerationXNoise().StdDev()),
+      QVariant(imu->LinearAccelerationXNoise().BiasStdDev()),
+      QVariant(imu->LinearAccelerationXNoise().DynamicBiasStdDev()),
+      QVariant(imu->LinearAccelerationXNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(imu->LinearAccelerationYNoise().Mean()),
+      QVariant(imu->LinearAccelerationYNoise().BiasMean()),
+      QVariant(imu->LinearAccelerationYNoise().StdDev()),
+      QVariant(imu->LinearAccelerationYNoise().BiasStdDev()),
+      QVariant(imu->LinearAccelerationYNoise().DynamicBiasStdDev()),
+      QVariant(imu->LinearAccelerationYNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(imu->LinearAccelerationZNoise().Mean()),
+      QVariant(imu->LinearAccelerationZNoise().BiasMean()),
+      QVariant(imu->LinearAccelerationZNoise().StdDev()),
+      QVariant(imu->LinearAccelerationZNoise().BiasStdDev()),
+      QVariant(imu->LinearAccelerationZNoise().DynamicBiasStdDev()),
+      QVariant(imu->LinearAccelerationZNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(imu->AngularVelocityXNoise().Mean()),
+      QVariant(imu->AngularVelocityXNoise().BiasMean()),
+      QVariant(imu->AngularVelocityXNoise().StdDev()),
+      QVariant(imu->AngularVelocityXNoise().BiasStdDev()),
+      QVariant(imu->AngularVelocityXNoise().DynamicBiasStdDev()),
+      QVariant(imu->AngularVelocityXNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(imu->AngularVelocityYNoise().Mean()),
+      QVariant(imu->AngularVelocityYNoise().BiasMean()),
+      QVariant(imu->AngularVelocityYNoise().StdDev()),
+      QVariant(imu->AngularVelocityYNoise().BiasStdDev()),
+      QVariant(imu->AngularVelocityYNoise().DynamicBiasStdDev()),
+      QVariant(imu->AngularVelocityYNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(imu->AngularVelocityZNoise().Mean()),
+      QVariant(imu->AngularVelocityZNoise().BiasMean()),
+      QVariant(imu->AngularVelocityZNoise().StdDev()),
+      QVariant(imu->AngularVelocityZNoise().BiasStdDev()),
+      QVariant(imu->AngularVelocityZNoise().DynamicBiasStdDev()),
+      QVariant(imu->AngularVelocityZNoise().DynamicBiasCorrelationTime()),
+
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::Imu::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnLinearAccelerationXNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->LinearAccelerationXNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetLinearAccelerationXNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu linear acceleration x noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnLinearAccelerationYNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->LinearAccelerationYNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetLinearAccelerationYNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu linear acceleration y noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnLinearAccelerationZNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->LinearAccelerationZNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetLinearAccelerationZNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu linear acceleration z noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnAngularVelocityXNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->AngularVelocityXNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetAngularVelocityXNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu angular velocity x noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnAngularVelocityYNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->AngularVelocityYNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetAngularVelocityYNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu angular velocity y noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Imu::OnAngularVelocityZNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Imu>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Imu *imu = comp->Data().ImuSensor();
+      if (imu)
+      {
+        sdf::Noise noise = imu->AngularVelocityZNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        imu->SetAngularVelocityZNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the imu angular velocity z noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the imu component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/Imu.hh b/src/gui/plugins/component_inspector_editor/Imu.hh
new file mode 100644
index 0000000000..210dc17370
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Imu.hh
@@ -0,0 +1,127 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_IMU_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_IMU_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles IMU sensor changes.
+  class Imu : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit Imu(ComponentInspectorEditor *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's linear acceleration X noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnLinearAccelerationXNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's linear acceleration Y noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnLinearAccelerationYNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's linear acceleration Z noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnLinearAccelerationZNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's angular velocity X noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAngularVelocityXNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's angular velocity Y noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAngularVelocityYNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// Imu sensor's angular velocity Z noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnAngularVelocityZNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Imu.qml b/src/gui/plugins/component_inspector_editor/Imu.qml
new file mode 100644
index 0000000000..7cb7541678
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Imu.qml
@@ -0,0 +1,287 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying imu sensor information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "IMU"
+      expandingHeaderToolTip: "Inertial measurement unit properties"
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        // Space out the section header.
+        Rectangle {
+          id: linearAccelerationXNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Linear Acceleration X Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the linear acceleration X noise values.
+        Noise {
+          id: linearAccelerationXNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[0]
+          meanBias: model.data[1]
+          stdDevValue: model.data[2]
+          stdDevBias: model.data[3]
+          dynamicBiasStdDev: model.data[4]
+          dynamicBiasCorrelationTime: model.data[5]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            linearAccelerationXNoise.onNoiseUpdate.connect(
+                ImuImpl.OnLinearAccelerationXNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: linearAccelerationYNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Linear Acceleration Y Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the linear acceleration Y noise values.
+        Noise {
+          id: linearAccelerationYNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[6]
+          meanBias: model.data[7]
+          stdDevValue: model.data[8]
+          stdDevBias: model.data[9]
+          dynamicBiasStdDev: model.data[10]
+          dynamicBiasCorrelationTime: model.data[11]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            linearAccelerationYNoise.onNoiseUpdate.connect(
+                ImuImpl.OnLinearAccelerationYNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: linearAccelerationZNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Linear Acceleration Z Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the linear acceleration Z noise values.
+        Noise {
+          id: linearAccelerationZNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[12]
+          meanBias: model.data[13]
+          stdDevValue: model.data[14]
+          stdDevBias: model.data[15]
+          dynamicBiasStdDev: model.data[16]
+          dynamicBiasCorrelationTime: model.data[17]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            linearAccelerationZNoise.onNoiseUpdate.connect(
+                ImuImpl.OnLinearAccelerationZNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: angularVelocityXNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Angular Velocity X Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the angular velocity X noise values.
+        Noise {
+          id: angularVelocityXNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[18]
+          meanBias: model.data[19]
+          stdDevValue: model.data[20]
+          stdDevBias: model.data[21]
+          dynamicBiasStdDev: model.data[22]
+          dynamicBiasCorrelationTime: model.data[23]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            angularVelocityXNoise.onNoiseUpdate.connect(
+                ImuImpl.OnAngularVelocityXNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: angularVelocityYNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Angular Velocity Y Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the angular velocity Y noise values.
+        Noise {
+          id: angularVelocityYNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[18]
+          meanBias: model.data[19]
+          stdDevValue: model.data[20]
+          stdDevBias: model.data[21]
+          dynamicBiasStdDev: model.data[22]
+          dynamicBiasCorrelationTime: model.data[23]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            angularVelocityYNoise.onNoiseUpdate.connect(
+                ImuImpl.OnAngularVelocityYNoise)
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: angularVelocityZNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Angular Velocity Z Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the angular velocity Z noise values.
+        Noise {
+          id: angularVelocityZNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[18]
+          meanBias: model.data[19]
+          stdDevValue: model.data[20]
+          stdDevBias: model.data[21]
+          dynamicBiasStdDev: model.data[22]
+          dynamicBiasCorrelationTime: model.data[23]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            angularVelocityZNoise.onNoiseUpdate.connect(
+                ImuImpl.OnAngularVelocityZNoise)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Integer.qml b/src/gui/plugins/component_inspector_editor/Integer.qml
new file mode 100644
index 0000000000..b4ffcb9bfc
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Integer.qml
@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+Rectangle {
+  id: numberComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Maximum spinbox value
+  property double spinMax: Number.MAX_VALUE
+
+  // Unit
+  property string unit: model && model.unit != undefined ? model.unit : ''
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    // TODO(anyone) Support write mode
+    Text {
+      id: content
+      Layout.fillWidth: true
+      horizontalAlignment: Text.AlignRight
+      color: Material.theme == Material.Light ? "black" : "white"
+      font.pointSize: 12
+      text: {
+        var valueText = model.data
+        if (unit !== '')
+          valueText += ' ' + unit
+        return valueText
+      }
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/JointType.cc b/src/gui/plugins/component_inspector_editor/JointType.cc
new file mode 100644
index 0000000000..b8f70106fe
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/JointType.cc
@@ -0,0 +1,124 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/Joint.hh>
+
+#include <ignition/common/Console.hh>
+#include "ignition/gazebo/components/JointType.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "JointType.hh"
+#include "ComponentInspectorEditor.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+JointType::JointType(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("JointTypeImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::JointType>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+
+    const sdf::JointType joint = comp->Data();
+
+    _item->setData(QString("JointType"),
+        ComponentsModel::RoleNames().key("dataType"));
+
+    QString jointType;
+    if (joint == sdf::JointType::BALL)
+      jointType = "Ball";
+    else if (joint == sdf::JointType::CONTINUOUS)
+      jointType = "Continuous";
+    else if (joint == sdf::JointType::FIXED)
+      jointType = "Fixed";
+    else if (joint == sdf::JointType::GEARBOX)
+      jointType = "Gearbox";
+    else if (joint == sdf::JointType::PRISMATIC)
+      jointType = "Prismatic";
+    else if (joint == sdf::JointType::REVOLUTE)
+      jointType = "Revolute";
+    else if (joint == sdf::JointType::REVOLUTE2)
+      jointType = "Revolute2";
+    else if (joint == sdf::JointType::SCREW)
+      jointType = "Screw";
+    else if (joint == sdf::JointType::UNIVERSAL)
+      jointType = "Universal";
+
+    _item->setData(jointType, ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::JointType::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void JointType::OnJointType(QString _jointType)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    components::JointType *comp =
+      _ecm.Component<components::JointType>(this->inspector->GetEntity());
+
+    components::ParentEntity *parentComp =
+      _ecm.Component<components::ParentEntity>(this->inspector->GetEntity());
+
+    if (comp && parentComp)
+    {
+      if (_jointType == "Ball")
+        comp->Data() = sdf::JointType::BALL;
+      else if (_jointType == "Continuous")
+        comp->Data() = sdf::JointType::CONTINUOUS;
+      else if (_jointType == "Fixed")
+        comp->Data() = sdf::JointType::FIXED;
+      else if (_jointType == "Gearbox")
+        comp->Data() = sdf::JointType::GEARBOX;
+      else if (_jointType == "Prismatic")
+        comp->Data() = sdf::JointType::PRISMATIC;
+      else if (_jointType == "Revolute")
+        comp->Data() = sdf::JointType::REVOLUTE;
+      else if (_jointType == "Revolute2")
+        comp->Data() = sdf::JointType::REVOLUTE2;
+      else if (_jointType == "Screw")
+        comp->Data() = sdf::JointType::SCREW;
+      else if (_jointType == "Universal")
+        comp->Data() = sdf::JointType::UNIVERSAL;
+
+      // Make sure to mark the parent as needing recreation. This will
+      // tell the server to rebuild the model with the new link.
+      _ecm.CreateComponent(parentComp->Data(), components::Recreate());
+    }
+    else if (!comp)
+    {
+      ignerr << "Unable to get the joint type component.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the joint's parent entity component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/JointType.hh b/src/gui/plugins/component_inspector_editor/JointType.hh
new file mode 100644
index 0000000000..b37d4d4968
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/JointType.hh
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_JOINT_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_JOINT_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles joint changes.
+  class JointType : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit JointType(ComponentInspectorEditor *_inspector);
+
+    /// \brief Callback in Qt thread when joint type changes.
+    /// \param[in] _surface Surface model
+    public: Q_INVOKABLE void OnJointType(QString _jointType);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/JointType.qml b/src/gui/plugins/component_inspector_editor/JointType.qml
new file mode 100644
index 0000000000..f3fb616064
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/JointType.qml
@@ -0,0 +1,123 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying joint type information.
+Rectangle {
+  id: jointTypeComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  ListModel {
+    id: jointTypes
+    ListElement { type: "Ball" }
+    ListElement { type: "Continuous" }
+    ListElement { type: "Fixed" }
+    ListElement { type: "Gearbox" }
+    ListElement { type: "Prismatic" }
+    ListElement { type: "Revolute" }
+    ListElement { type: "Revolute2" }
+    ListElement { type: "Screw" }
+    ListElement { type: "Universal" }
+  }
+
+  function indexFromModel(_model) {
+    if (_model && _model.data !== undefined)
+    {
+      for (var i = 0; i < jointTypes.count; i++)
+      {
+        if (jointTypes.get(i).type === _model.data)
+        {
+          return i
+        }
+      }
+    }
+    return -1
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    Item {
+      height: parent.height
+      Layout.fillWidth: true
+    }
+
+    QtObject{
+      // Workaround to keep from using the ListModel as model
+      id: indexObj
+      property int index: indexFromModel(model)
+    }
+
+    ComboBox {
+      id: jointType
+      padding: 0
+      textRole: "type"
+      model: jointTypes
+      currentIndex: indexObj.index
+      Layout.alignment: Qt.AlignRight
+      font.pointSize: 12
+      background: Rectangle {
+        color: "transparent"
+        implicitWidth: 140
+        implicitHeight: typeHeader.height
+      }
+      enabled: componentInspectorEditor.getSimPaused()
+      onActivated: {
+        JointTypeImpl.OnJointType(currentText)
+      }
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Lidar.cc b/src/gui/plugins/component_inspector_editor/Lidar.cc
new file mode 100644
index 0000000000..36ae02162f
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Lidar.cc
@@ -0,0 +1,153 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/Lidar.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/GpuLidar.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "ComponentInspectorEditor.hh"
+#include "Lidar.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Lidar::Lidar(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("LidarImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::GpuLidar>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::Lidar *lidar = comp->Data().LidarSensor();
+
+    _item->setData(QString("Lidar"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(lidar->LidarNoise().Mean()),
+      QVariant(lidar->LidarNoise().BiasMean()),
+      QVariant(lidar->LidarNoise().StdDev()),
+      QVariant(lidar->LidarNoise().BiasStdDev()),
+      QVariant(lidar->LidarNoise().DynamicBiasStdDev()),
+      QVariant(lidar->LidarNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(lidar->HorizontalScanSamples()),
+      QVariant(lidar->HorizontalScanResolution()),
+      QVariant(lidar->HorizontalScanMinAngle().Radian()),
+      QVariant(lidar->HorizontalScanMaxAngle().Radian()),
+
+      QVariant(lidar->VerticalScanSamples()),
+      QVariant(lidar->VerticalScanResolution()),
+      QVariant(lidar->VerticalScanMinAngle().Radian()),
+      QVariant(lidar->VerticalScanMaxAngle().Radian()),
+
+      QVariant(lidar->RangeMin()),
+      QVariant(lidar->RangeMax()),
+      QVariant(lidar->RangeResolution()),
+
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::GpuLidar::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Lidar::OnLidarNoise(
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::GpuLidar>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Lidar *lidar = comp->Data().LidarSensor();
+      if (lidar)
+      {
+        sdf::Noise noise = lidar->LidarNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        lidar->SetLidarNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the lidar noise data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the lidar component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Lidar::OnLidarChange(
+    double _rangeMin, double _rangeMax,
+    double _rangeResolution, double _horizontalScanSamples,
+    double _horizontalScanResolution,
+    double _horizontalScanMinAngle,
+    double _horizontalScanMaxAngle, double _verticalScanSamples,
+    double _verticalScanResolution, double _verticalScanMinAngle,
+    double _verticalScanMaxAngle)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::GpuLidar>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Lidar *lidar = comp->Data().LidarSensor();
+      if (lidar)
+      {
+        lidar->SetRangeMin(_rangeMin);
+        lidar->SetRangeMax(_rangeMax);
+        lidar->SetRangeResolution(_rangeResolution);
+
+        lidar->SetHorizontalScanSamples(_horizontalScanSamples);
+        lidar->SetHorizontalScanResolution(_horizontalScanResolution);
+        lidar->SetHorizontalScanMinAngle(_horizontalScanMinAngle);
+        lidar->SetHorizontalScanMaxAngle(_horizontalScanMaxAngle);
+
+        lidar->SetVerticalScanSamples(_verticalScanSamples);
+        lidar->SetVerticalScanResolution(_verticalScanResolution);
+        lidar->SetVerticalScanMinAngle(_verticalScanMinAngle);
+        lidar->SetVerticalScanMaxAngle(_verticalScanMaxAngle);
+      }
+      else
+        ignerr << "Unable to get the lidar data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the lidar component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
diff --git a/src/gui/plugins/component_inspector_editor/Lidar.hh b/src/gui/plugins/component_inspector_editor/Lidar.hh
new file mode 100644
index 0000000000..9bcb174069
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Lidar.hh
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_LIDAR_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_LIDAR_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles Lidar sensor changes.
+  class Lidar : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit Lidar(ComponentInspectorEditor *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// Lidar sensor's linear acceleration X noise values.
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnLidarNoise(
+                double _mean, double _meanBias, double _stdDev,
+                double _stdDevBias, double _dynamicBiasStdDev,
+                double _dynamicBiasCorrelationTime);
+
+    public: Q_INVOKABLE void OnLidarChange(
+                double _rangeMin, double _rangeMax,
+                double _rangeResolution, double _horizontalScanSamples,
+                double _horizontalScanResolution,
+                double _horizontalScanMinAngle,
+                double _horizontalScanMaxAngle, double _verticalScanSamples,
+                double _verticalScanResolution, double _verticalScanMinAngle,
+                double _verticalScanMaxAngle);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Lidar.qml b/src/gui/plugins/component_inspector_editor/Lidar.qml
new file mode 100644
index 0000000000..1cfdbe8f34
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Lidar.qml
@@ -0,0 +1,451 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying lidar sensor information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Noise mean value
+  property double noiseMeanValue: model.data[0]
+
+  // Noise mean bias
+  property double noiseMeanBias: model.data[1]
+
+  // Noise standard deviation value
+  property double noieStdDevValue: model.data[2]
+
+  // Noise standard deviation bias
+  property double noiseStdDevBias: model.data[3]
+
+  // Noise dynamic bias standard deviation
+  property double noiseDynamicBiasStdDev: model.data[4]
+
+  // Noise dynamic bias correlation time
+  property double noiseDynamicBiasCorrelationTime: model.data[5]
+
+  // Horizontal scan samples 
+  property double horizontalScanSamples: model.data[6]
+
+  // Horizontal scan resolution 
+  property double horizontalScanResolution: model.data[7]
+
+  // Horizontal scan min angle 
+  property double horizontalScanMinAngle: model.data[8]
+
+  // Horizontal scan max angle 
+  property double horizontalScanMaxAngle: model.data[9]
+
+  // Vertical scan samples 
+  property double verticalScanSamples: model.data[10]
+
+  // Vertical scan resolution 
+  property double verticalScanResolution: model.data[11]
+
+  // Vertical scan min angle 
+  property double verticalScanMinAngle: model.data[12]
+
+  // Vertical scan max angle 
+  property double verticalScanMaxAngle: model.data[13]
+
+  // Range min
+  property double rangeMin: model.data[14]
+
+  // Range max
+  property double rangeMax: model.data[15]
+
+  // Range resolution
+  property double rangeResolution: model.data[16]
+
+  // Callback when range min is changed
+  function onRangeMin(_value) {
+    rangeMin = _value
+    LidarImpl.OnLidarChange(rangeMin, rangeMax, rangeResolution,
+        horizontalScanSamples, horizontalScanResolution,
+        horizontalScanMinAngle, horizontalScanMaxAngle,
+        verticalScanSamples, verticalScanResolution,
+        verticalScanMinAngle, verticalScanMaxAngle)
+  }
+
+  // Callback when range max is changed
+  function onRangeMax(_value) {
+    rangeMax = _value
+    LidarImpl.OnLidarChange(rangeMin, rangeMax, rangeResolution,
+        horizontalScanSamples, horizontalScanResolution,
+        horizontalScanMinAngle, horizontalScanMaxAngle,
+        verticalScanSamples, verticalScanResolution,
+        verticalScanMinAngle, verticalScanMaxAngle)
+  }
+
+  // Callback when range resolution is changed
+  function onRangeResolution(_value) {
+    rangeResolution = _value
+    LidarImpl.OnLidarChange(rangeMin, rangeMax, rangeResolution,
+        horizontalScanSamples, horizontalScanResolution,
+        horizontalScanMinAngle, horizontalScanMaxAngle,
+        verticalScanSamples, verticalScanResolution,
+        verticalScanMinAngle, verticalScanMaxAngle)
+  }
+
+  function onHorizontalScan(_samples, _resolution, _minAngle, _maxAngle) {
+    horizontalScanSamples = _samples
+    horizontalScanResolution = _resolution
+    horizontalScanMinAngle = _minAngle
+    horizontalScanMaxAngle = _maxAngle
+    LidarImpl.OnLidarChange(rangeMin, rangeMax, rangeResolution,
+        horizontalScanSamples, horizontalScanResolution,
+        horizontalScanMinAngle, horizontalScanMaxAngle,
+        verticalScanSamples, verticalScanResolution,
+        verticalScanMinAngle, verticalScanMaxAngle)
+  }
+
+  function onVerticalScan(_samples, _resolution, _minAngle, _maxAngle) {
+    verticalScanSamples = _samples
+    verticalScanResolution = _resolution
+    verticalScanMinAngle = _minAngle
+    verticalScanMaxAngle = _maxAngle
+    LidarImpl.OnLidarChange(rangeMin, rangeMax, rangeResolution,
+        horizontalScanSamples, horizontalScanResolution,
+        horizontalScanMinAngle, horizontalScanMaxAngle,
+        verticalScanSamples, verticalScanResolution,
+        verticalScanMinAngle, verticalScanMaxAngle)
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "Lidar"
+      expandingHeaderToolTip: "Lidar properties"
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        // Space out the section header.
+        Rectangle {
+          id: rangeTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Range"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+        // Range properties
+        Rectangle {
+          id: rangeRect
+          width: parent.width
+          Layout.fillWidth: true
+          height: rangeGrid.height
+          color: "transparent"
+          Layout.leftMargin: 20
+    
+          GridLayout {
+            id: rangeGrid
+            width: parent.width
+            columns: 4
+    
+            // Padding 
+            Rectangle {
+              Layout.columnSpan: 4
+              height: 4
+            }
+    
+            // Range min
+            Rectangle {
+              color: "transparent"
+              height: 40
+              Layout.preferredWidth: rangeMinText.width
+    
+              Text {
+                id : rangeMinText
+                text: 'Min (m)'
+                color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+                font.pointSize: 12
+                anchors.centerIn: parent
+                ToolTip {
+                  visible: minRangeMa.containsMouse
+                  delay: tooltipDelay
+                  text: "Minimum range distance in meters"
+                  y: rangeMinText.y + 30
+                  enter: null
+                  exit: null
+                }
+                MouseArea {
+                  id: minRangeMa
+                  anchors.fill: parent
+                  hoverEnabled: true
+                  acceptedButtons: Qt.RightButton
+                }
+              }
+            }
+            StateAwareSpin {
+              id: rangeMinSpin
+              Layout.fillWidth: true
+              height: 40
+              numberValue: rangeMin
+              minValue: 0
+              maxValue: Number.MAX_VALUE
+              stepValue: 0.1
+              // Connect to the onLidarUpdate signal in Noise.qml
+              Component.onCompleted: {
+                rangeMinSpin.onChange.connect(onRangeMin)
+              }
+            }
+            // End of min range
+            
+            // Max range
+            Rectangle {
+              color: "transparent"
+              height: 40
+              Layout.preferredWidth: rangeMaxText.width
+    
+              Text {
+                id : rangeMaxText
+                text: 'Max (m)'
+                color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+                font.pointSize: 12
+                anchors.centerIn: parent
+                ToolTip {
+                  visible: rangeMaxMa.containsMouse
+                  delay: tooltipDelay
+                  text: "Maximum range distance in meters"
+                  y: rangeMaxText.y + 30
+                  enter: null
+                  exit: null
+                }
+                MouseArea {
+                  id: rangeMaxMa
+                  anchors.fill: parent
+                  hoverEnabled: true
+                  acceptedButtons: Qt.RightButton
+                }
+              }
+            }
+            StateAwareSpin {
+              id: rangeMaxSpin
+              Layout.fillWidth: true
+              height: 40
+              numberValue: rangeMax
+              minValue: 0
+              maxValue: Number.MAX_VALUE
+              stepValue: 0.1
+              // Connect to the onNoiseUpdate signal in Noise.qml
+              Component.onCompleted: {
+                rangeMaxSpin.onChange.connect(onRangeMax)
+              }
+            }
+            // End of range max 
+    
+            // Range resolution
+            Rectangle {
+              color: "transparent"
+              height: 40
+              Layout.preferredWidth: rangeResolutionText.width
+    
+              Text {
+                id : rangeResolutionText
+                text: 'Resolution'
+                color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+                font.pointSize: 12
+                anchors.centerIn: parent
+                ToolTip {
+                  visible: rangeResolutionMa.containsMouse
+                  delay: tooltipDelay
+                  text: "Range resolution"
+                  y: rangeResolutionText.y + 30
+                  enter: null
+                  exit: null
+                }
+                MouseArea {
+                  id: rangeResolutionMa
+                  anchors.fill: parent
+                  hoverEnabled: true
+                  acceptedButtons: Qt.RightButton
+                }
+              }
+            }
+            StateAwareSpin {
+              id: rangeResolutionSpin
+              Layout.fillWidth: true
+              height: 40
+              numberValue: rangeResolution
+              minValue: 0 
+              maxValue: Number.MAX_VALUE
+              stepValue: 0.1
+              // Connect to the onLidarUpdate signal in Noise.qml
+              Component.onCompleted: {
+                rangeResolutionSpin.onChange.connect(onRangeResolution)
+              }
+            }
+            // End of range resolution
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: horizontalTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Horizontal scan"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+        Rectangle {
+          Layout.fillWidth: true
+          height: horizontalScan.height 
+          Layout.leftMargin: 20
+          color: "transparent"
+          LidarScan {
+            id: horizontalScan
+            width: parent.width
+
+            sampleValue: horizontalScanSamples
+            resolutionValue: horizontalScanResolution
+            minAngleValue: horizontalScanMinAngle
+            maxAngleValue: horizontalScanMaxAngle
+
+            // Connect to the onChange signal in Noise.qml
+            Component.onCompleted: {
+              horizontalScan.onChange.connect(onHorizontalScan)
+            }
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: verticalTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Vertical scan"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+        Rectangle {
+          Layout.fillWidth: true
+          height: verticalScan.height 
+          Layout.leftMargin: 20
+          color: "transparent"
+
+          LidarScan {
+            id: verticalScan
+            width: parent.width
+
+            sampleValue: verticalScanSamples
+            resolutionValue: verticalScanResolution
+            minAngleValue: verticalScanMinAngle
+            maxAngleValue: verticalScanMaxAngle
+
+            // Connect to the onChange signal in Noise.qml
+            Component.onCompleted: {
+              verticalScan.onChange.connect(onVerticalScan)
+            }
+          }
+        }
+
+        // Space out the section header.
+        Rectangle {
+          id: linearAccelerationXNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            text: "Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the noise values.
+        Noise {
+          id: noise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: noiseMeanValue
+          meanBias: noiseMeanBias
+          stdDevValue: noieStdDevValue
+          stdDevBias: noiseStdDevBias
+          dynamicBiasStdDev: noiseDynamicBiasStdDev
+          dynamicBiasCorrelationTime: noiseDynamicBiasCorrelationTime
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            noise.onNoiseUpdate.connect(
+                LidarImpl.OnLidarNoise)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/LidarScan.qml b/src/gui/plugins/component_inspector_editor/LidarScan.qml
new file mode 100644
index 0000000000..9283c31fbf
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/LidarScan.qml
@@ -0,0 +1,245 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+
+// A component for displaying and editing a lidar scan.
+Rectangle {
+  width: parent.width
+  height: grid.height
+  color: "transparent"
+
+  property int sampleValue: horizontalScanSamples
+  property double resolutionValue: horizontalScanResolution
+  property double minAngleValue: horizontalScanMinAngle
+  property double maxAngleValue: horizontalScanMaxAngle
+
+  // onChange signal
+  signal onChange(int _samples, double _resolution, double _minAngle, double _maxAngle)
+
+ function onSample(_value) {
+   sampleValue = _value
+   onChange(sampleValue, resolutionValue, minAngleValue, maxAngleValue)
+ }
+
+ function onResolution(_value) {
+   resolutionValue = _value
+   onChange(sampleValue, resolutionValue, minAngleValue, maxAngleValue)
+ }
+
+ function onMinAngle(_value) {
+   minAngleValue = _value
+   onChange(sampleValue, resolutionValue, minAngleValue, maxAngleValue)
+ }
+
+ function onMaxAngle(_value) {
+   maxAngleValue = _value
+   onChange(sampleValue, resolutionValue, minAngleValue, maxAngleValue)
+ }
+
+  GridLayout {
+    id: grid
+    width: parent.width
+    columns: 4
+
+    // Padding 
+    Rectangle {
+      Layout.columnSpan: 4
+      height: 4
+    }
+
+    // Samples
+    Rectangle {
+      color: "transparent"
+      height: 40
+      Layout.preferredWidth: sampleText.width
+
+      Text {
+        id : sampleText
+        text: 'Samples'
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+        anchors.centerIn: parent
+        ToolTip {
+          visible: sampleMa.containsMouse
+          delay: tooltipDelay
+          text: "Sample count"
+          y: sampleText.y + 30
+          enter: null
+          exit: null
+        }
+        MouseArea {
+          id: sampleMa
+          anchors.fill: parent
+          hoverEnabled: true
+          acceptedButtons: Qt.RightButton
+        }
+      }
+    }
+    StateAwareSpin {
+      id: sampleSpin
+      Layout.fillWidth: true
+      height: 40
+      numberValue: sampleValue
+      minValue: 0
+      maxValue: Number.MAX_VALUE
+      stepValue: 1
+      // Send the change signal
+      Component.onCompleted: {
+        sampleSpin.onChange.connect(onSample)
+      }
+    }
+    // End of samples
+    
+    // Resolution
+    Rectangle {
+      color: "transparent"
+      height: 40
+      Layout.preferredWidth: resolutionText.width
+
+      Text {
+        id : resolutionText
+        text: 'Resolution'
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+        anchors.centerIn: parent
+        ToolTip {
+          visible: resolutionMa.containsMouse
+          delay: tooltipDelay
+          text: "This number is multiplied by samples to determine the number of range data points returned."
+          y: resolutionText.y + 30
+          enter: null
+          exit: null
+        }
+        MouseArea {
+          id: resolutionMa
+          anchors.fill: parent
+          hoverEnabled: true
+          acceptedButtons: Qt.RightButton
+        }
+      }
+    }
+    StateAwareSpin {
+      id: resolutionSpin
+      Layout.fillWidth: true
+      height: 40
+      numberValue: resolutionValue
+      minValue: 0
+      maxValue: Number.MAX_VALUE
+      stepValue: 0.1
+      // Send the change signal
+      Component.onCompleted: {
+        resolutionSpin.onChange.connect(onResolution)
+      }
+    }
+    // End of resolution 
+
+    // Min angle
+    Rectangle {
+      color: "transparent"
+      height: 40
+      Layout.preferredWidth: minAngleText.width
+
+      Text {
+        id : minAngleText
+        text: 'Min angle'
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+        anchors.centerIn: parent
+        ToolTip {
+          visible: minAngleMa.containsMouse
+          delay: tooltipDelay
+          text: "Minimun angle"
+          y: minAngleText.y + 30
+          enter: null
+          exit: null
+        }
+        MouseArea {
+          id: minAngleMa
+          anchors.fill: parent
+          hoverEnabled: true
+          acceptedButtons: Qt.RightButton
+        }
+      }
+    }
+    StateAwareSpin {
+      id: minAngleSpin
+      Layout.fillWidth: true
+      height: 40
+      numberValue: minAngleValue
+      minValue: -3.1415 
+      maxValue: 3.1415 
+      stepValue: 0.1
+      // Send the change signal
+      Component.onCompleted: {
+        minAngleSpin.onChange.connect(onMinAngle)
+      }
+    }
+    // End of min angle
+
+    // Max angle
+    Rectangle {
+      color: "transparent"
+      height: 40
+      Layout.preferredWidth: maxAngleText.width
+
+      Text {
+        id : maxAngleText
+        text: 'Max angle'
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+        anchors.centerIn: parent
+        ToolTip {
+          visible: maxAngleMa.containsMouse
+          delay: tooltipDelay
+          text: "Maximum angle"
+          y: maxAngleText.y + 30
+          enter: null
+          exit: null
+        }
+        MouseArea {
+          id: maxAngleMa
+          anchors.fill: parent
+          hoverEnabled: true
+          acceptedButtons: Qt.RightButton
+        }
+      }
+    }
+    StateAwareSpin {
+      id: maxAngleSpin
+      Layout.fillWidth: true
+      height: 40
+      numberValue: maxAngleValue
+      minValue: -3.1415 
+      maxValue: 3.1415 
+      stepValue: 0.1
+      // Connect to the onLidarUpdate signal in Noise.qml
+      Component.onCompleted: {
+        maxAngleSpin.onChange.connect(onMaxAngle)
+      }
+    }
+    // End of max angle
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Light.qml b/src/gui/plugins/component_inspector_editor/Light.qml
new file mode 100644
index 0000000000..5f05321047
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Light.qml
@@ -0,0 +1,1104 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying light information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Loaded item for specular red
+  property var rSpecularItem: {}
+
+  // Loaded item for specular green
+  property var gSpecularItem: {}
+
+  // Loaded item for specular blue
+  property var bSpecularItem: {}
+
+  // Loaded item for specular alpha
+  property var aSpecularItem: {}
+
+  // Loaded item for diffuse red
+  property var rDiffuseItem: {}
+
+  // Loaded item for diffuse green
+  property var gDiffuseItem: {}
+
+  // Loaded item for diffuse blue
+  property var bDiffuseItem: {}
+
+  // Loaded item for diffuse alpha
+  property var aDiffuseItem: {}
+
+  // Loaded item for attenuation range
+  property var attRangeItem: {}
+
+  // Loaded item for attenuation linear
+  property var attLinearItem: {}
+
+  // Loaded item for attenuation constant
+  property var attConstantItem: {}
+
+  // Loaded item for attenuation quadratic
+  property var attQuadraticItem: {}
+
+  // Loaded item for cast shadows
+  property var castShadowsItem: {}
+
+  // Loaded item for direction X (spotlight or directional)
+  property var directionXItem: {}
+
+  // Loaded item for direction Y (spotlight or directional)
+  property var directionYItem: {}
+
+  // Loaded item for direction Z (spotlight or directional)
+  property var directionZItem: {}
+
+  // Loaded item for inner angle (spotlight)
+  property var innerAngleItem: {}
+
+  // Loaded item for inner angle (spotlight)
+  property var outerAngleItem: {}
+
+  // Loaded item for falloff (spotlight)
+  property var falloffItem: {}
+
+  // Loaded item for intensity
+  property var intensityItem: {}
+
+  // Send new light data to C++
+  function sendLight() {
+    // TODO(anyone) There's a loss of precision when these values get to C++
+    componentInspectorEditor.onLight(
+      rSpecularItem.value,
+      gSpecularItem.value,
+      bSpecularItem.value,
+      aSpecularItem.value,
+      rDiffuseItem.value,
+      gDiffuseItem.value,
+      bDiffuseItem.value,
+      aDiffuseItem.value,
+      attRangeItem.value,
+      attLinearItem.value,
+      attConstantItem.value,
+      attQuadraticItem.value,
+      castShadowsItem.checked,
+      directionXItem.value,
+      directionYItem.value,
+      directionZItem.value,
+      innerAngleItem.value,
+      outerAngleItem.value,
+      falloffItem.value,
+      intensityItem.value,
+      model.data[20]
+    );
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  /**
+   * Used to create a spin box
+   */
+  Component {
+    id: sliderZeroOne
+    Slider {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      from: 0.0
+      to: 1.0
+      onValueChanged: {
+        if (hovered){
+          sendLight()
+        }
+      }
+    }
+  }
+
+  Component {
+    id: ignSwitch
+    Switch {
+      id: booleanSwitch
+      checked: numberValue
+      enabled: true
+      onToggled: {
+        sendLight()
+      }
+    }
+  }
+
+  Component {
+    id: spinZeroMax
+    IgnSpinBox {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      minimumValue: 0
+      maximumValue: Number.MAX_VALUE
+      decimals: 6
+      onEditingFinished: {
+        sendLight()
+      }
+    }
+  }
+  Component {
+    id: spinNoLimit
+    IgnSpinBox {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      minimumValue: -Number.MAX_VALUE
+      maximumValue: Number.MAX_VALUE
+      decimals: 6
+      onEditingFinished: {
+        sendLight()
+      }
+    }
+  }
+
+  Component {
+    id: plotIcon
+    Image {
+      property string componentInfo: ""
+      source: "plottable_icon.svg"
+      anchors.top: parent.top
+      anchors.left: parent.left
+
+      Drag.mimeData: { "text/plain" : (model === null) ? "" :
+      "Component," + model.entity + "," + model.typeId + "," +
+                     model.dataType + "," + componentInfo + "," + model.shortName
+      }
+      Drag.dragType: Drag.Automatic
+      Drag.supportedActions : Qt.CopyAction
+      Drag.active: dragMouse.drag.active
+      // a point to drag from
+      Drag.hotSpot.x: 0
+      Drag.hotSpot.y: y
+      MouseArea {
+        id: dragMouse
+        anchors.fill: parent
+        drag.target: (model === null) ? null : parent
+        onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url })
+        onReleased: parent.Drag.drop();
+        cursorShape: Qt.DragCopyCursor
+     }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+      // Using the default header text values.
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: grid
+        width: parent.width
+
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: intensityText.width + indentation*3
+            Loader {
+              id: loaderIntensity
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderIntensity.item.componentInfo = "intensity"
+
+            Text {
+              id : intensityText
+              text: ' Intensity:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: intensityLoader
+              anchors.fill: parent
+              property double numberValue: model.data[19]
+              sourceComponent: spinZeroMax
+              onLoaded: {
+                intensityItem = intensityLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Layout.alignment : Qt.AlignLeft
+          Text {
+            text: "      Specular"
+            color: "dimgrey"
+            width: margin + indentation
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: rSpecularText.width + indentation*3
+            Loader {
+              id: loaderSpecularR
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderSpecularR.item.componentInfo = "specularR"
+
+            Text {
+              id : rSpecularText
+              text: ' R'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[0]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                rSpecularItem = rSpecularLoader.item
+              }
+            }
+          }
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: gSpecularText.width + indentation*3
+            Loader {
+              id: loaderSpecularG
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderSpecularG.item.componentInfo = "specularG"
+
+            Text {
+              id : gSpecularText
+              text: ' G'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[1]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                gSpecularItem = gSpecularLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: bSpecularText.width + indentation*3
+            Loader {
+              id: loaderSpecularB
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderSpecularB.item.componentInfo = "specularB"
+
+            Text {
+              id : bSpecularText
+              text: ' B'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[2]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                bSpecularItem = bSpecularLoader.item
+              }
+            }
+          }
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: aSpecularText.width + indentation*3
+            Loader {
+              id: loaderSpecularA
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderSpecularA.item.componentInfo = "specularA"
+
+            Text {
+              id : aSpecularText
+              text: ' A'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[3]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                aSpecularItem = aSpecularLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Layout.alignment: Qt.AlignHCenter
+          Button {
+            Layout.alignment: Qt.AlignHCenter
+            id: specularColor
+            text: qsTr("Specular Color")
+            onClicked: colorDialog.open()
+            ColorDialog {
+              id: colorDialog
+              title: "Choose a specular color"
+              visible: false
+              onAccepted: {
+                rSpecularLoader.item.value = colorDialog.color.r
+                gSpecularLoader.item.value = colorDialog.color.g
+                bSpecularLoader.item.value = colorDialog.color.b
+                aSpecularLoader.item.value = colorDialog.color.a
+                sendLight()
+                colorDialog.close()
+              }
+              onRejected: {
+                colorDialog.close()
+              }
+            }
+          }
+        }
+        RowLayout {
+          Text {
+            Layout.columnSpan: 6
+            text: "      Diffuse"
+            color: "dimgrey"
+            width: margin + indentation
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: rDiffuseText.width + indentation*3
+            Loader {
+              id: loaderDiffuseR
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDiffuseR.item.componentInfo = "diffuseR"
+
+            Text {
+              id : rDiffuseText
+              text: ' R'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[4]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                rDiffuseItem = rDiffuseLoader.item
+              }
+            }
+          }
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: gDiffuseText.width + indentation*3
+            Loader {
+              id: loaderDiffuseG
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDiffuseG.item.componentInfo = "diffuseG"
+
+            Text {
+              id : gDiffuseText
+              text: ' G'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[5]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                gDiffuseItem = gDiffuseLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: bDiffuseText.width + indentation*3
+            Loader {
+              id: loaderDiffuseB
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDiffuseB.item.componentInfo = "diffuseB"
+
+            Text {
+              id : bDiffuseText
+              text: ' B'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[6]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                bDiffuseItem = bDiffuseLoader.item
+              }
+            }
+          }
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: aDiffuseText.width + indentation*3
+            Loader {
+              id: loaderDiffuseA
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDiffuseA.item.componentInfo = "diffuseA"
+
+            Text {
+              id : aDiffuseText
+              text: ' A'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[7]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                aDiffuseItem = aDiffuseLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Layout.alignment: Qt.AlignHCenter
+          Button {
+            Layout.alignment: Qt.AlignHCenter
+            id: diffuseColor
+            text: qsTr("Diffuse Color")
+            onClicked: colorDialogDiffuse.open()
+            ColorDialog {
+              id: colorDialogDiffuse
+              title: "Choose a diffuse color"
+              visible: false
+              onAccepted: {
+                rDiffuseLoader.item.value = colorDialogDiffuse.color.r
+                gDiffuseLoader.item.value = colorDialogDiffuse.color.g
+                bDiffuseLoader.item.value = colorDialogDiffuse.color.b
+                aDiffuseLoader.item.value = colorDialogDiffuse.color.a
+                sendLight()
+                colorDialogDiffuse.close()
+              }
+              onRejected: {
+                colorDialogDiffuse.close()
+              }
+            }
+          }
+        }
+        RowLayout {
+          Text {
+            Layout.columnSpan: 6
+            text: "      Attenuation"
+            color: "dimgrey"
+            width: margin + indentation
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: attRangeText.width + indentation*3
+            Loader {
+              id: loaderAttRange
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderAttRange.item.componentInfo = "attRange"
+
+            Text {
+              id : attRangeText
+              text: ' Range'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: attRangeLoader
+              anchors.fill: parent
+              property double numberValue: model.data[8]
+              sourceComponent: spinZeroMax
+              onLoaded: {
+                attRangeItem = attRangeLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: attLinearText.width + indentation*3
+            Loader {
+              id: loaderAttLinear
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderAttLinear.item.componentInfo = "attLinear"
+
+            Text {
+              id : attLinearText
+              text: ' Linear'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: attLinearLoader
+              anchors.fill: parent
+              property double numberValue: model.data[9]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                attLinearItem = attLinearLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: attConstantText.width + indentation*3
+            Loader {
+              id: loaderAttConstant
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderAttConstant.item.componentInfo = "attConstant"
+
+            Text {
+              id : attConstantText
+              text: ' Constant'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: attConstantLoader
+              anchors.fill: parent
+              property double numberValue: model.data[10]
+              sourceComponent: sliderZeroOne
+              onLoaded: {
+                attConstantItem = attConstantLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: attQuadraticText.width + indentation*3
+            Loader {
+              id: loaderAttQuadratic
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderAttQuadratic.item.componentInfo = "attQuadratic"
+
+            Text {
+              id : attQuadraticText
+              text: ' Quadratic'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: attQuadraticLoader
+              anchors.fill: parent
+              property double numberValue: model.data[11]
+              sourceComponent: spinZeroMax
+              onLoaded: {
+                attQuadraticItem = attQuadraticLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: castShadowsText.width + indentation*3
+            Loader {
+              id: loaderCastShadows
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderCastShadows.item.componentInfo = "castshadows"
+
+            Text {
+              id : castShadowsText
+              text: ' Cast shadows'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+
+            Loader {
+              id: castShadowLoader
+              anchors.fill: parent
+              property double numberValue: model.data[12]
+              sourceComponent: ignSwitch
+              onLoaded: {
+                castShadowsItem = castShadowLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Text {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            Layout.columnSpan: 6
+            text: "      Direction"
+            color: "dimgrey"
+            width: margin + indentation
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: xDirectionText.width + indentation*3
+            Loader {
+              id: loaderDirectionX
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDirectionX.item.componentInfo = "directionX"
+
+            Text {
+              visible: model.data[19] === 1 || model.data[19] === 2
+              id : xDirectionText
+              text: ' X:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: xDirectionLoader
+              anchors.fill: parent
+              property double numberValue: model.data[13]
+              sourceComponent: spinNoLimit
+              onLoaded: {
+                directionXItem = xDirectionLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: yDirectionText.width + indentation*3
+            Loader {
+              id: loaderDirectionY
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDirectionY.item.componentInfo = "directionY"
+
+            Text {
+              visible: model.data[19] === 1 || model.data[19] === 2
+              id : yDirectionText
+              text: ' Y:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: yDirectionLoader
+              anchors.fill: parent
+              property double numberValue: model.data[14]
+              sourceComponent: spinNoLimit
+              onLoaded: {
+                directionYItem = yDirectionLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: zDirectionText.width + indentation*3
+            Loader {
+              id: loaderDirectionZ
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderDirectionZ.item.componentInfo = "directionZ"
+
+            Text {
+              visible: model.data[19] === 1 || model.data[19] === 2
+              id : zDirectionText
+              text: ' Z:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1 || model.data[19] === 2
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: zDirectionLoader
+              anchors.fill: parent
+              property double numberValue: model.data[15]
+              sourceComponent: spinNoLimit
+              onLoaded: {
+                directionZItem = zDirectionLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Text {
+            visible: model.data[19] === 1
+            Layout.columnSpan: 6
+            text: "      Spot features"
+            color: "dimgrey"
+            width: margin + indentation
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: innerAngleText.width + indentation*3
+            Loader {
+              id: loaderInnerAngle
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderInnerAngle.item.componentInfo = "innerAngle"
+
+            Text {
+              visible: model.data[19] === 1
+              id : innerAngleText
+              text: ' Inner Angle:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: innerAngleLoader
+              anchors.fill: parent
+              property double numberValue: model.data[16]
+              sourceComponent: spinNoLimit
+              onLoaded: {
+                innerAngleItem = innerAngleLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: outerAngleText.width + indentation*3
+            Loader {
+              id: loaderOuterAngle
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderOuterAngle.item.componentInfo = "outerAngle"
+
+            Text {
+              visible: model.data[19] === 1
+              id : outerAngleText
+              text: ' Outer angle:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: outerAngleLoader
+              anchors.fill: parent
+              property double numberValue: model.data[17]
+              sourceComponent: spinNoLimit
+              onLoaded: {
+                outerAngleItem = outerAngleLoader.item
+              }
+            }
+          }
+        }
+        RowLayout {
+          Rectangle {
+            visible: model.data[19] === 1
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: fallOffText.width + indentation*3
+            Loader {
+              id: loaderFallOff
+              width: iconWidth
+              height: iconHeight
+              y:10
+              sourceComponent: plotIcon
+            }
+            Component.onCompleted: loaderFallOff.item.componentInfo = "falloff"
+
+            Text {
+              visible: model.data[19] === 1
+              id : fallOffText
+              text: ' Falloff:'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            visible: model.data[19] === 1
+            Layout.fillWidth: true
+            height: 40
+            Layout.columnSpan: 4
+            Loader {
+              id: fallOffLoader
+              anchors.fill: parent
+              property double numberValue: model.data[18]
+              sourceComponent: spinZeroMax
+              onLoaded: {
+                falloffItem = fallOffLoader.item
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Magnetometer.cc b/src/gui/plugins/component_inspector_editor/Magnetometer.cc
new file mode 100644
index 0000000000..3ba125ae70
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Magnetometer.cc
@@ -0,0 +1,174 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <sdf/Magnetometer.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/Magnetometer.hh>
+
+#include "ComponentInspectorEditor.hh"
+#include "Magnetometer.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Magnetometer::Magnetometer(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("MagnetometerImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::Magnetometer>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    const sdf::Magnetometer *mag = comp->Data().MagnetometerSensor();
+
+    _item->setData(QString("Magnetometer"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(mag->XNoise().Mean()),
+      QVariant(mag->XNoise().BiasMean()),
+      QVariant(mag->XNoise().StdDev()),
+      QVariant(mag->XNoise().BiasStdDev()),
+      QVariant(mag->XNoise().DynamicBiasStdDev()),
+      QVariant(mag->XNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(mag->YNoise().Mean()),
+      QVariant(mag->YNoise().BiasMean()),
+      QVariant(mag->YNoise().StdDev()),
+      QVariant(mag->YNoise().BiasStdDev()),
+      QVariant(mag->YNoise().DynamicBiasStdDev()),
+      QVariant(mag->YNoise().DynamicBiasCorrelationTime()),
+
+      QVariant(mag->ZNoise().Mean()),
+      QVariant(mag->ZNoise().BiasMean()),
+      QVariant(mag->ZNoise().StdDev()),
+      QVariant(mag->ZNoise().BiasStdDev()),
+      QVariant(mag->ZNoise().DynamicBiasStdDev()),
+      QVariant(mag->ZNoise().DynamicBiasCorrelationTime()),
+
+    }), ComponentsModel::RoleNames().key("data"));
+  };
+
+  this->inspector->RegisterComponentCreator(
+      components::Magnetometer::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Magnetometer::OnMagnetometerXNoise(
+    double _mean, double _meanBias, double _stdDev,
+      double _stdDevBias, double _dynamicBiasStdDev,
+      double _dynamicBiasCorrelationTime)
+{
+  UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Magnetometer>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Magnetometer *mag = comp->Data().MagnetometerSensor();
+      if (mag)
+      {
+        sdf::Noise noise = mag->XNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        mag->SetXNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the magnetometer data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the magnetometer component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Magnetometer::OnMagnetometerYNoise(
+    double _mean, double _meanBias, double _stdDev,
+      double _stdDevBias, double _dynamicBiasStdDev,
+      double _dynamicBiasCorrelationTime)
+{
+  UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Magnetometer>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Magnetometer *mag = comp->Data().MagnetometerSensor();
+      if (mag)
+      {
+        sdf::Noise noise = mag->YNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        mag->SetYNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the magnetometer data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the magnetometer component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Magnetometer::OnMagnetometerZNoise(
+    double _mean, double _meanBias, double _stdDev,
+      double _stdDevBias, double _dynamicBiasStdDev,
+      double _dynamicBiasCorrelationTime)
+{
+  UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Magnetometer>(
+        this->inspector->GetEntity());
+    if (comp)
+    {
+      sdf::Magnetometer *mag = comp->Data().MagnetometerSensor();
+      if (mag)
+      {
+        sdf::Noise noise = mag->ZNoise();
+
+        setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias,
+            _dynamicBiasStdDev, _dynamicBiasCorrelationTime);
+
+        mag->SetZNoise(noise);
+      }
+      else
+        ignerr << "Unable to get the magnetometer data.\n";
+    }
+    else
+    {
+      ignerr << "Unable to get the magnetometer component.\n";
+    }
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/Magnetometer.hh b/src/gui/plugins/component_inspector_editor/Magnetometer.hh
new file mode 100644
index 0000000000..d95cf4f341
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Magnetometer.hh
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_MAGNETOMETER_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_MAGNETOMETER_HH_
+
+#include <QObject>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles magnetometer changes.
+  class Magnetometer : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit Magnetometer(ComponentInspectorEditor *_inspector);
+
+    /// \brief This function is called when a user changes values in the
+    /// x noise elements
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnMagnetometerXNoise(
+        double _mean, double _meanBias, double _stdDev,
+        double _stdDevBias, double _dynamicBiasStdDev,
+        double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// y noise elements
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnMagnetometerYNoise(
+        double _mean, double _meanBias, double _stdDev,
+        double _stdDevBias, double _dynamicBiasStdDev,
+        double _dynamicBiasCorrelationTime);
+
+    /// \brief This function is called when a user changes values in the
+    /// z noise elements
+    /// \param[in] _mean Mean value
+    /// \param[in] _meanBias Bias mean value
+    /// \param[in] _stdDev Standard deviation value
+    /// \param[in] _stdDevBias Bias standard deviation value
+    /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+    /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+    /// value
+    public: Q_INVOKABLE void OnMagnetometerZNoise(
+        double _mean, double _meanBias, double _stdDev,
+        double _stdDevBias, double _dynamicBiasStdDev,
+        double _dynamicBiasCorrelationTime);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Magnetometer.qml b/src/gui/plugins/component_inspector_editor/Magnetometer.qml
new file mode 100644
index 0000000000..dc182cd667
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Magnetometer.qml
@@ -0,0 +1,182 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying magnetometerr noise information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+
+      // Set the 'expandingHeaderText' value to override the default header
+      // values, which is based on the model.
+      expandingHeaderText: "Magnetometer noise"
+      expandingHeaderToolTip: "Magnetometer noise properties" 
+    }
+
+    // This is the content that will be expanded/contracted using the
+    // ExpandingHeader above. Note the "id: content" attribute.
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? layout.height : 0
+      clip: true
+      color: "transparent"
+      Layout.leftMargin: 4
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: layout
+        width: parent.width
+
+        // Space out the section header for x-axis noise.
+        Rectangle {
+          id: xaxisNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            id: xaxisNoiseText
+            text: "X-axis Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the x-axis noise values.
+        Noise {
+          id: xaxisNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[0]
+          meanBias: model.data[1]
+          stdDevValue: model.data[2]
+          stdDevBias: model.data[3]
+          dynamicBiasStdDev: model.data[4]
+          dynamicBiasCorrelationTime: model.data[5]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            xaxisNoise.onNoiseUpdate.connect(
+                MagnetometerImpl.OnMagnetometerXNoise)
+          }
+        }
+
+        // Space out the section header for y-axis noise.
+        Rectangle {
+          id: yaxisNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            id: yaxisNoiseText
+            text: "Y-axis Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the y-axis noise values.
+        Noise {
+          id: yaxisNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[6]
+          meanBias: model.data[7]
+          stdDevValue: model.data[8]
+          stdDevBias: model.data[9]
+          dynamicBiasStdDev: model.data[10]
+          dynamicBiasCorrelationTime: model.data[11]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            yaxisNoise.onNoiseUpdate.connect(
+                MagnetometerImpl.OnMagnetometerYNoise)
+          }
+        }
+
+        // Space out the section header for z-axis noise.
+        Rectangle {
+          id: zaxisNoiseTextRect
+          width: parent.width
+          height: childrenRect.height
+          Layout.leftMargin: 10
+          Layout.topMargin: 10
+          color: "transparent"
+
+          Text {
+            id: zaxisNoiseText
+            text: "Z-axis Noise"
+            color: "dimgrey"
+            font.pointSize: 12
+          }
+        }
+
+        // Show the y-axis noise values.
+        Noise {
+          id: zaxisNoise
+          Layout.fillWidth: true
+          Layout.leftMargin: 20
+
+          meanValue: model.data[12]
+          meanBias: model.data[13]
+          stdDevValue: model.data[14]
+          stdDevBias: model.data[15]
+          dynamicBiasStdDev: model.data[16]
+          dynamicBiasCorrelationTime: model.data[17]
+
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            zaxisNoise.onNoiseUpdate.connect(
+                MagnetometerImpl.OnMagnetometerZNoise)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Material.qml b/src/gui/plugins/component_inspector_editor/Material.qml
new file mode 100644
index 0000000000..77951822e6
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Material.qml
@@ -0,0 +1,606 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying material color information
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Loaded items for ambient red, green, blue, alpha
+  property var rAmbientItem: {}
+  property var gAmbientItem: {}
+  property var bAmbientItem: {}
+  property var aAmbientItem: {}
+
+  // Loaded items for diffuse red, green, blue, alpha
+  property var rDiffuseItem: {}
+  property var gDiffuseItem: {}
+  property var bDiffuseItem: {}
+  property var aDiffuseItem: {}
+
+  // Loaded items for specular red, green, blue, alpha
+  property var rSpecularItem: {}
+  property var gSpecularItem: {}
+  property var bSpecularItem: {}
+  property var aSpecularItem: {}
+
+  // Loaded items for emissive red, green, blue, alpha
+  property var rEmissiveItem: {}
+  property var gEmissiveItem: {}
+  property var bEmissiveItem: {}
+  property var aEmissiveItem: {}
+
+  // send new material color data to C++
+  function sendMaterialColor(_type, _currColor) {
+    componentInspectorEditor.onMaterialColor(
+      rAmbientItem.value,
+      gAmbientItem.value,
+      bAmbientItem.value,
+      aAmbientItem.value,
+      rDiffuseItem.value,
+      gDiffuseItem.value,
+      bDiffuseItem.value,
+      aDiffuseItem.value,
+      rSpecularItem.value,
+      gSpecularItem.value,
+      bSpecularItem.value,
+      aSpecularItem.value,
+      rEmissiveItem.value,
+      gEmissiveItem.value,
+      bEmissiveItem.value,
+      aEmissiveItem.value,
+      _type,
+      _currColor
+    );
+  }
+
+  // Get button color from model.data, related start indices
+  // 0 = ambient
+  // 4 = diffuse
+  // 8 = specular
+  // 12 = emissive
+  function getButtonColor(_start_index, _isFillColor)
+  {
+    if (_isFillColor) {
+      // fill color (of object in the scene)
+      return Qt.rgba(model.data[_start_index],
+                     model.data[_start_index + 1],
+                     model.data[_start_index + 2],
+                     model.data[_start_index + 3])
+    } else {
+      // border color's alpha set to 1 incase fill color is 0
+      return Qt.rgba(model.data[_start_index],
+                     model.data[_start_index + 1],
+                     model.data[_start_index + 2],
+                     1.0)
+    }
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  // Used to create rgba spin boxes
+  Component {
+    id: spinBoxMaterialColor
+    IgnSpinBox {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      minimumValue: 0
+      maximumValue: 255
+      decimals: 0
+      onEditingFinished: {
+        // sending empty params to not open color dialog
+        sendMaterialColor("", Qt.rgba(0, 0, 0, 0))
+      }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // Header
+    Rectangle {
+      id: header
+      width: parent.width
+      height: typeHeader.height
+      color: "transparent"
+
+      RowLayout {
+        anchors.fill: parent
+        Item {
+          width: margin
+        }
+        Image {
+          id: icon
+          sourceSize.height: indentation
+          sourceSize.width: indentation
+          fillMode: Image.Pad
+          Layout.alignment : Qt.AlignVCenter
+          source: content.show ?
+              "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
+        }
+        TypeHeader {
+          id: typeHeader
+        }
+        Item {
+          Layout.fillWidth: true
+        }
+      }
+      MouseArea {
+        anchors.fill: parent
+        hoverEnabled: true
+        cursorShape: Qt.PointingHandCursor
+        onClicked: {
+          content.show = !content.show
+        }
+        onEntered: {
+          header.color = highlightColor
+        }
+        onExited: {
+          header.color = "transparent"
+        }
+      }
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ColumnLayout {
+        id: grid
+        width: parent.width
+        spacing: 20
+
+        GridLayout {
+          width: parent.width
+          columns: 6
+
+          // rgba headers
+          Text {
+            text: "Red    "
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            Layout.row: 1
+            Layout.column: 3
+          }
+          Text {
+            text: "Green"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            Layout.row: 1
+            Layout.column: 4
+          }
+          Text {
+            text: "Blue  "
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            Layout.row: 1
+            Layout.column: 5
+          }
+          Text {
+            text: "Alpha"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            Layout.row: 1
+            Layout.column: 6
+          }
+
+          // Ambient
+          Text {
+            text: " Ambient"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            Layout.row: 2
+            Layout.column: 1
+          }
+          // Ambient color dialog
+          Button {
+            id: ambientButton
+            Layout.row: 2
+            Layout.column: 2
+            ToolTip.text: "Open color dialog"
+            ToolTip.visible: hovered
+            ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+            background: Rectangle {
+              implicitWidth: 40
+              implicitHeight: 40
+              radius: 5
+              border.color: getButtonColor(0, false)
+              border.width: 2
+              color: getButtonColor(0, true)
+            }
+            onClicked: {
+              sendMaterialColor("ambient", getButtonColor(0, true))
+            }
+          }
+          // Ambient red
+          Item {
+            Layout.row: 2
+            Layout.column: 3
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rAmbientLoader
+              anchors.fill: parent
+              property double numberValue: model.data[0]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                rAmbientItem = rAmbientLoader.item
+              }
+            }
+          }
+          // Ambient green
+          Item {
+            Layout.row: 2
+            Layout.column: 4
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gAmbientLoader
+              anchors.fill: parent
+              property double numberValue: model.data[1]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                gAmbientItem = gAmbientLoader.item
+              }
+            }
+          }
+          // Ambient blue
+          Item {
+            Layout.row: 2
+            Layout.column: 5
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bAmbientLoader
+              anchors.fill: parent
+              property double numberValue: model.data[2]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                bAmbientItem = bAmbientLoader.item
+              }
+            }
+          }
+          // Ambient alpha
+          Item {
+            Layout.row: 2
+            Layout.column: 6
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aAmbientLoader
+              anchors.fill: parent
+              property double numberValue: model.data[3]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                aAmbientItem = aAmbientLoader.item
+              }
+            }
+          } // end Ambient
+
+          // Diffuse
+          Text {
+            text: " Diffuse"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            Layout.row: 3
+            Layout.column: 1
+          }
+          // Diffuse color dialog
+          Button {
+            id: diffuseButton
+            Layout.row: 3
+            Layout.column: 2
+            ToolTip.text: "Open color dialog"
+            ToolTip.visible: hovered
+            ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+            background: Rectangle {
+              implicitWidth: 40
+              implicitHeight: 40
+              radius: 5
+              border.color: getButtonColor(4, false)
+              border.width: 2
+              color: getButtonColor(4, true)
+            }
+            onClicked: {
+              sendMaterialColor("diffuse", getButtonColor(4, true))
+            }
+          }
+          // Diffuse red
+          Item {
+            Layout.row: 3
+            Layout.column: 3
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[4]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                rDiffuseItem = rDiffuseLoader.item
+              }
+            }
+          }
+          // Diffuse green
+          Item {
+            Layout.row: 3
+            Layout.column: 4
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[5]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                gDiffuseItem = gDiffuseLoader.item
+              }
+            }
+          }
+          // Diffuse blue
+          Item {
+            Layout.row: 3
+            Layout.column: 5
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[6]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                bDiffuseItem = bDiffuseLoader.item
+              }
+            }
+          }
+          // Diffuse alpha
+          Item {
+            Layout.row: 3
+            Layout.column: 6
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aDiffuseLoader
+              anchors.fill: parent
+              property double numberValue: model.data[7]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                aDiffuseItem = aDiffuseLoader.item
+              }
+            }
+          } // end Diffuse
+
+          // Specular
+          Text {
+            text: " Specular"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            Layout.row: 4
+            Layout.column: 1
+          }
+          // Specular color dialog
+          Button {
+            id: specularButton
+            Layout.row: 4
+            Layout.column: 2
+            ToolTip.text: "Open color dialog"
+            ToolTip.visible: hovered
+            ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+            background: Rectangle {
+              implicitWidth: 40
+              implicitHeight: 40
+              radius: 5
+              border.color: getButtonColor(8, false)
+              border.width: 2
+              color: getButtonColor(8, true)
+            }
+            onClicked: {
+              sendMaterialColor("specular", getButtonColor(8, true))
+            }
+          }
+          // Specular red
+          Item {
+            Layout.row: 4
+            Layout.column: 3
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[8]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                rSpecularItem = rSpecularLoader.item
+              }
+            }
+          }
+          // Specular green
+          Item {
+            Layout.row: 4
+            Layout.column: 4
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[9]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                gSpecularItem = gSpecularLoader.item
+              }
+            }
+          }
+          // Specular blue
+          Item {
+            Layout.row: 4
+            Layout.column: 5
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[10]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                bSpecularItem = bSpecularLoader.item
+              }
+            }
+          }
+          // Specular alpha
+          Item {
+            Layout.row: 4
+            Layout.column: 6
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aSpecularLoader
+              anchors.fill: parent
+              property double numberValue: model.data[11]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                aSpecularItem = aSpecularLoader.item
+              }
+            }
+          } // end Specular
+
+          // Emissive
+          Text {
+            text: " Emissive"
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            Layout.row: 5
+            Layout.column: 1
+          }
+          // Emissive color dialog
+          Button {
+            id: emissiveButton
+            Layout.row: 5
+            Layout.column: 2
+            ToolTip.text: "Open color dialog"
+            ToolTip.visible: hovered
+            ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+            background: Rectangle {
+              implicitWidth: 40
+              implicitHeight: 40
+              radius: 5
+              border.color: getButtonColor(12, false)
+              border.width: 2
+              color: getButtonColor(12, true)
+            }
+            onClicked: {
+              sendMaterialColor("emissive", getButtonColor(12, true))
+            }
+          }
+          // Emissive red
+          Item {
+            Layout.row: 5
+            Layout.column: 3
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: rEmissiveLoader
+              anchors.fill: parent
+              property double numberValue: model.data[12]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                rEmissiveItem = rEmissiveLoader.item
+              }
+            }
+          }
+          // Emissive green
+          Item {
+            Layout.row: 5
+            Layout.column: 4
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: gEmissiveLoader
+              anchors.fill: parent
+              property double numberValue: model.data[13]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                gEmissiveItem = gEmissiveLoader.item
+              }
+            }
+          }
+          // Emissive blue
+          Item {
+            Layout.row: 5
+            Layout.column: 5
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: bEmissiveLoader
+              anchors.fill: parent
+              property double numberValue: model.data[14]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                bEmissiveItem = bEmissiveLoader.item
+              }
+            }
+          }
+          // Emissive alpha
+          Item {
+            Layout.row: 5
+            Layout.column: 6
+            Layout.fillWidth: true
+            height: 40
+            Loader {
+              id: aEmissiveLoader
+              anchors.fill: parent
+              property double numberValue: model.data[15]
+              sourceComponent: spinBoxMaterialColor
+              onLoaded: {
+                aEmissiveItem = aEmissiveLoader.item
+              }
+            }
+          } // end Emissive
+        } // end GridLayout
+      } // end ColumnLayout (id: grid)
+    } // Rectangle (id: content)
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/ModelEditor.cc b/src/gui/plugins/component_inspector_editor/ModelEditor.cc
new file mode 100644
index 0000000000..91699dd528
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ModelEditor.cc
@@ -0,0 +1,546 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#include <iostream>
+#include <list>
+#include <set>
+#include <string>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
+
+#include <sdf/Box.hh>
+#include <sdf/Ellipsoid.hh>
+#include <sdf/Capsule.hh>
+#include <sdf/Cylinder.hh>
+#include <sdf/Mesh.hh>
+#include <sdf/Sphere.hh>
+#include <sdf/Link.hh>
+#include <sdf/Sensor.hh>
+#include <sdf/parser.hh>
+
+#include "ignition/gazebo/components/Model.hh"
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/SdfEntityCreator.hh"
+
+#include "ignition/gazebo/gui/GuiEvents.hh"
+#include "ignition/gazebo/Util.hh"
+
+#include "ModelEditor.hh"
+
+namespace ignition::gazebo
+{
+  class EntityToAdd
+  {
+    /// \brief Entity to add to the model editor
+    public: std::string geomOrLightType;
+
+    /// \brief Type of entity to add
+    public: std::string entityType;
+
+    /// \brief Parent entity to add the entity to
+    public: Entity parentEntity;
+
+    /// \brief Additional entity-specific data needed
+    public: std::unordered_map<std::string, std::string> data;
+  };
+
+  class ModelEditorPrivate
+  {
+    /// \brief Handle entity addition
+    /// \param[in] _geomOrLightType Geometry or light type, e.g. sphere,
+    /// directional, etc
+    /// \param[in] _entityType Type of entity: link, visual, collision, etc
+    /// \param[in] _parentEntity Parent entity
+    /// \param[in] _data Additional variable data for specific instances
+    public: void HandleAddEntity(const std::string &_geomOrLightType,
+        const std::string &_entityType, Entity _parentEntity,
+        const std::unordered_map<std::string, std::string> &_data);
+
+    /// \brief Create a geom
+    /// \param[in] _eta Entity to add.
+    public: std::optional<sdf::Geometry> CreateGeom(
+                const EntityToAdd &_eta) const;
+
+    /// \brief Create a light
+    /// \param[in] _eta Entity to add.
+    public: std::optional<sdf::Light> CreateLight(
+                const EntityToAdd &_eta) const;
+
+    /// \brief Create a link
+    /// \param[in] _eta Entity to add.
+    public: std::optional<sdf::Link> CreateLink(
+                const EntityToAdd &_eta,
+                EntityComponentManager &_ecm) const;
+
+    /// \brief Create a sensor
+    /// \param[in] _eta Entity to add.
+    public: std::optional<sdf::Sensor> CreateSensor(
+                const EntityToAdd &_eta,
+                EntityComponentManager &_ecm) const;
+
+    /// \brief Create a joint
+    /// \param[in] _eta Entity to add.
+    public: std::optional<sdf::Joint> CreateJoint(
+                const EntityToAdd &_eta,
+                EntityComponentManager &_ecm) const;
+
+    /// \brief Entity Creator API.
+    public: std::unique_ptr<SdfEntityCreator> entityCreator{nullptr};
+
+    /// \brief A record of the ids in the editor
+    /// for easy deletion of visuals later
+    public: std::vector<Entity> entityIds;
+
+    /// \brief Mutex to protect the entity sdf list
+    public: std::mutex mutex;
+
+    /// \brief A map of links to add to the ECM and the parent entity names
+    // public: std::vector<std::pair<sdf::Link, std::string>> linksToAdd;
+    public: std::vector<EntityToAdd> entitiesToAdd;
+
+    /// \brief Sensors to add to the ECM
+    public: std::vector<sdf::Sensor> sensorsToAdd;
+
+    /// \brief Event Manager
+    public: EventManager eventMgr;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+ModelEditor::ModelEditor()
+  : dataPtr(std::make_unique<ModelEditorPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+ModelEditor::~ModelEditor() = default;
+
+/////////////////////////////////////////////////
+void ModelEditor::Load()
+{
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+//////////////////////////////////////////////////
+void ModelEditor::Update(const UpdateInfo &,
+    EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("ModelEditor::Update");
+
+  if (!this->dataPtr->entityCreator)
+  {
+    this->dataPtr->entityCreator = std::make_unique<SdfEntityCreator>(
+        _ecm, this->dataPtr->eventMgr);
+  }
+
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  // add link entities to the ECM
+  std::list<Entity> entities;
+  std::set<Entity> newEntities;
+
+  for (const auto &eta : this->dataPtr->entitiesToAdd)
+  {
+    if (eta.parentEntity == kNullEntity)
+    {
+      ignerr << "Parent entity not defined." << std::endl;
+       continue;
+    }
+
+    if (eta.entityType == "link")
+    {
+      std::optional<sdf::Link> link = this->dataPtr->CreateLink(eta, _ecm);
+      if (link)
+      {
+        Entity entity = this->dataPtr->entityCreator->CreateEntities(&(*link));
+        this->dataPtr->entityCreator->SetParent(entity, eta.parentEntity);
+        // Make sure to mark the parent as needing recreation. This will
+        // tell the server to rebuild the model with the new link.
+        _ecm.CreateComponent(eta.parentEntity, components::Recreate());
+        entities.push_back(entity);
+      }
+    }
+    else if (eta.entityType == "sensor")
+    {
+      std::optional<sdf::Sensor> sensor =
+        this->dataPtr->CreateSensor(eta, _ecm);
+      if (sensor)
+      {
+        Entity entity = this->dataPtr->entityCreator->CreateEntities(
+            &(*sensor));
+        this->dataPtr->entityCreator->SetParent(entity, eta.parentEntity);
+        // Make sure to mark the parent as needing recreation. This will
+        // tell the server to rebuild the model with the new link.
+        _ecm.CreateComponent(topLevelModel(eta.parentEntity, _ecm),
+                             components::Recreate());
+        entities.push_back(entity);
+      }
+    }
+    else if (eta.entityType == "joint")
+    {
+      std::optional<sdf::Joint> joint = this->dataPtr->CreateJoint(eta, _ecm);
+      if (joint)
+      {
+        Entity entity = this->dataPtr->entityCreator->CreateEntities(
+            &(*joint), true);
+        this->dataPtr->entityCreator->SetParent(entity, eta.parentEntity);
+        // Make sure to mark the parent as needing recreation. This will
+        // tell the server to rebuild the model with the new link.
+        _ecm.CreateComponent(eta.parentEntity, components::Recreate());
+        entities.push_back(entity);
+      }
+    }
+  }
+
+  // traverse the tree and add all new entities created by the entity
+  // creator to the set
+  while (!entities.empty())
+  {
+    Entity ent = entities.front();
+    entities.pop_front();
+
+    // add new entity created
+    newEntities.insert(ent);
+
+    auto childEntities = _ecm.EntitiesByComponents(
+        components::ParentEntity(ent));
+    for (const auto &child : childEntities)
+      entities.push_back(child);
+  }
+
+  // use GuiNewRemovedEntities event to update other gui plugins
+  // note this event will be removed in Ignition Garden
+  std::set<Entity> removedEntities;
+  ignition::gazebo::gui::events::GuiNewRemovedEntities event(
+      newEntities, removedEntities);
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      &event);
+
+  this->dataPtr->entitiesToAdd.clear();
+}
+
+/////////////////////////////////////////////////
+bool ModelEditor::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == gazebo::gui::events::ModelEditorAddEntity::kType)
+  {
+    auto event = reinterpret_cast<gui::events::ModelEditorAddEntity *>(_event);
+    if (event)
+    {
+      // Convert to an unordered map of STL strings for convenience
+      std::unordered_map<std::string, std::string> data;
+      for (auto key : event->Data().toStdMap())
+      {
+        data[key.first.toStdString()] = key.second.toStdString();
+      }
+
+      this->dataPtr->HandleAddEntity(event->Entity().toStdString(),
+          event->EntityType().toStdString(),
+          event->ParentEntity(), data);
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+std::optional<sdf::Light> ModelEditorPrivate::CreateLight(
+    const EntityToAdd &_eta) const
+{
+  sdf::Light light;
+  light.SetCastShadows(false);
+  light.SetDiffuse(math::Color(1, 1, 1, 1));
+  light.SetSpecular(math::Color(0.5, 0.5, 0.5, 0.5));
+
+  if (_eta.geomOrLightType == "directional")
+  {
+    light.SetType(sdf::LightType::DIRECTIONAL);
+  }
+  else if (_eta.geomOrLightType == "spot" || _eta.geomOrLightType == "point")
+  {
+    light.SetType(sdf::LightType::SPOT);
+    light.SetAttenuationRange(4);
+    light.SetConstantAttenuationFactor(0.2);
+    light.SetLinearAttenuationFactor(0.5);
+    light.SetQuadraticAttenuationFactor(0.01);
+
+    if (_eta.geomOrLightType == "spot")
+    {
+      light.SetSpotInnerAngle(0.1);
+      light.SetSpotOuterAngle(0.5);
+      light.SetSpotFalloff(0.8);
+    }
+  }
+  else
+  {
+    ignwarn << "Light type not supported: "
+      << _eta.geomOrLightType << std::endl;
+    return std::nullopt;
+  }
+
+  return light;
+}
+/////////////////////////////////////////////////
+std::optional<sdf::Geometry> ModelEditorPrivate::CreateGeom(
+    const EntityToAdd &_eta) const
+{
+  math::Vector3d size = math::Vector3d::One;
+  sdf::Geometry geom;
+
+  if (_eta.geomOrLightType == "box")
+  {
+    sdf::Box shape;
+    shape.SetSize(size);
+    geom.SetBoxShape(shape);
+    geom.SetType(sdf::GeometryType::BOX);
+  }
+  else if (_eta.geomOrLightType == "sphere")
+  {
+    sdf::Sphere shape;
+    shape.SetRadius(size.X() * 0.5);
+    geom.SetSphereShape(shape);
+    geom.SetType(sdf::GeometryType::SPHERE);
+  }
+  else if (_eta.geomOrLightType == "cylinder")
+  {
+    sdf::Cylinder shape;
+    shape.SetRadius(size.X() * 0.5);
+    shape.SetLength(size.Z());
+    geom.SetCylinderShape(shape);
+    geom.SetType(sdf::GeometryType::CYLINDER);
+  }
+  else if (_eta.geomOrLightType == "capsule")
+  {
+    sdf::Capsule shape;
+    shape.SetRadius(size.X() * 0.5);
+    shape.SetLength(size.Z());
+    geom.SetCapsuleShape(shape);
+    geom.SetType(sdf::GeometryType::CAPSULE);
+  }
+  else if (_eta.geomOrLightType == "ellipsoid")
+  {
+    sdf::Ellipsoid shape;
+    shape.SetRadii(size * 0.5);
+    geom.SetEllipsoidShape(shape);
+    geom.SetType(sdf::GeometryType::ELLIPSOID);
+  }
+  else if (_eta.geomOrLightType == "mesh")
+  {
+    sdf::Mesh shape;
+    shape.SetUri(_eta.data.at("uri"));
+    geom.SetMeshShape(shape);
+    geom.SetType(sdf::GeometryType::MESH);
+  }
+  else
+  {
+    ignwarn << "Geometry type not supported: "
+      << _eta.geomOrLightType << std::endl;
+    return std::nullopt;
+  }
+
+  return geom;
+}
+
+/////////////////////////////////////////////////
+std::optional<sdf::Link> ModelEditorPrivate::CreateLink(
+    const EntityToAdd &_eta, EntityComponentManager &_ecm) const
+{
+  sdf::Link link;
+  if (_eta.parentEntity == kNullEntity)
+  {
+    ignerr << "Parent entity not defined." << std::endl;
+    return std::nullopt;
+  }
+
+  if (_eta.geomOrLightType == "spot" || _eta.geomOrLightType == "directional" ||
+      _eta.geomOrLightType == "point")
+  {
+    std::optional<sdf::Light> light = this->CreateLight(_eta);
+    if (light)
+      link.AddLight(*light);
+  }
+  else
+  {
+    std::optional<sdf::Geometry> geom = this->CreateGeom(_eta);
+    if (geom)
+    {
+      sdf::Collision collision;
+      collision.SetName("collision");
+      collision.SetGeom(*geom);
+      link.AddCollision(collision);
+
+      sdf::Visual visual;
+      visual.SetName("visual");
+      visual.SetGeom(*geom);
+      link.AddVisual(visual);
+    }
+  }
+
+  // generate unique link name
+  // note passing components::Link() as arg to EntityByComponents causes
+  // a crash on exit, see issue #1158
+  std::string linkName = "link";
+  Entity linkEnt = _ecm.EntityByComponents(
+      components::ParentEntity(_eta.parentEntity),
+      components::Name(linkName));
+  int64_t counter = 0;
+  while (linkEnt)
+  {
+    linkName = std::string("link") + "_" + std::to_string(++counter);
+    linkEnt = _ecm.EntityByComponents(
+        components::ParentEntity(_eta.parentEntity),
+        components::Name(linkName));
+  }
+
+  link.SetName(linkName);
+  return link;
+}
+
+/////////////////////////////////////////////////
+std::optional<sdf::Sensor> ModelEditorPrivate::CreateSensor(
+    const EntityToAdd &_eta, EntityComponentManager &_ecm) const
+{
+  // Exit early if there is no parent entity
+  if (_eta.parentEntity == kNullEntity)
+  {
+    ignerr << "Parent entity not defined." << std::endl;
+    return std::nullopt;
+  }
+
+  sdf::Sensor sensor;
+
+  std::string type;
+
+  // Replace spaces with underscores.
+  common::replaceAll(type, _eta.geomOrLightType, " ", "_");
+
+  std::ostringstream stream;
+  stream << "<sdf version='" << SDF_VERSION << "'>"
+    << "<sensor name='" << type << "' type='" << type << "'>"
+    << "<" << type << "></" << type << "></sensor></sdf>";
+
+  auto sdfStr = stream.str();
+  sdf::ElementPtr sensorElem(new sdf::Element);
+  sdf::initFile("sensor.sdf", sensorElem);
+  sdf::readString(sdfStr, sensorElem);
+  sensor.Load(sensorElem);
+
+  // generate unique sensor name
+  // note passing components::Link() as arg to EntityByComponents causes
+  // a crash on exit, see issue #1158
+  std::string sensorName = type;
+  Entity sensorEnt = _ecm.EntityByComponents(
+      components::ParentEntity(_eta.parentEntity),
+      components::Name(sensorName));
+  int64_t counter = 0;
+  while (sensorEnt)
+  {
+    sensorName = type + "_" + std::to_string(++counter);
+    sensorEnt = _ecm.EntityByComponents(
+        components::ParentEntity(_eta.parentEntity),
+        components::Name(sensorName));
+  }
+  sensor.SetName(sensorName);
+
+  sensor.SetTopic("/" + sensorName);
+
+  return sensor;
+}
+
+/////////////////////////////////////////////////
+std::optional<sdf::Joint> ModelEditorPrivate::CreateJoint(
+    const EntityToAdd &_eta, EntityComponentManager &_ecm) const
+{
+  sdf::Joint joint;
+
+  if (_eta.geomOrLightType == "ball")
+    joint.SetType(sdf::JointType::BALL);
+  else if (_eta.geomOrLightType == "continuous")
+    joint.SetType(sdf::JointType::CONTINUOUS);
+  else if (_eta.geomOrLightType == "fixed")
+    joint.SetType(sdf::JointType::FIXED);
+  else if (_eta.geomOrLightType == "gearbox")
+    joint.SetType(sdf::JointType::GEARBOX);
+  else if (_eta.geomOrLightType == "prismatic")
+    joint.SetType(sdf::JointType::PRISMATIC);
+  else if (_eta.geomOrLightType == "revolute")
+    joint.SetType(sdf::JointType::REVOLUTE);
+  else if (_eta.geomOrLightType == "revolute2")
+    joint.SetType(sdf::JointType::REVOLUTE2);
+  else if (_eta.geomOrLightType == "screw")
+    joint.SetType(sdf::JointType::SCREW);
+  else
+  {
+    ignwarn << "Joint type not supported: "
+      << _eta.geomOrLightType << std::endl;
+
+    return std::nullopt;
+  }
+
+  joint.SetParentLinkName(_eta.data.at("parent_link"));
+  joint.SetChildLinkName(_eta.data.at("child_link"));
+
+  std::string jointName = "joint";
+  Entity jointEnt = _ecm.EntityByComponents(
+      components::ParentEntity(_eta.parentEntity),
+      components::Name(jointName));
+  int64_t counter = 0;
+  while (jointEnt)
+  {
+    jointName = std::string("joint") + "_" + std::to_string(++counter);
+    jointEnt = _ecm.EntityByComponents(
+        components::ParentEntity(_eta.parentEntity),
+        components::Name(jointName));
+  }
+
+  joint.SetName(jointName);
+
+  return joint;
+}
+
+/////////////////////////////////////////////////
+void ModelEditorPrivate::HandleAddEntity(const std::string &_geomOrLightType,
+  const std::string &_type, Entity _parentEntity,
+  const std::unordered_map<std::string, std::string> &_data)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  std::string entType = common::lowercase(_type);
+  std::string geomLightType = common::lowercase(_geomOrLightType);
+
+  EntityToAdd eta;
+  eta.entityType = entType;
+  eta.geomOrLightType = geomLightType;
+  eta.parentEntity = _parentEntity;
+  eta.data = _data;
+
+  this->entitiesToAdd.push_back(eta);
+}
diff --git a/src/gui/plugins/component_inspector_editor/ModelEditor.hh b/src/gui/plugins/component_inspector_editor/ModelEditor.hh
new file mode 100644
index 0000000000..bfc09df897
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/ModelEditor.hh
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUI_MODELEDITOR_HH_
+#define IGNITION_GAZEBO_GUI_MODELEDITOR_HH_
+
+#include <memory>
+
+#include <QtCore>
+
+#include <ignition/gazebo/Types.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ModelEditorPrivate;
+
+  /// \brief Model Editor
+  class ModelEditor : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: ModelEditor();
+
+    /// \brief Destructor
+    public: ~ModelEditor();
+
+    /// \brief Load the model editor
+    public: void Load();
+
+    /// \brief Update the model editor with data from ECM
+    /// \param[in] _info Simulator update info
+    /// \param[in] _ecm Reference to Entity Component Manager
+    public: void Update(const UpdateInfo &_info, EntityComponentManager &_ecm);
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<ModelEditorPrivate> dataPtr;
+  };
+}
+}
+
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/NoData.qml b/src/gui/plugins/component_inspector_editor/NoData.qml
new file mode 100644
index 0000000000..125f76d4ae
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/NoData.qml
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+import "qrc:/ComponentInspectorEditor"
+
+Rectangle {
+  id: stringComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    Item {
+      height: parent.height
+      Layout.fillWidth: true
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Noise.qml b/src/gui/plugins/component_inspector_editor/Noise.qml
new file mode 100644
index 0000000000..0c782d048d
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Noise.qml
@@ -0,0 +1,424 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying noise information.
+Rectangle {
+  id: noise
+  height: noiseContent.height
+  color: "transparent"
+
+  // Mean value
+  property double meanValue: 0.0
+
+  // Mean bias
+  property double meanBias: 0.0
+
+  // Standard deviation value
+  property double stdDevValue: 0.0
+
+  // Standard deviation bias
+  property double stdDevBias: 0.0
+
+  // Dynamic bias standard deviation
+  property double dynamicBiasStdDev: 0.0
+
+  // Dynamic bias correlation time
+  property double dynamicBiasCorrelationTime: 0.0
+
+  // Signal that a user of this component can connect to in order to receive
+  // noise updates 
+  signal onNoiseUpdate(double _mean, double _meanBias, double _stdDev,
+      double _stdDevBias, double _dynamicBiasStdDev,
+      double _dynamicBiasCorrelationTime)
+
+  function onMean(_value) {
+    meanValue = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  function onMeanBias(_value) {
+    meanBias = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  function onStdDev(_value) {
+    stdDevValue = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  function onStdDevBias(_value) {
+    stdDevBias = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  function onDynamicBiasStdDev(_value) {
+    dynamicBiasStdDev = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  function onDynamicBiasCorrelationTime(_value) {
+    dynamicBiasCorrelationTime = _value;
+    onNoiseUpdate(meanValue, meanBias, stdDevValue, stdDevBias,
+        dynamicBiasStdDev, dynamicBiasCorrelationTime);
+  }
+
+  // Display the main content
+  Column {
+    anchors.fill: parent
+
+    // Content
+    Rectangle {
+      id: noiseContent
+      width: parent.width
+      height: grid.height
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      GridLayout {
+        id: grid
+        width: parent.width
+        columns: 4
+
+        // Padding 
+        Rectangle {
+          Layout.columnSpan: 4
+          height: 4
+        }
+
+        // Mean text label
+        Text {
+          Layout.columnSpan: 4
+          text: "Mean"
+          color: "dimgrey"
+          font.pointSize: 10
+          font.bold: true
+        }
+
+        // Mean
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: meanText.width
+
+          Text {
+            id : meanText
+            text: 'Value'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+            ToolTip {
+              visible: meanMa.containsMouse
+              delay: tooltipDelay
+              text: "Mean value"
+              y: meanText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: meanMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+          }
+        }
+        StateAwareSpin {
+          id: meanSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: meanValue
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            meanSpin.onChange.connect(onMean)
+          }
+        }
+        // End of mean
+ 
+        // Mean Bias
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: meanBiasText.width
+
+          Text {
+            id : meanBiasText
+            text: 'Bias'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+            ToolTip {
+              visible: meanBiasMa.containsMouse
+              delay: tooltipDelay
+              text: "Mean bias"
+              y: meanBiasText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: meanBiasMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+          }
+        }
+        StateAwareSpin {
+          id: meanBiasSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: meanBias
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            meanBiasSpin.onChange.connect(onMeanBias)
+          }
+        }
+        // End of mean bias
+     
+        // Padding 
+        Rectangle {
+          Layout.columnSpan: 4
+          height: 4
+        }
+
+        // Std Dev text label
+        Text {
+          Layout.columnSpan: 4
+          text: "Standard deviation"
+          color: "dimgrey"
+          font.pointSize: 10
+          font.bold: true
+        }
+
+        // Std Dev
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: stddevText.width
+
+          Text {
+            id : stddevText
+            text: 'Value'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+            ToolTip {
+              visible: stdDevMa.containsMouse
+              delay: tooltipDelay
+              text: "Standard deviation value"
+              y: stddevText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: stdDevMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+          }
+        }
+        StateAwareSpin {
+          id: stddevSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: stdDevValue
+          minValue: 0
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            stddevSpin.onChange.connect(onStdDev)
+          }
+        }
+        // End of stddev
+
+        // Std Dev bias
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: stddevBiasText.width
+
+          Text {
+            id : stddevBiasText
+            text: 'Bias'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+            ToolTip {
+              visible: stddevBiasTextMa.containsMouse
+              delay: tooltipDelay
+              text: "Standard deviation bias"
+              y: stddevBiasText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: stddevBiasTextMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+          }
+        }
+        StateAwareSpin {
+          id: stddevBiasSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: stdDevBias
+          minValue: 0
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            stddevBiasSpin.onChange.connect(onStdDevBias)
+          }
+        }
+        // End of stddev bias
+
+        // Padding 
+        Rectangle {
+          Layout.columnSpan: 4
+          height: 4
+        }
+
+        // Dynamic bias text label
+        Text {
+          Layout.columnSpan: 4
+          text: "Dynamic bias"
+          color: "dimgrey"
+          font.pointSize: 10
+          font.bold: true
+        }
+
+        // Dynamic bias std Dev
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: dynamicBiasStddevText.width
+
+          Text {
+            id : dynamicBiasStddevText
+            text: 'Std. Dev.'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+            ToolTip {
+              visible: dynamicBiasStddevTextMa.containsMouse
+              delay: tooltipDelay
+              text: "Standard deviation"
+              y: dynamicBiasStddevText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: dynamicBiasStddevTextMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+
+          }
+        }
+        StateAwareSpin {
+          id: dynamicBiasStdDevSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: dynamicBiasStdDev
+          minValue: 0
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            dynamicBiasStdDevSpin.onChange.connect(onDynamicBiasStdDev)
+          }
+        }
+        // End of dynamic bias stddev
+
+        // Dynamic bias correlation time
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: dynamicBiasCorrelationTimeText.width
+
+          Text {
+            id : dynamicBiasCorrelationTimeText
+            text: 'Cor. Time (s)'
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+
+            ToolTip {
+              visible: dynamicBiasCorrelationTimeTextMa.containsMouse
+              delay: tooltipDelay
+              text: "Correlation time in seconds."
+              y: dynamicBiasCorrelationTimeText.y + 30
+              enter: null
+              exit: null
+            }
+            MouseArea {
+              id: dynamicBiasCorrelationTimeTextMa
+              anchors.fill: parent
+              hoverEnabled: true
+              acceptedButtons: Qt.RightButton
+            }
+          }
+        }
+        StateAwareSpin {
+          id: dynamicBiasCorrelationTimeSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: dynamicBiasCorrelationTime
+          minValue: 0
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          // Connect to the onNoiseUpdate signal in Noise.qml
+          Component.onCompleted: {
+            dynamicBiasCorrelationTimeSpin.onChange.connect(onDynamicBiasCorrelationTime)
+          }
+        }
+        // End of dynamic bias correlation time stddev bias
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Physics.qml b/src/gui/plugins/component_inspector_editor/Physics.qml
new file mode 100644
index 0000000000..584e9c92be
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Physics.qml
@@ -0,0 +1,226 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying physics information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Minimum parameter value, step size and RTF must be strictly positive
+  property double minPhysParam: 0.000001
+
+  // Maximum parameter value
+  property double maxPhysParam: Number.MAX_VALUE
+
+  // Horizontal margins
+  property int margin: 5
+
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Loaded item for physics step size
+  property var stepSizeItem: {}
+
+  // Loaded item for real time factor
+  property var realTimeFactorItem: {}
+
+  // Send new physics data to C++
+  function sendPhysics() {
+    // TODO(anyone) There's a loss of precision when these values get to C++
+    componentInspectorEditor.onPhysics(
+      stepSizeItem.value,
+      realTimeFactorItem.value
+    );
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  /**
+   * Used to create a spin box
+   */
+
+  Component {
+    id: writablePositiveNumber
+    IgnSpinBox {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      minimumValue: minPhysParam
+      maximumValue: maxPhysParam
+      decimals: 6
+      stepSize: 0.001
+      onEditingFinished: {
+        sendPhysics()
+      }
+    }
+  }
+
+  Component {
+    id: plotIcon
+    Image {
+      property string componentInfo: ""
+      source: "plottable_icon.svg"
+      anchors.top: parent.top
+      anchors.left: parent.left
+
+      Drag.mimeData: { "text/plain" : (model === null) ? "" :
+      "Component," + model.entity + "," + model.typeId + "," +
+                     model.dataType + "," + componentInfo + "," + model.shortName
+      }
+      Drag.dragType: Drag.Automatic
+      Drag.supportedActions : Qt.CopyAction
+      Drag.active: dragMouse.drag.active
+      // a point to drag from
+      Drag.hotSpot.x: 0
+      Drag.hotSpot.y: y
+      MouseArea {
+        id: dragMouse
+        anchors.fill: parent
+        drag.target: (model === null) ? null : parent
+        onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url })
+        onReleased: parent.Drag.drop();
+        cursorShape: Qt.DragCopyCursor
+      }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+      // Using the default header text values.
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      GridLayout {
+        id: grid
+        width: parent.width
+        columns: 3
+
+        // Left spacer
+        Item {
+          Layout.rowSpan: 3
+          width: margin + indentation
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: stepSizeText.width + indentation*3
+          Loader {
+            id: loaderStepSize
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderStepSize.item.componentInfo = "stepSize"
+
+          Text {
+            id : stepSizeText
+            text: ' Step Size (s)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        Item {
+          Layout.fillWidth: true
+          height: 40
+          Loader {
+            id: stepSizeLoader
+            anchors.fill: parent
+            property double numberValue: model.data[0]
+            sourceComponent: writablePositiveNumber
+            onLoaded: {
+              stepSizeItem = stepSizeLoader.item
+            }
+          }
+        }
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: realTimeFactorText.width + indentation*3
+          Loader {
+            id: loaderRealTimeFactor
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderRealTimeFactor.item.componentInfo = "realTimeFactor"
+
+          Text {
+            id : realTimeFactorText
+            text: ' Real time factor'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        Item {
+          Layout.fillWidth: true
+          height: 40
+          Loader {
+            id: realTimeFactorLoader
+            anchors.fill: parent
+            property double numberValue: model.data[1]
+            sourceComponent: writablePositiveNumber
+            onLoaded: {
+              realTimeFactorItem = realTimeFactorLoader.item
+            }
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Pose3d.cc b/src/gui/plugins/component_inspector_editor/Pose3d.cc
new file mode 100644
index 0000000000..42a349d8f8
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Pose3d.cc
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#include <ignition/math/Pose3.hh>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/Util.hh>
+#include "ignition/gazebo/components/Pose.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include <ignition/gazebo/EntityComponentManager.hh>
+
+#include "ComponentInspectorEditor.hh"
+#include "Pose3d.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Pose3d::Pose3d(ComponentInspectorEditor *_inspector)
+{
+  _inspector->Context()->setContextProperty("Pose3dImpl", this);
+  this->inspector = _inspector;
+
+  ComponentCreator creator =
+    [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item)
+  {
+    auto comp = _ecm.Component<components::Pose>(_entity);
+    if (nullptr == _item || nullptr == comp)
+      return;
+    math::Pose3d pose = comp->Data();
+
+    _item->setData(QString("Pose3d"),
+        ComponentsModel::RoleNames().key("dataType"));
+    _item->setData(QList({
+      QVariant(pose.Pos().X()),
+      QVariant(pose.Pos().Y()),
+      QVariant(pose.Pos().Z()),
+      QVariant(pose.Rot().Roll()),
+      QVariant(pose.Rot().Pitch()),
+      QVariant(pose.Rot().Yaw())
+    }), ComponentsModel::RoleNames().key("data"));
+
+    // Notify the qml component when the pose has changed, such as when
+    // a new entity is selected.
+    if (this->currentPose != pose)
+    {
+      this->currentPose = pose;
+      this->poseChanged();
+    }
+  };
+
+  this->inspector->RegisterComponentCreator(components::Pose::typeId, creator);
+}
+
+/////////////////////////////////////////////////
+Q_INVOKABLE void Pose3d::PoseUpdate(
+    double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
+{
+  ignition::gazebo::UpdateCallback cb =
+      [=](EntityComponentManager &_ecm)
+  {
+    auto comp = _ecm.Component<components::Pose>(this->inspector->GetEntity());
+    if (comp)
+    {
+      comp->Data().Set(_x, _y, _z, _roll, _pitch, _yaw);
+      // Recreate the model. Changing link poses can cause the kinematic
+      // tree to need regreneration.
+      Entity modelEntity = topLevelModel(this->inspector->GetEntity(), _ecm);
+      _ecm.CreateComponent(modelEntity, components::Recreate());
+    }
+    else
+      ignerr << "Unable to get the pose component.\n";
+  };
+  this->inspector->AddUpdateCallback(cb);
+}
diff --git a/src/gui/plugins/component_inspector_editor/Pose3d.hh b/src/gui/plugins/component_inspector_editor/Pose3d.hh
new file mode 100644
index 0000000000..5407edbc02
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Pose3d.hh
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_POSE3D_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_POSE3D_HH_
+
+#include <QObject>
+#include <ignition/math/Pose3.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  class ComponentInspectorEditor;
+
+  /// \brief A class that handles Pose3d changes.
+  class Pose3d : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit Pose3d(ComponentInspectorEditor *_inspector);
+
+    /// \brief Handle pose updates from the GUI.
+    /// \param[in] _x New x value.
+    /// \param[in] _y New y value.
+    /// \param[in] _z New z value.
+    /// \param[in] _roll New roll value.
+    /// \param[in] _pitch New pitch value.
+    /// \param[in] _yaw New yaw value.
+    public: Q_INVOKABLE void PoseUpdate(
+                double _x, double _y, double _z, double _roll,
+                double _pitch, double _yaw);
+
+    /// \brief Notify that simulation paused state has changed.
+    signals: void poseChanged();
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// update callbacks that modify the ECM.
+    private: ComponentInspectorEditor *inspector{nullptr};
+
+    /// \brief Keep track of current pose so that we can update the pose
+    /// spin boxes correctly.
+    private: math::Pose3d currentPose;
+  };
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Pose3d.qml b/src/gui/plugins/component_inspector_editor/Pose3d.qml
new file mode 100644
index 0000000000..8b2acf20ac
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Pose3d.qml
@@ -0,0 +1,364 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying 3D pose information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  Connections {
+    target: Pose3dImpl
+    onPoseChanged: {
+      // Update the spinner to show to correct values when the pose component
+      // has changed, such as when a new entity is selected.
+      xSpin.numberValue = model.data[0]
+      ySpin.numberValue = model.data[1]
+      zSpin.numberValue = model.data[2]
+      rollSpin.numberValue = model.data[3]
+      pitchSpin.numberValue = model.data[4]
+      yawSpin.numberValue = model.data[5]
+    }
+  }
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Maximum spinbox value
+  property double spinMax: Number.MAX_VALUE
+
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Send new pose to C++
+  function sendPose(_value) {
+    Pose3dImpl.PoseUpdate(
+      xSpin.numberValue,
+      ySpin.numberValue,
+      zSpin.numberValue,
+      rollSpin.numberValue,
+      pitchSpin.numberValue,
+      yawSpin.numberValue
+    );
+  }
+
+  FontMetrics {
+    id: fontMetrics
+    font.family: "Roboto"
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+      // Using the default header text values.
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+
+      GridLayout {
+        id: grid
+        width: parent.width
+        columns: 6
+
+        // Left spacer
+        Item {
+          Layout.rowSpan: 3
+          width: margin + indentation
+        }
+
+
+        Component {
+          id: plotIcon
+          Image {
+            property string componentInfo: ""
+            source: "plottable_icon.svg"
+            anchors.top: parent.top
+            anchors.left: parent.left
+
+            Drag.mimeData: { "text/plain" : (model === null) ? "" :
+            "Component," + model.entity + "," + model.typeId + "," +
+                           model.dataType + "," + componentInfo + "," + model.shortName
+            }
+            Drag.dragType: Drag.Automatic
+            Drag.supportedActions : Qt.CopyAction
+            Drag.active: dragMouse.drag.active
+            // a point to drag from
+            Drag.hotSpot.x: 0
+            Drag.hotSpot.y: y
+            MouseArea {
+              id: dragMouse
+              anchors.fill: parent
+              drag.target: (model === null) ? null : parent
+              onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url })
+              onReleased: parent.Drag.drop();
+              cursorShape: Qt.DragCopyCursor
+            }
+        }
+      }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: xText.width + indentation*3
+          Loader {
+            id: loaderX
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderX.item.componentInfo = "x"
+
+          Text {
+            id : xText
+            text: ' X (m)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: xSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[0]
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            xSpin.onChange.connect(sendPose)
+          }
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: rollText.width + indentation*3
+          Loader {
+            id: loaderRoll
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderRoll.item.componentInfo = "roll"
+
+          Text {
+            id: rollText
+            text: ' Roll (rad)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: rollSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[3]
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            rollSpin.onChange.connect(sendPose)
+          }
+        }
+
+        // Right spacer
+        Item {
+          Layout.rowSpan: 3
+          width: margin + indentation
+        }
+
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: yText.width + indentation*3
+          Loader {
+            id: loaderY
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderY.item.componentInfo = "y"
+          Text {
+            id: yText
+            text: ' Y (m)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: ySpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[1]
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            ySpin.onChange.connect(sendPose)
+          }
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: pitchText.width + indentation*3
+          Loader {
+            id: loaderPitch
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderPitch.item.componentInfo = "pitch";
+          Text {
+            id: pitchText
+            text: ' Pitch (rad)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: pitchSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[4]
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            pitchSpin.onChange.connect(sendPose)
+          }
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: zText.width + indentation*3
+          Loader {
+            id: loaderZ
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderZ.item.componentInfo = "z";
+          Text {
+            id: zText
+            text: ' Z (m)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: zSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[2] 
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            zSpin.onChange.connect(sendPose)
+          }
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: yawText.width + indentation*3
+          Loader {
+            id: loaderYaw
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderYaw.item.componentInfo = "yaw";
+          Text {
+            id: yawText
+            text: ' Yaw (rad)'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        StateAwareSpin {
+          id: yawSpin
+          Layout.fillWidth: true
+          height: 40
+          numberValue: model.data[5]
+          minValue: -Number.MAX_VALUE
+          maxValue: Number.MAX_VALUE
+          stepValue: 0.1
+          Component.onCompleted: {
+            yawSpin.onChange.connect(sendPose)
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/SphericalCoordinates.qml b/src/gui/plugins/component_inspector_editor/SphericalCoordinates.qml
new file mode 100644
index 0000000000..7504e88d5e
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/SphericalCoordinates.qml
@@ -0,0 +1,313 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying spherical coordinates information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Icon size
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Send new data to C++
+  function sendSphericalCoordinates() {
+    // TODO(anyone) There's a loss of precision when these values get to C++
+    componentInspectorEditor.onSphericalCoordinates(
+      surfaceText.text,
+      latSpin.value,
+      lonSpin.value,
+      elevationSpin.value,
+      headingSpin.value
+    );
+  }
+
+  Component {
+    id: plotIcon
+    Image {
+      property string componentInfo: ""
+      source: "plottable_icon.svg"
+      anchors.top: parent.top
+      anchors.left: parent.left
+
+      Drag.mimeData: { "text/plain" : (model === null) ? "" :
+      "Component," + model.entity + "," + model.typeId + "," +
+                     model.dataType + "," + componentInfo + "," + model.shortName
+      }
+      Drag.dragType: Drag.Automatic
+      Drag.supportedActions : Qt.CopyAction
+      Drag.active: dragMouse.drag.active
+      // a point to drag from
+      Drag.hotSpot.x: 0
+      Drag.hotSpot.y: y
+      MouseArea {
+        id: dragMouse
+        anchors.fill: parent
+        drag.target: (model === null) ? null : parent
+        onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url })
+        onReleased: parent.Drag.drop();
+        cursorShape: Qt.DragCopyCursor
+      }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+      // Using the default header text values.
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      GridLayout {
+        id: grid
+        width: parent.width
+        columns: 4
+
+        // Left spacer
+        Item {
+          Layout.rowSpan: 5
+          width: margin + indentation
+        }
+
+        // Surface type
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: latText.width + indentation*3
+          Rectangle {
+            color: "transparent"
+            id: surfaceSpacer
+            height: iconHeight
+            width: iconWidth
+            y: 10
+          }
+
+          Text {
+            text: 'Surface'
+            leftPadding: 12
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.left: surfaceSpacer.right
+            anchors.verticalCenter: parent.verticalCenter
+          }
+        }
+        Text {
+          id: surfaceText
+          text: model.data[0]
+          Layout.fillWidth: true
+          horizontalAlignment: Text.AlignRight
+          color: Material.theme == Material.Light ? "black" : "white"
+          font.pointSize: 12
+          elide: Text.ElideLeft
+        }
+
+        // Right spacer
+        Item {
+          Layout.rowSpan: 5
+          width: margin
+        }
+
+        // Latitude
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: latText.width + indentation*3
+          Loader {
+            id: loaderPlotLat
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderPlotLat.item.componentInfo = "latitude"
+
+          Text {
+            id : latText
+            text: 'Latitude (°)'
+            leftPadding: 15
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        IgnSpinBox {
+          id: latSpin
+          Layout.fillWidth: true
+          height: 40
+          property double numberValue: model.data[1]
+          value: latSpin.activeFocus ? latSpin.value : numberValue
+          minimumValue: -90
+          maximumValue: 90
+          decimals: 12
+          stepSize: 0.1
+          onEditingFinished: {
+            sendSphericalCoordinates()
+          }
+        }
+
+        // Longitude
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: lonText.width + indentation*3
+          Loader {
+            id: loaderPlotLon
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderPlotLon.item.componentInfo = "longitude"
+
+          Text {
+            id : lonText
+            text: 'Longitude (°)'
+            leftPadding: 15
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        IgnSpinBox {
+          id: lonSpin
+          Layout.fillWidth: true
+          height: 40
+          property double numberValue: model.data[2]
+          value: lonSpin.activeFocus ? lonSpin.value : numberValue
+          minimumValue: -180
+          maximumValue: 180
+          decimals: 12
+          stepSize: 0.1
+          onEditingFinished: {
+            sendSphericalCoordinates()
+          }
+        }
+
+        // Elevation
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: elevationText.width + indentation*3
+          Loader {
+            id: loaderPlotElevation
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderPlotElevation.item.componentInfo = "elevation"
+
+          Text {
+            id : elevationText
+            text: 'Elevation (m)'
+            leftPadding: 15
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        IgnSpinBox {
+          id: elevationSpin
+          Layout.fillWidth: true
+          height: 40
+          property double numberValue: model.data[3]
+          value: elevationSpin.activeFocus ? elevationSpin.value : numberValue
+          minimumValue: -Number.MAX_VALUE
+          maximumValue: Number.MAX_VALUE
+          decimals: 12
+          stepSize: 0.1
+          onEditingFinished: {
+            sendSphericalCoordinates()
+          }
+        }
+
+        // Heading
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: headingText.width + indentation*3
+          Loader {
+            id: loaderPlotHeading
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderPlotHeading.item.componentInfo = "heading"
+
+          Text {
+            id : headingText
+            text: 'Heading (°)'
+            leftPadding: 15
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        IgnSpinBox {
+          id: headingSpin
+          Layout.fillWidth: true
+          height: 40
+          property double numberValue: model.data[4]
+          value: headingSpin.activeFocus ? headingSpin.value : numberValue
+          minimumValue: -180
+          maximumValue: 180
+          decimals: 12
+          stepSize: 0.1
+          onEditingFinished: {
+            sendSphericalCoordinates()
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/StateAwareSpin.qml b/src/gui/plugins/component_inspector_editor/StateAwareSpin.qml
new file mode 100644
index 0000000000..b8b7623a0a
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/StateAwareSpin.qml
@@ -0,0 +1,115 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+Rectangle {
+  id: stateAwareSpin
+  height: stateAwareSpinContent.height
+  color: "transparent"
+
+  // step size
+  property double stepValue: 0.1
+
+  // min value
+  property double minValue: 0
+
+  // max value
+  property double maxValue: 1 
+
+  // value of the spin number value 
+  property double numberValue: 0.0 
+
+  signal onChange(double _value)
+
+  // Read-only / write
+  property bool writeable: {
+    var isModel = entityType == "model"
+    return isModel || componentInspectorEditor.getSimPaused()
+  }
+
+  /**
+   * Used to create a spin box
+   */
+  Component {
+    id: writableNumber
+    IgnSpinBox {
+      id: writableSpin
+      value: writableSpin.activeFocus ? writableSpin.value : numberValue
+      minimumValue: minValue
+      maximumValue: maxValue
+      stepSize: stepValue
+      decimals: {
+        writableSpin.value = writableSpin.activeFocus ? writableSpin.value : numberValue
+        stepSize == 1 ? 0 : componentInspectorEditor.getDecimals(writableSpin.width)
+      }
+      onEditingFinished: {
+        numberValue = writableSpin.value
+        onChange(writableSpin.value)
+      }
+    }
+  }
+
+  /**
+   * Used to create a read-only number
+   */
+  Component {
+    id: readOnlyNumber
+    Rectangle {
+      border.width: 1
+      color: index % 2 == 0 ? lightGrey : darkGrey
+      implicitHeight: 40
+      Text {
+        padding: 10
+        id: numberText
+        anchors.fill: parent
+        horizontalAlignment: Text.AlignRight
+        verticalAlignment: Text.AlignVCenter
+        text: {
+          return numberValue.toFixed(componentInspectorEditor.getDecimals(numberText.width))
+        }
+      }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // Content
+    Rectangle {
+      id: stateAwareSpinContent
+      width: parent.width
+      height: stateAwareSpinContentLoader.height
+      clip: true
+      color: "transparent"
+
+      Loader {
+        id: stateAwareSpinContentLoader
+        width: parent.width
+        Layout.fillWidth: true
+        sourceComponent: writeable ? writableNumber : readOnlyNumber
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/String.qml b/src/gui/plugins/component_inspector_editor/String.qml
new file mode 100644
index 0000000000..3ef372542a
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/String.qml
@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+
+Rectangle {
+  id: stringComponent
+  height: typeHeader.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  function textFromModel(_model) {
+    if (_model && _model.data !== undefined && typeof _model.data == 'string')
+      return _model.data
+
+    return 'N/A'
+  }
+
+  RowLayout {
+    anchors.fill: parent
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+
+    Item {
+      height: parent.height
+      width: indentation
+    }
+
+    TypeHeader {
+      id: typeHeader
+    }
+
+    // TODO(anyone) Support write mode
+    Text {
+      id: content
+      text: textFromModel(model)
+      Layout.fillWidth: true
+      horizontalAlignment: Text.AlignRight
+      color: Material.theme == Material.Light ? "black" : "white"
+      font.pointSize: 12
+      elide: Text.ElideLeft
+
+      ToolTip {
+        visible: ma.containsMouse
+        delay: Qt.styleHints.mousePressAndHoldInterval
+        text: content.text
+        enter: null
+        exit: null
+      }
+      MouseArea {
+        id: ma
+        anchors.fill: content
+        hoverEnabled: true
+      }
+    }
+
+    Item {
+      height: parent.height
+      width: margin
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/TypeHeader.qml b/src/gui/plugins/component_inspector_editor/TypeHeader.qml
new file mode 100644
index 0000000000..80eb283cc3
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/TypeHeader.qml
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+
+Rectangle {
+  id: typeHeader
+  height: headerTextId.height
+  width: headerTextId.width
+  color: "transparent"
+  property string headerText: ""
+  property string headerToolTip: ""
+
+  function tooltipText(_model) {
+    if (headerToolTip !== undefined && headerToolTip !== "" ) {
+      return headerToolTip
+    }
+
+    if (model === null)
+      return "Unknown component"
+
+    var info = '';
+    if (model.typeName !== undefined)
+      info += "Type name: " + model.typeName + "\n"
+
+    if (model.typeId !== undefined)
+      info += "Type Id: " + model.typeId + ""
+
+    return info
+  }
+
+  Text {
+    id: headerTextId
+    text: {
+      if (headerText === undefined || headerText === "") {
+        model && model.shortName ? model.shortName : ''
+      } else {
+        headerText
+      }
+    }
+    color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+    font.pointSize: 12
+
+    ToolTip {
+      visible: ma.containsMouse
+      delay: tooltipDelay
+      text: tooltipText(model)
+      y: typeHeader.y - 30
+      enter: null
+      exit: null
+    }
+    MouseArea {
+      id: ma
+      anchors.fill: parent
+      hoverEnabled: true
+      acceptedButtons: Qt.RightButton
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/Types.cc b/src/gui/plugins/component_inspector_editor/Types.cc
new file mode 100644
index 0000000000..fdef409818
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Types.cc
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#include "Types.hh"
+
+void ignition::gazebo::setNoise(sdf::Noise &_noise,
+    double _mean, double _meanBias, double _stdDev,
+    double _stdDevBias, double _dynamicBiasStdDev,
+    double _dynamicBiasCorrelationTime)
+{
+  _noise.SetMean(_mean);
+  _noise.SetBiasMean(_meanBias);
+
+  _noise.SetStdDev(_stdDev);
+  _noise.SetBiasStdDev(_stdDevBias);
+
+  _noise.SetDynamicBiasStdDev(_dynamicBiasStdDev);
+  _noise.SetDynamicBiasCorrelationTime(_dynamicBiasCorrelationTime);
+}
diff --git a/src/gui/plugins/component_inspector_editor/Types.hh b/src/gui/plugins/component_inspector_editor/Types.hh
new file mode 100644
index 0000000000..b8eb0ff422
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Types.hh
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_TYPES_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_TYPES_HH_
+
+#include <map>
+#include <QStandardItem>
+
+#include <sdf/Noise.hh>
+
+#include <ignition/gazebo/Types.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+  /// \brief UpdateCallback is a function defition that is used by a
+  /// component to manage ECM changes.
+  /// \sa void ComponentInspectorEditor::AddUpdateCallback(UpdateCallback _cb)
+  using UpdateCallback = std::function<void(EntityComponentManager &)>;
+
+  /// ComponentCreator is a function definition that a component can use
+  /// to create the appropriate UI elements for an Entity based on
+  /// a ComponentTypeId.
+  /// \sa void ComponentInspectorEditor::RegisterComponentCreator(
+  /// UpdateCallback _cb)
+  using ComponentCreator = std::function<void(EntityComponentManager &,
+      Entity, QStandardItem *)>;
+
+  /// \brief Helper function that will set all noise properties.
+  /// \param[out] _noise Noise to set
+  /// \param[in] _mean Mean value
+  /// \param[in] _meanBias Bias mean value
+  /// \param[in] _stdDev Standard deviation value
+  /// \param[in] _stdDevBias Bias standard deviation value
+  /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value
+  /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time
+  /// value
+  void setNoise(sdf::Noise &_noise,
+      double _mean, double _meanBias, double _stdDev,
+      double _stdDevBias, double _dynamicBiasStdDev,
+      double _dynamicBiasCorrelationTime);
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector_editor/Vector3d.qml b/src/gui/plugins/component_inspector_editor/Vector3d.qml
new file mode 100644
index 0000000000..ae007197ed
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/Vector3d.qml
@@ -0,0 +1,251 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspectorEditor"
+import "qrc:/qml"
+
+// Item displaying 3D vector information.
+Rectangle {
+  height: header.height + content.height
+  width: componentInspectorEditor.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // icon size
+  property int iconWidth: 20
+  property int iconHeight: 20
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Maximum spinbox value
+  property double spinMax: Number.MAX_VALUE
+
+  // Units, defaults to meters.
+  property string unit: model && model.unit != undefined ? model.unit : 'm'
+
+  // Readn-only / write
+  property bool readOnly: true
+
+  /**
+   * Used to create a spin box
+   */
+  Component {
+    id: writableNumber
+    IgnSpinBox {
+      id: writableSpin
+      value: numberValue
+      minimumValue: -spinMax
+      maximumValue: spinMax
+      decimals: getDecimalsAdjustValue(writableSpin, numberValue)
+    }
+  }
+
+  /**
+   * Used to create a read-only number
+   */
+  Component {
+    id: readOnlyNumber
+    Text {
+      id: numberText
+      anchors.fill: parent
+      horizontalAlignment: Text.AlignRight
+      verticalAlignment: Text.AlignVCenter
+      text: {
+        var decimals = getDecimals(numberText.width)
+        return numberValue.toFixed(decimals)
+      }
+    }
+  }
+  Component {
+    id: plotIcon
+    Image {
+      property string componentInfo: ""
+      source: "plottable_icon.svg"
+      anchors.top: parent.top
+      anchors.left: parent.left
+
+      Drag.mimeData: { "text/plain" : (model === null) ? "" :
+      "Component," + model.entity + "," + model.typeId + "," +
+                     model.dataType + "," + componentInfo + "," + model.shortName
+      }
+      Drag.dragType: Drag.Automatic
+      Drag.supportedActions : Qt.CopyAction
+      Drag.active: dragMouse.drag.active
+      // a point to drag from
+      Drag.hotSpot.x: 0
+      Drag.hotSpot.y: y
+      MouseArea {
+        id: dragMouse
+        anchors.fill: parent
+        drag.target: (model === null) ? null : parent
+        onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url })
+        onReleased: parent.Drag.drop();
+        cursorShape: Qt.DragCopyCursor
+      }
+    }
+  }
+
+  Column {
+    anchors.fill: parent
+
+    // The expanding header. Make sure that the content to expand has an id set
+    // to the value "content".
+    ExpandingTypeHeader {
+      id: header
+      // Using the default header text values.
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? grid.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      GridLayout {
+        id: grid
+        width: parent.width
+        columns: 4
+
+        // Left spacer
+        Item {
+          Layout.rowSpan: 3
+          width: margin + indentation
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: xText.width + indentation*3
+          Loader {
+            id: loaderX
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderX.item.componentInfo = "x"
+
+          Text {
+            id: xText
+            text: ' X (' + unit + ')'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+        Item {
+          Layout.fillWidth: true
+          height: 40
+          Loader {
+            anchors.fill: parent
+            property double numberValue: model.data[0]
+            sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          }
+        }
+
+        // Right spacer
+        Item {
+          Layout.rowSpan: 3
+          width: margin + indentation
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: xText.width + indentation*3
+          Loader {
+            id: loaderY
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderY.item.componentInfo = "y"
+
+          Text {
+            text: ' Y (' + unit + ')'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        Item {
+          Layout.fillWidth: true
+          height: 40
+          Loader {
+            anchors.fill: parent
+            property double numberValue: model.data[1]
+            sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          }
+        }
+
+        Rectangle {
+          color: "transparent"
+          height: 40
+          Layout.preferredWidth: xText.width + indentation*3
+          Loader {
+            id: loaderZ
+            width: iconWidth
+            height: iconHeight
+            y:10
+            sourceComponent: plotIcon
+          }
+          Component.onCompleted: loaderZ.item.componentInfo = "z"
+
+          Text {
+            text: ' Z (' + unit + ')'
+            leftPadding: 5
+            color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+            font.pointSize: 12
+            anchors.centerIn: parent
+          }
+        }
+
+        Item {
+          Layout.fillWidth: true
+          height: 40
+          Loader {
+            anchors.fill: parent
+            property double numberValue: model.data[2]
+            sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector_editor/plottable_icon.svg b/src/gui/plugins/component_inspector_editor/plottable_icon.svg
new file mode 100644
index 0000000000..bcac9afc2e
--- /dev/null
+++ b/src/gui/plugins/component_inspector_editor/plottable_icon.svg
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="64"
+   height="64"
+   viewBox="0 0 64 64"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.48.4 r9939"
+   sodipodi:docname="graph_line.svg">
+  <metadata
+     id="metadata14">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1280"
+     inkscape:window-height="1548"
+     id="namedview12"
+     showgrid="false"
+     inkscape:zoom="6.9532167"
+     inkscape:cx="31.952539"
+     inkscape:cy="25.346459"
+     inkscape:window-x="0"
+     inkscape:window-y="24"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg2" />
+  <defs
+     id="defs4">
+    <path
+       id="a"
+       d="M 0,0 H 24 V 24 H 0 V 0 z"
+       inkscape:connector-curvature="0" />
+  </defs>
+  <g
+     id="g2990"
+     transform="translate(-89.559323,-14.779661)">
+    <path
+       transform="matrix(1.002409,0,0,1.002409,60.34193,-15.438496)"
+       d="m 92.993372,62.068634 a 31.923098,31.923098 0 1 1 -63.846195,0 31.923098,31.923098 0 1 1 63.846195,0 z"
+       sodipodi:ry="31.923098"
+       sodipodi:rx="31.923098"
+       sodipodi:cy="62.068634"
+       sodipodi:cx="61.070274"
+       id="path3811"
+       style="fill:#4d4d4d;fill-opacity:1;stroke:none"
+       sodipodi:type="arc" />
+  </g>
+  <path
+     clip-path="none"
+     d="m 56.518923,23.084028 c 0,2.451892 -2.006094,4.457985 -4.457986,4.457985 -0.401219,0 -0.780148,-0.04458 -1.136789,-0.156029 l -7.935215,7.912925 c 0.11145,0.35664 0.15603,0.757858 0.15603,1.159076 0,2.451892 -2.006094,4.457986 -4.457986,4.457986 -2.451892,0 -4.457986,-2.006094 -4.457986,-4.457986 0,-0.401218 0.04458,-0.802436 0.15603,-1.159076 l -5.683932,-5.683931 c -0.356639,0.11145 -0.757858,0.156029 -1.159077,0.156029 -0.401219,0 -0.802437,-0.04458 -1.159076,-0.156029 L 16.241019,39.779185 c 0.111449,0.356639 0.156029,0.735567 0.156029,1.136786 0,2.451892 -2.006094,4.457986 -4.457986,4.457986 -2.4518916,0 -4.4579854,-2.006094 -4.4579854,-4.457986 0,-2.451892 2.0060938,-4.457986 4.4579854,-4.457986 0.401219,0 0.780148,0.04458 1.136787,0.15603 L 23.240056,26.472097 c -0.11145,-0.356639 -0.15603,-0.757857 -0.15603,-1.159077 0,-2.451892 2.006094,-4.457985 4.457986,-4.457985 2.451892,0 4.457986,2.006093 4.457986,4.457985 0,0.40122 -0.04458,0.802438 -0.156029,1.159077 l 5.683932,5.683933 C 37.884539,32.044579 38.285758,32 38.686977,32 c 0.401219,0 0.802437,0.04458 1.159076,0.15603 l 7.912925,-7.935215 c -0.111449,-0.356639 -0.156029,-0.735568 -0.156029,-1.136786 0,-2.451893 2.006093,-4.457986 4.457988,-4.457986 2.451892,0 4.457986,2.006093 4.457986,4.457986 z"
+     id="path10"
+     inkscape:connector-curvature="0"
+     style="fill:#ffffff" />
+</svg>
diff --git a/src/gui/plugins/entity_tree/EntityTree.cc b/src/gui/plugins/entity_tree/EntityTree.cc
index a1eb39a2e1..38a80a9557 100644
--- a/src/gui/plugins/entity_tree/EntityTree.cc
+++ b/src/gui/plugins/entity_tree/EntityTree.cc
@@ -129,6 +129,12 @@ void TreeModel::AddEntity(Entity _entity, const QString &_entityName,
   IGN_PROFILE("TreeModel::AddEntity");
   QStandardItem *parentItem{nullptr};
 
+  // check if entity has already been added or not.
+  // This could happen because we get new and removed entity updates from both
+  // the ECM and GUI events.
+  if (this->entityItems.find(_entity) != this->entityItems.end())
+    return;
+
   // Root
   if (_parentEntity == kNullEntity)
   {
@@ -151,13 +157,6 @@ void TreeModel::AddEntity(Entity _entity, const QString &_entityName,
     return;
   }
 
-  if (this->entityItems.find(_entity) != this->entityItems.end())
-  {
-    ignwarn << "Internal error: Trying to create item for entity [" << _entity
-            << "], but entity already has an item." << std::endl;
-    return;
-  }
-
   // New entity item
   auto entityItem = new QStandardItem(_entityName);
   entityItem->setData(_entityName, this->roleNames().key("entityName"));
diff --git a/src/gui/plugins/entity_tree/EntityTree.hh b/src/gui/plugins/entity_tree/EntityTree.hh
index b899c12980..f4e861183e 100644
--- a/src/gui/plugins/entity_tree/EntityTree.hh
+++ b/src/gui/plugins/entity_tree/EntityTree.hh
@@ -82,6 +82,7 @@ namespace gazebo
     struct EntityInfo
     {
       /// \brief Entity ID
+      // cppcheck-suppress unmatchedSuppression
       // cppcheck-suppress unusedStructMember
       Entity entity;
 
@@ -89,6 +90,7 @@ namespace gazebo
       QString name;
 
       /// \brief Parent ID
+      // cppcheck-suppress unmatchedSuppression
       // cppcheck-suppress unusedStructMember
       Entity parentEntity;
 
@@ -135,8 +137,8 @@ namespace gazebo
     public: Q_INVOKABLE void OnInsertEntity(const QString &_type);
 
     /// \brief Callback to insert a new entity
-    /// \param[in] _type Type of entity to insert
-    public: Q_INVOKABLE void OnLoadMesh(const QString &_type);
+    /// \param[in] _mesh Mesh file to create a model from.
+    public: Q_INVOKABLE void OnLoadMesh(const QString &_mesh);
 
     // Documentation inherited
     protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
diff --git a/src/gui/plugins/entity_tree/EntityTree.qml b/src/gui/plugins/entity_tree/EntityTree.qml
index b0cf0d55a3..c96c5d78a8 100644
--- a/src/gui/plugins/entity_tree/EntityTree.qml
+++ b/src/gui/plugins/entity_tree/EntityTree.qml
@@ -50,6 +50,14 @@ Rectangle {
     Material.color(Material.Grey, Material.Shade100) :
     Material.color(Material.Grey, Material.Shade800)
 
+  /**
+   * Highlight color
+   */
+  property color highlightColor: Qt.rgba(
+    Material.accent.r,
+    Material.accent.g,
+    Material.accent.b, 0.3)
+
   /**
    * Height of each item in pixels
    */
@@ -101,6 +109,20 @@ Rectangle {
     }
   }
 
+  // The component for a menu section header
+  Component {
+    id: menuSectionHeading
+    Rectangle {
+      height: childrenRect.height
+
+      Text {
+          text: sectionText 
+          font.pointSize: 10
+          padding: 5
+      }
+    }
+  }
+
   Rectangle {
     id: header
     visible: true 
@@ -126,7 +148,7 @@ Rectangle {
       ToolButton {
         anchors.right: parent.right
         id: addEntity
-        ToolTip.text: "Add Entity"
+        ToolTip.text: "Add an entity to the world"
         ToolTip.visible: hovered
         contentItem: Image {
           fillMode: Image.Pad
@@ -153,6 +175,15 @@ Rectangle {
         Menu {
           id: addEntityMenu
 
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader { 
+              property string sectionText: "Model"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
           MenuItem
           {
             id: box
@@ -218,6 +249,15 @@ Rectangle {
             }
           }
 
+          Item {
+            Layout.fillWidth: true
+            height: childrenRect.height
+            Loader { 
+              property string sectionText: "Light"
+              sourceComponent: menuSectionHeading
+            }
+          }
+
           MenuItem
           {
             id: directionalLight 
@@ -284,7 +324,7 @@ Rectangle {
       branchDelegate: Rectangle {
         height: itemHeight
         width: itemHeight * 0.75
-        color:  lightGrey
+        color:  "transparent"
         Image {
           id: icon
           sourceSize.height: itemHeight * 0.4
@@ -293,7 +333,7 @@ Rectangle {
           anchors.verticalCenter: parent.verticalCenter
           anchors.right: parent.right
           source: styleData.isExpanded ?
-              "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
+              "qrc:/Gazebo/images/chevron-down.svg" : "qrc:/Gazebo/images/chevron-right.svg"
         }
         MouseArea {
           anchors.fill: parent
@@ -315,7 +355,7 @@ Rectangle {
       rowDelegate: Rectangle {
         visible: styleData.row !== undefined
         height: itemHeight
-        color: styleData.selected ? Material.accent : (styleData.row % 2 == 0) ? even : odd
+        color: styleData.selected ? highlightColor : (styleData.row % 2 == 0) ? even : odd
         MouseArea {
           anchors.fill: parent
           hoverEnabled: true
@@ -334,7 +374,7 @@ Rectangle {
 
       itemDelegate: Rectangle {
         id: itemDel
-        color: styleData.selected ? Material.accent : (styleData.row % 2 == 0) ? even : odd
+        color: "transparent"
         height: itemHeight
 
 
diff --git a/src/gui/plugins/modules/TypeIcon.qml b/src/gui/plugins/modules/TypeIcon.qml
index 4e8c1a308e..16820d0461 100644
--- a/src/gui/plugins/modules/TypeIcon.qml
+++ b/src/gui/plugins/modules/TypeIcon.qml
@@ -44,6 +44,7 @@ Image {
         entityType == 'joint' ||
         entityType == 'light' ||
         entityType == 'link' ||
+        entityType == 'sensor' ||
         entityType == 'model')
     {
       entityImage = entityType
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
index 88710b0e9b..cccb6caaa4 100644
--- a/src/gui/plugins/scene_manager/GzSceneManager.cc
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -14,11 +14,10 @@
  * limitations under the License.
  *
 */
+#include <set>
 
 #include "GzSceneManager.hh"
 
-#include <set>
-
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/GuiEvents.hh>
@@ -49,6 +48,16 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 
     /// \brief Rendering utility
     public: RenderUtil renderUtil;
+
+    /// \brief List of new entities from a gui event
+    public: std::set<Entity> newEntities;
+
+    /// \brief List of removed entities from a gui event
+    public: std::set<Entity> removedEntities;
+
+    /// \brief Mutex to protect gui event and system upate call race conditions
+    /// for newEntities and removedEntities
+    public: std::mutex newRemovedEntityMutex;
   };
 }
 }
@@ -83,6 +92,14 @@ void GzSceneManager::Update(const UpdateInfo &_info,
   IGN_PROFILE("GzSceneManager::Update");
 
   this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
+
+  std::lock_guard<std::mutex> lock(this->dataPtr->newRemovedEntityMutex);
+  {
+    this->dataPtr->renderUtil.CreateVisualsForEntities(_ecm,
+        this->dataPtr->newEntities);
+    this->dataPtr->newEntities.clear();
+  }
+
   this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);
 
   // Emit entities created / removed event for gui::Plugins which don't have
@@ -116,6 +133,21 @@ bool GzSceneManager::eventFilter(QObject *_obj, QEvent *_event)
   {
     this->dataPtr->OnRender();
   }
+  else if (_event->type() ==
+           ignition::gazebo::gui::events::GuiNewRemovedEntities::kType)
+  {
+    std::lock_guard<std::mutex> lock(this->dataPtr->newRemovedEntityMutex);
+    auto addedRemovedEvent =
+        reinterpret_cast<gui::events::GuiNewRemovedEntities *>(_event);
+    if (addedRemovedEvent)
+    {
+      for (auto entity : addedRemovedEvent->NewEntities())
+        this->dataPtr->newEntities.insert(entity);
+
+      for (auto entity : addedRemovedEvent->RemovedEntities())
+        this->dataPtr->removedEntities.insert(entity);
+    }
+  }
 
   // Standard event processing
   return QObject::eventFilter(_obj, _event);
diff --git a/src/gui/resources/gazebo.qrc b/src/gui/resources/gazebo.qrc
index 44c2823540..96fa71b8ff 100644
--- a/src/gui/resources/gazebo.qrc
+++ b/src/gui/resources/gazebo.qrc
@@ -2,6 +2,8 @@
   <qresource prefix="Gazebo/">
     <file>GazeboDrawer.qml</file>
     <file>images/actor.png</file>
+    <file>images/chevron-down.svg</file>
+    <file>images/chevron-right.svg</file>
     <file>images/collision.png</file>
     <file>images/joint.png</file>
     <file>images/light.png</file>
@@ -10,6 +12,9 @@
     <file>images/minus.png</file>
     <file>images/model.png</file>
     <file>images/plus.png</file>
+    <file>images/plus-link.png</file>
+    <file>images/plus-sensor.png</file>
+    <file>images/sensor.png</file>
     <file>images/unlock.svg</file>
     <file>images/visual.png</file>
   </qresource>
diff --git a/src/gui/resources/images/chevron-down.svg b/src/gui/resources/images/chevron-down.svg
new file mode 100644
index 0000000000..4e51b0d257
--- /dev/null
+++ b/src/gui/resources/images/chevron-down.svg
@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   height="24"
+   viewBox="0 0 24 24"
+   width="24"
+   version="1.1"
+   id="svg869"
+   sodipodi:docname="chevron-down.svg"
+   inkscape:version="0.92.3 (2405546, 2018-03-11)"
+   style="fill:#000000">
+  <metadata
+     id="metadata875">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs873" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="3840"
+     inkscape:window-height="2105"
+     id="namedview871"
+     showgrid="false"
+     inkscape:zoom="20.041667"
+     inkscape:cx="-4.1599572"
+     inkscape:cy="10.148856"
+     inkscape:window-x="0"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="svg869"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <path
+     d="m -8.59,6 h 24 v 24 h -24 z"
+     id="path865"
+     inkscape:connector-curvature="0"
+     style="fill:none" />
+  <path
+     d="M 23,7.7925 20.415,5.2075 12,13.604166 3.585,5.2075 1,7.7925 l 11,11 z"
+     id="path867"
+     style="fill:#999999;fill-opacity:1;stroke:none;stroke-width:1.83333325"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/src/gui/resources/images/chevron-right.svg b/src/gui/resources/images/chevron-right.svg
new file mode 100644
index 0000000000..9f1b78b943
--- /dev/null
+++ b/src/gui/resources/images/chevron-right.svg
@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   height="24"
+   viewBox="0 0 24 24"
+   width="24"
+   version="1.1"
+   id="svg869"
+   sodipodi:docname="chevron-right.svg"
+   inkscape:version="0.92.3 (2405546, 2018-03-11)"
+   style="fill:#000000">
+  <metadata
+     id="metadata875">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs873" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="3840"
+     inkscape:window-height="2105"
+     id="namedview871"
+     showgrid="false"
+     inkscape:zoom="20.041667"
+     inkscape:cx="-4.1599572"
+     inkscape:cy="10.148856"
+     inkscape:window-x="0"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="svg869"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <path
+     d="m -8.59,6 h 24 v 24 h -24 z"
+     id="path865"
+     inkscape:connector-curvature="0"
+     style="fill:none" />
+  <path
+     d="M 7.7925,1 5.2075,3.585 13.604166,12 5.2075,20.415 7.7925,23 l 11,-11 z"
+     id="path867"
+     style="fill:#999999;fill-opacity:1;stroke:none;stroke-width:1.83333325"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/src/gui/resources/images/plus-link.png b/src/gui/resources/images/plus-link.png
new file mode 100644
index 0000000000..527fd36d09
Binary files /dev/null and b/src/gui/resources/images/plus-link.png differ
diff --git a/src/gui/resources/images/plus-sensor.png b/src/gui/resources/images/plus-sensor.png
new file mode 100644
index 0000000000..2053152b41
Binary files /dev/null and b/src/gui/resources/images/plus-sensor.png differ
diff --git a/src/gui/resources/images/sensor.png b/src/gui/resources/images/sensor.png
new file mode 100644
index 0000000000..eeb2ff65c7
Binary files /dev/null and b/src/gui/resources/images/sensor.png differ
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index ff14b22a03..3df544c588 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -146,6 +146,53 @@ class ignition::gazebo::RenderUtilPrivate
       const sdf::Sensor &_sdfData, Entity _parent,
       const std::string &_topicSuffix);
 
+  /// \brief Helper function to create a visual for a link entity
+  /// \param[in] _ecm The entity-component manager
+  /// \param[in] _entity Entity to create the visual for
+  /// \param[in] _name Name component
+  /// \param[in] _pose Pose component
+  /// \param[in] _parent ParentEntity component
+  public: void CreateLink(
+      const EntityComponentManager &_ecm,
+      const Entity &_entity,
+      const components::Name *_name,
+      const components::Pose *_pose,
+      const components::ParentEntity *_parent);
+
+  /// \brief Helper function to create a visual for a visual entity
+  /// \param[in] _ecm The entity-component manager
+  /// \param[in] _entity Entity to create the visual for
+  /// \param[in] _name Name component
+  /// \param[in] _pose Pose component
+  /// \param[in] _geom Geometry component
+  /// \param[in] _castShadows CastShadows component
+  /// \param[in] _transparency Transparency component
+  /// \param[in] _visibilityFlags VisibilityFlags component
+  /// \param[in] _parent ParentEntity component
+  public: void CreateVisual(
+      const EntityComponentManager &_ecm,
+      const Entity &_entity,
+      const components::Name *_name,
+      const components::Pose *_pose,
+      const components::Geometry *_geom,
+      const components::CastShadows *_castShadows,
+      const components::Transparency *_transparency,
+      const components::VisibilityFlags *_visibilityFlags,
+      const components::ParentEntity *_parent);
+
+  /// \brief Helper function to create a visual for a light entity
+  /// \param[in] _ecm The entity-component manager
+  /// \param[in] _entity Entity to create the visual for
+  /// \param[in] _light Light component
+  /// \param[in] _name Name component
+  /// \param[in] _parent ParentEntity component
+  public: void CreateLight(
+      const EntityComponentManager &_ecm,
+      const Entity &_entity,
+      const components::Light *_light,
+      const components::Name *_name,
+      const components::ParentEntity *_parent);
+
   /// \brief Total time elapsed in simulation. This will not increase while
   /// paused.
   public: std::chrono::steady_clock::duration simTime{0};
@@ -1628,16 +1675,7 @@ void RenderUtilPrivate::CreateEntitiesFirstUpdate(
           const components::Pose *_pose,
           const components::ParentEntity *_parent)->bool
       {
-        sdf::Link link;
-        link.SetName(_name->Data());
-        link.SetRawPose(_pose->Data());
-        this->newLinks.push_back(
-            std::make_tuple(_entity, link, _parent->Data()));
-        // used for collsions
-        this->modelToLinkEntities[_parent->Data()].push_back(_entity);
-        // used for joints
-        this->matchLinksWithEntities[_parent->Data()][_name->Data()] =
-            _entity;
+        this->CreateLink(_ecm, _entity, _name, _pose, _parent);
         return true;
       });
 
@@ -1658,62 +1696,8 @@ void RenderUtilPrivate::CreateEntitiesFirstUpdate(
           const components::VisibilityFlags *_visibilityFlags,
           const components::ParentEntity *_parent)->bool
       {
-        sdf::Visual visual;
-        visual.SetName(_name->Data());
-        visual.SetRawPose(_pose->Data());
-        visual.SetGeom(_geom->Data());
-        visual.SetCastShadows(_castShadows->Data());
-        visual.SetTransparency(_transparency->Data());
-        visual.SetVisibilityFlags(_visibilityFlags->Data());
-
-        // Optional components
-        auto material = _ecm.Component<components::Material>(_entity);
-        if (material != nullptr)
-        {
-          visual.SetMaterial(material->Data());
-        }
-
-        auto laserRetro = _ecm.Component<components::LaserRetro>(_entity);
-        if (laserRetro != nullptr)
-        {
-          visual.SetLaserRetro(laserRetro->Data());
-        }
-
-        // set label
-        auto label = _ecm.Component<components::SemanticLabel>(_entity);
-        if (label != nullptr)
-        {
-          this->entityLabel[_entity] = label->Data();
-        }
-
-        if (auto temp = _ecm.Component<components::Temperature>(_entity))
-        {
-          // get the uniform temperature for the entity
-          this->entityTemp[_entity] = std::make_tuple
-              <float, float, std::string>(temp->Data().Kelvin(), 0.0, "");
-        }
-        else
-        {
-          // entity doesn't have a uniform temperature. Check if it has
-          // a heat signature with an associated temperature range
-          auto heatSignature =
-            _ecm.Component<components::SourceFilePath>(_entity);
-          auto tempRange =
-             _ecm.Component<components::TemperatureRange>(_entity);
-          if (heatSignature && tempRange)
-          {
-            this->entityTemp[_entity] =
-              std::make_tuple<float, float, std::string>(
-                  tempRange->Data().min.Kelvin(),
-                  tempRange->Data().max.Kelvin(),
-                  std::string(heatSignature->Data()));
-          }
-        }
-
-        this->newVisuals.push_back(
-            std::make_tuple(_entity, visual, _parent->Data()));
-
-        this->linkToVisualEntities[_parent->Data()].push_back(_entity);
+        this->CreateVisual(_ecm, _entity, _name, _pose, _geom, _castShadows,
+            _transparency, _visibilityFlags, _parent);
         return true;
       });
 
@@ -1744,8 +1728,7 @@ void RenderUtilPrivate::CreateEntitiesFirstUpdate(
           const components::Name *_name,
           const components::ParentEntity *_parent) -> bool
       {
-        this->newLights.push_back(std::make_tuple(_entity, _light->Data(),
-              _name->Data(), _parent->Data()));
+        this->CreateLight(_ecm, _entity, _light, _name, _parent);
         return true;
       });
 
@@ -1945,16 +1928,7 @@ void RenderUtilPrivate::CreateEntitiesRuntime(
           const components::Pose *_pose,
           const components::ParentEntity *_parent)->bool
       {
-        sdf::Link link;
-        link.SetName(_name->Data());
-        link.SetRawPose(_pose->Data());
-        this->newLinks.push_back(
-            std::make_tuple(_entity, link, _parent->Data()));
-        // used for collsions
-        this->modelToLinkEntities[_parent->Data()].push_back(_entity);
-        // used for joints
-        this->matchLinksWithEntities[_parent->Data()][_name->Data()] =
-            _entity;
+        this->CreateLink(_ecm, _entity, _name, _pose, _parent);
         return true;
       });
 
@@ -1975,62 +1949,8 @@ void RenderUtilPrivate::CreateEntitiesRuntime(
           const components::VisibilityFlags *_visibilityFlags,
           const components::ParentEntity *_parent)->bool
       {
-        sdf::Visual visual;
-        visual.SetName(_name->Data());
-        visual.SetRawPose(_pose->Data());
-        visual.SetGeom(_geom->Data());
-        visual.SetCastShadows(_castShadows->Data());
-        visual.SetTransparency(_transparency->Data());
-        visual.SetVisibilityFlags(_visibilityFlags->Data());
-
-        // Optional components
-        auto material = _ecm.Component<components::Material>(_entity);
-        if (material != nullptr)
-        {
-          visual.SetMaterial(material->Data());
-        }
-
-        auto laserRetro = _ecm.Component<components::LaserRetro>(_entity);
-        if (laserRetro != nullptr)
-        {
-          visual.SetLaserRetro(laserRetro->Data());
-        }
-
-        // set label
-        auto label = _ecm.Component<components::SemanticLabel>(_entity);
-        if (label != nullptr)
-        {
-          this->entityLabel[_entity] = label->Data();
-        }
-
-        if (auto temp = _ecm.Component<components::Temperature>(_entity))
-        {
-          // get the uniform temperature for the entity
-          this->entityTemp[_entity] = std::make_tuple
-              <float, float, std::string>(temp->Data().Kelvin(), 0.0, "");
-        }
-        else
-        {
-          // entity doesn't have a uniform temperature. Check if it has
-          // a heat signature with an associated temperature range
-          auto heatSignature =
-            _ecm.Component<components::SourceFilePath>(_entity);
-          auto tempRange =
-             _ecm.Component<components::TemperatureRange>(_entity);
-          if (heatSignature && tempRange)
-          {
-            this->entityTemp[_entity] =
-              std::make_tuple<float, float, std::string>(
-                  tempRange->Data().min.Kelvin(),
-                  tempRange->Data().max.Kelvin(),
-                  std::string(heatSignature->Data()));
-          }
-        }
-
-        this->newVisuals.push_back(
-            std::make_tuple(_entity, visual, _parent->Data()));
-
-        this->linkToVisualEntities[_parent->Data()].push_back(_entity);
+        this->CreateVisual(_ecm, _entity, _name, _pose, _geom, _castShadows,
+            _transparency, _visibilityFlags, _parent);
         return true;
       });
 
@@ -2062,8 +1982,7 @@ void RenderUtilPrivate::CreateEntitiesRuntime(
           const components::Name *_name,
           const components::ParentEntity *_parent) -> bool
       {
-        this->newLights.push_back(std::make_tuple(_entity, _light->Data(),
-              _name->Data(), _parent->Data()));
+        this->CreateLight(_ecm, _entity, _light, _name, _parent);
         return true;
       });
 
@@ -3574,3 +3493,147 @@ void RenderUtil::ViewCollisions(const Entity &_entity)
     }
   }
 }
+
+/////////////////////////////////////////////////
+void RenderUtil::CreateVisualsForEntities(
+    const EntityComponentManager &_ecm,
+    const std::set<Entity> &_entities)
+{
+  for (auto const &ent : _entities)
+  {
+    auto linkComp = _ecm.Component<components::Link>(ent);
+    if (linkComp)
+    {
+      this->dataPtr->CreateLink(_ecm, ent,
+          _ecm.Component<components::Name>(ent),
+          _ecm.Component<components::Pose>(ent),
+          _ecm.Component<components::ParentEntity>(ent));
+      continue;
+    }
+
+    auto visualComp = _ecm.Component<components::Visual>(ent);
+    if (visualComp)
+    {
+      this->dataPtr->CreateVisual(_ecm, ent,
+          _ecm.Component<components::Name>(ent),
+          _ecm.Component<components::Pose>(ent),
+          _ecm.Component<components::Geometry>(ent),
+          _ecm.Component<components::CastShadows>(ent),
+          _ecm.Component<components::Transparency>(ent),
+          _ecm.Component<components::VisibilityFlags>(ent),
+          _ecm.Component<components::ParentEntity>(ent));
+      continue;
+    }
+    auto lightComp = _ecm.Component<components::Light>(ent);
+    if (lightComp)
+    {
+      this->dataPtr->CreateLight(_ecm, ent,
+        _ecm.Component<components::Light>(ent),
+        _ecm.Component<components::Name>(ent),
+        _ecm.Component<components::ParentEntity>(ent));
+      continue;
+    }
+  }
+}
+
+/////////////////////////////////////////////////
+void RenderUtilPrivate::CreateLink(
+    const EntityComponentManager &/*_ecm*/,
+    const Entity &_entity,
+    const components::Name *_name,
+    const components::Pose *_pose,
+    const components::ParentEntity *_parent)
+{
+   sdf::Link link;
+   link.SetName(_name->Data());
+   link.SetRawPose(_pose->Data());
+   this->newLinks.push_back(
+       std::make_tuple(_entity, link, _parent->Data()));
+   // used for collsions
+   this->modelToLinkEntities[_parent->Data()].push_back(_entity);
+   // used for joints
+   this->matchLinksWithEntities[_parent->Data()][_name->Data()] =
+       _entity;
+}
+
+/////////////////////////////////////////////////
+void RenderUtilPrivate::CreateVisual(
+    const EntityComponentManager &_ecm,
+    const Entity &_entity,
+    const components::Name *_name,
+    const components::Pose *_pose,
+    const components::Geometry *_geom,
+    const components::CastShadows *_castShadows,
+    const components::Transparency *_transparency,
+    const components::VisibilityFlags *_visibilityFlags,
+    const components::ParentEntity *_parent)
+{
+  sdf::Visual visual;
+  visual.SetName(_name->Data());
+  visual.SetRawPose(_pose->Data());
+  visual.SetGeom(_geom->Data());
+  visual.SetCastShadows(_castShadows->Data());
+  visual.SetTransparency(_transparency->Data());
+  visual.SetVisibilityFlags(_visibilityFlags->Data());
+
+  // Optional components
+  auto material = _ecm.Component<components::Material>(_entity);
+  if (material != nullptr)
+  {
+    visual.SetMaterial(material->Data());
+  }
+
+  auto laserRetro = _ecm.Component<components::LaserRetro>(_entity);
+  if (laserRetro != nullptr)
+  {
+    visual.SetLaserRetro(laserRetro->Data());
+  }
+
+  // set label
+  auto label = _ecm.Component<components::SemanticLabel>(_entity);
+  if (label != nullptr)
+  {
+    this->entityLabel[_entity] = label->Data();
+  }
+
+  if (auto temp = _ecm.Component<components::Temperature>(_entity))
+  {
+    // get the uniform temperature for the entity
+    this->entityTemp[_entity] = std::make_tuple
+        <float, float, std::string>(temp->Data().Kelvin(), 0.0, "");
+  }
+  else
+  {
+    // entity doesn't have a uniform temperature. Check if it has
+    // a heat signature with an associated temperature range
+    auto heatSignature =
+      _ecm.Component<components::SourceFilePath>(_entity);
+    auto tempRange =
+       _ecm.Component<components::TemperatureRange>(_entity);
+    if (heatSignature && tempRange)
+    {
+      this->entityTemp[_entity] =
+        std::make_tuple<float, float, std::string>(
+            tempRange->Data().min.Kelvin(),
+            tempRange->Data().max.Kelvin(),
+            std::string(heatSignature->Data()));
+    }
+  }
+
+  this->newVisuals.push_back(
+      std::make_tuple(_entity, visual, _parent->Data()));
+
+  this->linkToVisualEntities[_parent->Data()].push_back(_entity);
+}
+
+/////////////////////////////////////////////////
+void RenderUtilPrivate::CreateLight(
+    const EntityComponentManager &/*_ecm*/,
+    const Entity &_entity,
+    const components::Light *_light,
+    const components::Name *_name,
+    const components::ParentEntity *_parent)
+{
+  this->newLights.push_back(std::make_tuple(_entity, _light->Data(),
+      _name->Data(), _parent->Data()));
+}
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index faa114c8ff..ec96ed1bf0 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -26,6 +26,7 @@
 #include <iostream>
 #include <deque>
 #include <map>
+#include <set>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
@@ -126,6 +127,7 @@
 #include "ignition/gazebo/components/PhysicsEnginePlugin.hh"
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/components/PoseCmd.hh"
+#include "ignition/gazebo/components/Recreate.hh"
 #include "ignition/gazebo/components/SelfCollide.hh"
 #include "ignition/gazebo/components/SlipComplianceCmd.hh"
 #include "ignition/gazebo/components/Static.hh"
@@ -671,6 +673,19 @@ class ignition::gazebo::systems::PhysicsPrivate
   /// entities with customizations per world.
   public: std::unordered_map<Entity, std::unordered_set<Entity>>
     customContactSurfaceEntities;
+
+  /// \brief Set of links that were added to an existing model. This set
+  /// is used to track links that were added to an existing model, such as
+  /// through the GUI model editor, so that we can avoid premature creation
+  /// of links and collision elements. This also lets us suppress some
+  /// invalid error messages.
+  public: std::set<Entity> linkAddedToModel;
+
+  /// \brief Set of joints that were added to an existing model. This set
+  /// is used to track joints that were added to an existing model, such as
+  /// through the GUI model editor, so that we can avoid premature creation
+  /// of joints. This also lets us suppress some invalid error messages.
+  public: std::set<Entity> jointAddedToModel;
 };
 
 //////////////////////////////////////////////////
@@ -840,6 +855,10 @@ void Physics::Update(const UpdateInfo &_info, EntityComponentManager &_ecm)
 //////////////////////////////////////////////////
 void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm)
 {
+  // Clear the set of links that were added to a model.
+  this->linkAddedToModel.clear();
+  this->jointAddedToModel.clear();
+
   this->CreateWorldEntities(_ecm);
   this->CreateModelEntities(_ecm);
   this->CreateLinkEntities(_ecm);
@@ -941,6 +960,9 @@ void PhysicsPrivate::CreateModelEntities(const EntityComponentManager &_ecm)
           const components::Pose *_pose,
           const components::ParentEntity *_parent)->bool
       {
+        if (_ecm.EntityHasComponentType(_entity, components::Recreate::typeId))
+          return true;
+
         // Check if model already exists
         if (this->entityModelMap.HasEntity(_entity))
         {
@@ -1073,6 +1095,18 @@ void PhysicsPrivate::CreateLinkEntities(const EntityComponentManager &_ecm)
         const components::Pose *_pose,
         const components::ParentEntity *_parent)->bool
       {
+        // If the parent model is scheduled for recreation, then do not
+        // try to create a new link. This situation can occur when a link
+        // is added to a model from the GUI model editor.
+        if (_ecm.EntityHasComponentType(_parent->Data(),
+              components::Recreate::typeId))
+        {
+          // Add this entity to the set of newly added links to existing
+          // models.
+          this->linkAddedToModel.insert(_entity);
+          return true;
+        }
+
         // Check if link already exists
         if (this->entityLinkMap.HasEntity(_entity))
         {
@@ -1134,6 +1168,14 @@ void PhysicsPrivate::CreateCollisionEntities(const EntityComponentManager &_ecm)
           const components::CollisionElement *_collElement,
           const components::ParentEntity *_parent) -> bool
       {
+        // Check to see if this collision's parent is a link that was
+        // not created because the parent model is marked for recreation.
+        if (this->linkAddedToModel.find(_parent->Data()) !=
+            this->linkAddedToModel.end())
+        {
+          return true;
+        }
+
         if (this->entityCollisionMap.HasEntity(_entity))
         {
            ignwarn << "Collision entity [" << _entity
@@ -1328,6 +1370,18 @@ void PhysicsPrivate::CreateJointEntities(const EntityComponentManager &_ecm)
           const components::ParentLinkName *_parentLinkName,
           const components::ChildLinkName *_childLinkName) -> bool
       {
+        // If the parent model is scheduled for recreation, then do not
+        // try to create a new link. This situation can occur when a link
+        // is added to a model from the GUI model editor.
+        if (_ecm.EntityHasComponentType(_parentModel->Data(),
+              components::Recreate::typeId))
+        {
+          // Add this entity to the set of newly added links to existing
+          // models.
+          this->jointAddedToModel.insert(_entity);
+          return true;
+        }
+
         // Check if joint already exists
         if (this->entityJointMap.HasEntity(_entity))
         {
@@ -2396,14 +2450,23 @@ std::map<Entity, physics::FrameData3d> PhysicsPrivate::ChangedLinks(
     _ecm.Each<components::Link>(
       [&](const Entity &_entity, components::Link *) -> bool
       {
-        if (this->staticEntities.find(_entity) != this->staticEntities.end())
+        if (this->staticEntities.find(_entity) != this->staticEntities.end() ||
+            _ecm.EntityHasComponentType(_entity, components::Recreate::typeId))
+        {
           return true;
+        }
 
+        // This `once` variable is here to aid in debugging, make sure to
+        // remove it.
         auto linkPhys = this->entityLinkMap.Get(_entity);
         if (nullptr == linkPhys)
         {
-          ignerr << "Internal error: link [" << _entity
-                 << "] not in entity map" << std::endl;
+          if (this->linkAddedToModel.find(_entity) ==
+              this->linkAddedToModel.end())
+          {
+            ignerr << "Internal error: link [" << _entity
+              << "] not in entity map" << std::endl;
+          }
           return true;
         }
 
@@ -2553,8 +2616,12 @@ bool PhysicsPrivate::GetFrameDataRelativeToWorld(const Entity _entity,
   auto entityPhys = this->entityLinkMap.Get(_entity);
   if (nullptr == entityPhys)
   {
-    ignerr << "Internal error: entity [" << _entity
-           << "] not in entity map" << std::endl;
+    // Suppress error message if the link has just been added to the model.
+    if (this->linkAddedToModel.find(_entity) == this->linkAddedToModel.end())
+    {
+      ignerr << "Internal error: entity [" << _entity
+        << "] not in entity map" << std::endl;
+    }
     return false;
   }
 
@@ -2651,7 +2718,8 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm,
       if (parentModelPoseIt == this->modelWorldPoses.end())
       {
         ignerr << "Internal error: parent model [" << parentEntity
-              << "] does not have a world pose available" << std::endl;
+              << "] does not have a world pose available for child entity["
+              << entity << "]" << std::endl;
         continue;
       }
       const math::Pose3d &parentWorldPose = parentModelPoseIt->second;
diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc
index 484188bdae..9b1fc002d8 100644
--- a/src/systems/scene_broadcaster/SceneBroadcaster.cc
+++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc
@@ -19,8 +19,10 @@
 
 #include <ignition/msgs/scene.pb.h>
 
+#include <algorithm>
 #include <chrono>
 #include <condition_variable>
+#include <map>
 #include <string>
 #include <unordered_set>
 
@@ -199,9 +201,14 @@ class ignition::gazebo::systems::SceneBroadcasterPrivate
   public: std::chrono::time_point<std::chrono::system_clock>
       lastStatePubTime{std::chrono::system_clock::now()};
 
-  /// \brief Period to publish state, defaults to 60 Hz.
-  public: std::chrono::duration<int64_t, std::ratio<1, 1000>>
-      statePublishPeriod{std::chrono::milliseconds(1000/60)};
+  /// \brief Period to publish state while paused and running. The key for
+  /// the map is used to store the publish period when paused and not
+  /// paused. The not-paused (a.ka. running) period has a key=false and a
+  /// default update rate of 60Hz. The paused period has a key=true and a
+  /// default update rate of 30Hz.
+  public: std::map<bool, std::chrono::duration<int64_t, std::ratio<1, 1000>>>
+      statePublishPeriod{{false, std::chrono::milliseconds(1000/60)},
+                         {true,  std::chrono::milliseconds(1000/30)}};
 
   /// \brief Flag used to indicate if the state service was called.
   public: bool stateServiceRequest{false};
@@ -237,10 +244,16 @@ void SceneBroadcaster::Configure(
   this->dataPtr->dyPoseHertz = readHertz.first;
 
   auto stateHerz = _sdf->Get<int>("state_hertz", 60);
-  this->dataPtr->statePublishPeriod =
+  this->dataPtr->statePublishPeriod[false] =
       std::chrono::duration<int64_t, std::ratio<1, 1000>>(
       std::chrono::milliseconds(1000/stateHerz.first));
 
+  // Set the paused update rate to half of the running update rate.
+  this->dataPtr->statePublishPeriod[true] =
+      std::chrono::duration<int64_t, std::ratio<1, 1000>>(
+      std::chrono::milliseconds(1000 /
+        static_cast<int>(std::max(stateHerz.first * 0.5, 1.0))));
+
   // Add to graph
   {
     std::lock_guard<std::mutex> lock(this->dataPtr->graphMutex);
@@ -286,8 +299,8 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info,
     _manager.HasNewEntities() || _manager.HasOneTimeComponentChanges() ||
     jumpBackInTime || _manager.HasRemovedComponents();
   auto now = std::chrono::system_clock::now();
-  bool itsPubTime = !_info.paused && (now - this->dataPtr->lastStatePubTime >
-       this->dataPtr->statePublishPeriod);
+  bool itsPubTime = (now - this->dataPtr->lastStatePubTime >
+       this->dataPtr->statePublishPeriod[_info.paused]);
   auto shouldPublish = this->dataPtr->statePub.HasConnections() &&
        (changeEvent || itsPubTime);
 
@@ -303,8 +316,8 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info,
     {
       _manager.State(*this->dataPtr->stepMsg.mutable_state(), {}, {}, true);
     }
-    // Otherwise publish just periodic change components
-    else
+    // Otherwise publish just periodic change components when running
+    else if (!_info.paused)
     {
       IGN_PROFILE("SceneBroadcast::PostUpdate UpdateState");
       auto periodicComponents = _manager.ComponentTypesWithPeriodicChanges();
diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index 366d81c46e..5d802189b1 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -91,7 +91,6 @@ class ignition::gazebo::systems::SensorsPrivate
   /// \brief Keep track of cameras, in case we need to handle stereo cameras.
   /// Key: Camera's parent scoped name
   /// Value: Pointer to camera
-  // TODO(anyone) Remove element when sensor is deleted
   public: std::map<std::string, sensors::CameraSensor *> cameras;
 
   /// \brief Maps gazebo entity to its matching sensor ID
@@ -371,6 +370,17 @@ void Sensors::RemoveSensor(const Entity &_entity)
         this->dataPtr->activeSensors.erase(activeSensorIt);
       }
     }
+
+    // update cameras list
+    for (auto &it : this->dataPtr->cameras)
+    {
+      if (it.second->Id() == idIter->second)
+      {
+        this->dataPtr->cameras.erase(it.first);
+        break;
+      }
+    }
+
     this->dataPtr->sensorIds.erase(idIter->second);
     this->dataPtr->sensorManager.Remove(idIter->second);
     this->dataPtr->entityToIdMap.erase(idIter);
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index acae1df569..e09452bbad 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -47,6 +47,7 @@ set(tests
   physics_system.cc
   play_pause.cc
   pose_publisher_system.cc
+  recreate_entities.cc
   save_world.cc
   scene_broadcaster_system.cc
   sdf_frame_semantics.cc
@@ -62,6 +63,7 @@ set(tests
   wheel_slip.cc
   wind_effects.cc
   world.cc
+  world_control_state.cc
 )
 
 # Tests that require a valid display
diff --git a/test/integration/recreate_entities.cc b/test/integration/recreate_entities.cc
new file mode 100644
index 0000000000..0bde0f2ecb
--- /dev/null
+++ b/test/integration/recreate_entities.cc
@@ -0,0 +1,645 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <algorithm>
+#include <vector>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
+#include <sdf/World.hh>
+
+#include "ignition/gazebo/components/Factory.hh"
+#include "ignition/gazebo/components/Joint.hh"
+#include "ignition/gazebo/components/Link.hh"
+#include "ignition/gazebo/components/Model.hh"
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/ParentLinkName.hh"
+#include "ignition/gazebo/components/Pose.hh"
+#include "ignition/gazebo/components/Recreate.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/SystemLoader.hh"
+#include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
+
+#include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace components;
+
+using namespace std::chrono_literals;
+
+class RecreateEntitiesFixture : public InternalFixture<::testing::Test>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_F(RecreateEntitiesFixture, RecreateEntities)
+{
+  // Start server
+  ServerConfig serverConfig;
+  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
+      "/test/worlds/shapes.sdf");
+
+  Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  EntityComponentManager *ecm = nullptr;
+  bool recreateEntities = false;
+
+  // Create a system that adds a recreate component to models
+  test::Relay testSystem;
+  testSystem.OnUpdate([&](const gazebo::UpdateInfo &,
+    gazebo::EntityComponentManager &_ecm)
+    {
+      // cppcheck-suppress knownConditionTrueFalse
+      if (!ecm)
+      {
+        ecm = &_ecm;
+        recreateEntities = true;
+        return;
+      }
+
+      if (recreateEntities)
+      {
+        _ecm.Each<components::Model>(
+            [&](const ignition::gazebo::Entity &_entity,
+                const components::Model *) -> bool
+            {
+              // add a components::Recreate to indicate that this entity
+              // needs to be recreated
+              _ecm.CreateComponent(_entity, components::Recreate());
+              return true;
+            });
+
+        // recreate entities only once so set it back to false
+        recreateEntities = false;
+        return;
+      }
+    });
+  server.AddSystem(testSystem.systemPtr);
+
+  // Run server and check we have the ECM
+  EXPECT_EQ(nullptr, ecm);
+  server.Run(true, 1, false);
+  EXPECT_NE(nullptr, ecm);
+
+  // model entity ids
+  Entity boxModelEntity = kNullEntity;
+  Entity cylModelEntity = kNullEntity;
+  Entity sphModelEntity = kNullEntity;
+  Entity capModelEntity = kNullEntity;
+  Entity ellipModelEntity = kNullEntity;
+
+  // link entity ids
+  Entity boxLinkEntity = kNullEntity;
+  Entity cylLinkEntity = kNullEntity;
+  Entity sphLinkEntity = kNullEntity;
+  Entity capLinkEntity = kNullEntity;
+  Entity ellipLinkEntity = kNullEntity;
+
+  auto validateEntities = [&]()
+  {
+    boxModelEntity = kNullEntity;
+    cylModelEntity = kNullEntity;
+    sphModelEntity = kNullEntity;
+    capModelEntity = kNullEntity;
+    ellipModelEntity = kNullEntity;
+
+    boxLinkEntity = kNullEntity;
+    cylLinkEntity = kNullEntity;
+    sphLinkEntity = kNullEntity;
+    capLinkEntity = kNullEntity;
+    ellipLinkEntity = kNullEntity;
+
+    // Check entities
+    // 1 x world + 1 x (default) level + 1 x wind + 5 x model + 5 x link + 5 x
+    // collision + 5 x visual + 1 x light
+    EXPECT_EQ(24u, ecm->EntityCount());
+
+    Entity worldEntity =
+        ecm->EntityByComponents(components::World());
+    EXPECT_NE(kNullEntity, worldEntity);
+
+    // Check models
+    unsigned int modelCount{0};
+    ecm->Each<components::Model,
+                              components::Pose,
+                              components::ParentEntity,
+                              components::Name>(
+      [&](const Entity &_entity,
+          const components::Model *_model,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _model);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        modelCount++;
+
+        EXPECT_EQ(worldEntity, _parent->Data());
+        if (modelCount == 1)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 1),
+              _pose->Data());
+          EXPECT_EQ("box", _name->Data());
+          boxModelEntity = _entity;
+        }
+        else if (modelCount == 2)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(-1, -2, -3, 0, 0, 1),
+              _pose->Data());
+          EXPECT_EQ("cylinder", _name->Data());
+          cylModelEntity = _entity;
+        }
+        else if (modelCount == 3)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 1),
+              _pose->Data());
+          EXPECT_EQ("sphere", _name->Data());
+          sphModelEntity = _entity;
+        }
+        else if (modelCount == 4)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(-4, -5, -6, 0, 0, 1),
+              _pose->Data());
+          EXPECT_EQ("capsule", _name->Data());
+          capModelEntity = _entity;
+        }
+        else if (modelCount == 5)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(4, 5, 6, 0, 0, 1),
+              _pose->Data());
+          EXPECT_EQ("ellipsoid", _name->Data());
+          ellipModelEntity = _entity;
+        }
+        return true;
+      });
+
+    EXPECT_EQ(5u, modelCount);
+    EXPECT_NE(kNullEntity, boxModelEntity);
+    EXPECT_NE(kNullEntity, cylModelEntity);
+    EXPECT_NE(kNullEntity, sphModelEntity);
+    EXPECT_NE(kNullEntity, capModelEntity);
+    EXPECT_NE(kNullEntity, ellipModelEntity);
+
+    // Check links
+    unsigned int linkCount{0};
+    ecm->Each<components::Link,
+              components::Pose,
+              components::ParentEntity,
+              components::Name>(
+      [&](const Entity &_entity,
+          const components::Link *_link,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _link);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        linkCount++;
+
+        if (linkCount == 1)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0),
+              _pose->Data());
+          EXPECT_EQ("box_link", _name->Data());
+          EXPECT_EQ(boxModelEntity, _parent->Data());
+          boxLinkEntity = _entity;
+        }
+        else if (linkCount == 2)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0.2, 0.2, 0.2, 0, 0, 0),
+              _pose->Data());
+          EXPECT_EQ("cylinder_link", _name->Data());
+          EXPECT_EQ(cylModelEntity, _parent->Data());
+          cylLinkEntity = _entity;
+        }
+        else if (linkCount == 3)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0.3, 0.3, 0.3, 0, 0, 0),
+              _pose->Data());
+          EXPECT_EQ("sphere_link", _name->Data());
+          EXPECT_EQ(sphModelEntity, _parent->Data());
+          sphLinkEntity = _entity;
+        }
+        else if (linkCount == 4)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0.5, 0.5, 0.5, 0, 0, 0),
+              _pose->Data());
+          EXPECT_EQ("capsule_link", _name->Data());
+          EXPECT_EQ(capModelEntity, _parent->Data());
+          capLinkEntity = _entity;
+        }
+        else if (linkCount == 5)
+        {
+          EXPECT_EQ(ignition::math::Pose3d(0.8, 0.8, 0.8, 0, 0, 0),
+              _pose->Data());
+          EXPECT_EQ("ellipsoid_link", _name->Data());
+          EXPECT_EQ(ellipModelEntity, _parent->Data());
+          ellipLinkEntity = _entity;
+        }
+        return true;
+      });
+
+    EXPECT_EQ(5u, linkCount);
+    EXPECT_NE(kNullEntity, boxLinkEntity);
+    EXPECT_NE(kNullEntity, cylLinkEntity);
+    EXPECT_NE(kNullEntity, sphLinkEntity);
+    EXPECT_NE(kNullEntity, capLinkEntity);
+    EXPECT_NE(kNullEntity, ellipLinkEntity);
+  };
+
+  // validate initial state
+  validateEntities();
+
+  // store the original entity ids
+  Entity originalboxModelEntity = boxModelEntity;
+  Entity originalcylModelEntity = cylModelEntity;
+  Entity originalsphModelEntity = sphModelEntity;
+  Entity originalcapModelEntity = capModelEntity;
+  Entity originalellipModelEntity = ellipModelEntity;
+  Entity originalboxLinkEntity = boxLinkEntity;
+  Entity originalcylLinkEntity = cylLinkEntity;
+  Entity originalsphLinkEntity = sphLinkEntity;
+  Entity originalcapLinkEntity = capLinkEntity;
+  Entity originalellipLinkEntity = ellipLinkEntity;
+
+  // Run once to let the test relay system creates the components::Recreate
+  server.Run(true, 1, false);
+
+  // Run again so that entities get recreated in the ECM
+  server.Run(true, 1, false);
+
+  // validate that the entities are recreated
+  validateEntities();
+
+  // check that the newly recreated entities should have a different entity id
+  EXPECT_NE(originalboxModelEntity, boxModelEntity);
+  EXPECT_NE(originalcylModelEntity, cylModelEntity);
+  EXPECT_NE(originalsphModelEntity, sphModelEntity);
+  EXPECT_NE(originalcapModelEntity, capModelEntity);
+  EXPECT_NE(originalellipModelEntity, ellipModelEntity);
+  EXPECT_NE(originalboxLinkEntity, boxLinkEntity);
+  EXPECT_NE(originalcylLinkEntity, cylLinkEntity);
+  EXPECT_NE(originalsphLinkEntity, sphLinkEntity);
+  EXPECT_NE(originalcapLinkEntity, capLinkEntity);
+  EXPECT_NE(originalellipLinkEntity, ellipLinkEntity);
+
+  // Run again to make sure the recreate components are removed and no
+  // entities to to be recreated
+  server.Run(true, 1, false);
+
+  auto entities = ecm->EntitiesByComponents(components::Model(),
+      components::Recreate());
+  EXPECT_TRUE(entities.empty());
+}
+
+/////////////////////////////////////////////////
+TEST_F(RecreateEntitiesFixture, RecreateEntities_Joints)
+{
+  // Start server
+  ServerConfig serverConfig;
+  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
+      "/test/worlds/double_pendulum.sdf");
+
+  Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  EntityComponentManager *ecm = nullptr;
+  bool recreateEntities = false;
+
+  // Create a system that adds a recreate component to models
+  test::Relay testSystem;
+  testSystem.OnUpdate([&](const gazebo::UpdateInfo &,
+    gazebo::EntityComponentManager &_ecm)
+    {
+      // cppcheck-suppress knownConditionTrueFalse
+      if (!ecm)
+      {
+        ecm = &_ecm;
+        recreateEntities = true;
+        return;
+      }
+
+      if (recreateEntities)
+      {
+        _ecm.Each<components::Model>(
+            [&](const ignition::gazebo::Entity &_entity,
+                const components::Model *) -> bool
+            {
+              // add a components::Recreate to indicate that this entity
+              // needs to be recreated
+              _ecm.CreateComponent(_entity, components::Recreate());
+              return true;
+            });
+
+        // recreate entities only once so set it back to false
+        recreateEntities = false;
+        return;
+      }
+    });
+  server.AddSystem(testSystem.systemPtr);
+
+  // Run server and check we have the ECM
+  EXPECT_EQ(nullptr, ecm);
+  server.Run(true, 1, false);
+  EXPECT_NE(nullptr, ecm);
+
+  auto validateEntities = [&]()
+  {
+    // Check entities
+    // 1 x world + 1 x (default) level + 1 x wind + 5 x model + 5 x link + 5 x
+    // collision + 5 x visual + 1 x light
+    EXPECT_EQ(48u, ecm->EntityCount());
+
+    Entity worldEntity =
+        ecm->EntityByComponents(components::World());
+    EXPECT_NE(kNullEntity, worldEntity);
+
+    // Check models
+    unsigned int modelCount{0};
+    ecm->Each<components::Model,
+                              components::Pose,
+                              components::ParentEntity,
+                              components::Name>(
+      [&](const Entity &/*_entity*/,
+          const components::Model *_model,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _model);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        modelCount++;
+
+        EXPECT_EQ(worldEntity, _parent->Data());
+        return true;
+      });
+
+    EXPECT_EQ(3u, modelCount);
+
+    // Check links
+    unsigned int linkCount{0};
+    ecm->Each<components::Link,
+              components::Pose,
+              components::ParentEntity,
+              components::Name>(
+      [&](const Entity &/*_entity*/,
+          const components::Link *_link,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _link);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        linkCount++;
+
+        return true;
+      });
+
+    EXPECT_EQ(7u, linkCount);
+
+    // Check links
+    unsigned int jointCount{0};
+    ecm->Each<components::Joint,
+              components::Pose,
+              components::ParentEntity,
+              components::Name>(
+      [&](const Entity &/*_entity*/,
+          const components::Joint *_joint,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _joint);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        jointCount++;
+
+        return true;
+      });
+
+    EXPECT_EQ(4u, jointCount);
+  };
+
+  // validate initial state
+  validateEntities();
+
+  // Run once to let the test relay system creates the components::Recreate
+  server.Run(true, 1, false);
+
+  // Run again so that entities get recreated in the ECM
+  server.Run(true, 1, false);
+
+  // validate that the entities are recreated
+  validateEntities();
+
+  // Run again to make sure the recreate components are removed and no
+  // entities to to be recreated
+  server.Run(true, 1, false);
+
+  auto entities = ecm->EntitiesByComponents(components::Model(),
+      components::Recreate());
+  EXPECT_TRUE(entities.empty());
+}
+
+/////////////////////////////////////////////////
+TEST_F(RecreateEntitiesFixture, RecreateEntities_WorldJoint)
+{
+  // Start server
+  ServerConfig serverConfig;
+  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
+      "/test/worlds/fixed_world_joint.sdf");
+
+  Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  EntityComponentManager *ecm = nullptr;
+  bool recreateEntities = false;
+
+  // Create a system that adds a recreate component to models
+  test::Relay testSystem;
+  testSystem.OnUpdate([&](const gazebo::UpdateInfo &,
+    gazebo::EntityComponentManager &_ecm)
+    {
+      // cppcheck-suppress knownConditionTrueFalse
+      if (!ecm)
+      {
+        ecm = &_ecm;
+        recreateEntities = true;
+        return;
+      }
+
+      if (recreateEntities)
+      {
+        _ecm.Each<components::Model>(
+            [&](const ignition::gazebo::Entity &_entity,
+                const components::Model *) -> bool
+            {
+              // add a components::Recreate to indicate that this entity
+              // needs to be recreated
+              _ecm.CreateComponent(_entity, components::Recreate());
+              return true;
+            });
+
+        // recreate entities only once so set it back to false
+        recreateEntities = false;
+        return;
+      }
+    });
+  server.AddSystem(testSystem.systemPtr);
+
+  // Run server and check we have the ECM
+  EXPECT_EQ(nullptr, ecm);
+  server.Run(true, 1, false);
+  EXPECT_NE(nullptr, ecm);
+
+  auto validateEntities = [&]()
+  {
+    // Check entities
+    // 1 x world + 1 x (default) level + 1 x wind + 1 x model + 2 x link + 2 x
+    // collision + 2 x visual + 2 x joint
+    EXPECT_EQ(12u, ecm->EntityCount());
+
+    Entity worldEntity =
+        ecm->EntityByComponents(components::World());
+    EXPECT_NE(kNullEntity, worldEntity);
+
+    // Check models
+    unsigned int modelCount{0};
+    ecm->Each<components::Model,
+                              components::Pose,
+                              components::ParentEntity,
+                              components::Name>(
+      [&](const Entity &/*_entity*/,
+          const components::Model *_model,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _model);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        modelCount++;
+
+        EXPECT_EQ(worldEntity, _parent->Data());
+        return true;
+      });
+
+    EXPECT_EQ(1u, modelCount);
+
+    // Check links
+    unsigned int linkCount{0};
+    ecm->Each<components::Link,
+              components::Pose,
+              components::ParentEntity,
+              components::Name>(
+      [&](const Entity &/*_entity*/,
+          const components::Link *_link,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name)->bool
+      {
+        EXPECT_NE(nullptr, _link);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+
+        linkCount++;
+
+        return true;
+      });
+
+    EXPECT_EQ(2u, linkCount);
+
+    // Check joint
+    unsigned int jointCount{0};
+    ecm->Each<components::Joint,
+              components::Pose,
+              components::ParentEntity,
+              components::Name,
+              components::ParentLinkName>(
+      [&](const Entity &/*_entity*/,
+          const components::Joint *_joint,
+          const components::Pose *_pose,
+          const components::ParentEntity *_parent,
+          const components::Name *_name,
+          const components::ParentLinkName *_parentLinkName)->bool
+      {
+        EXPECT_NE(nullptr, _joint);
+        EXPECT_NE(nullptr, _pose);
+        EXPECT_NE(nullptr, _parent);
+        EXPECT_NE(nullptr, _name);
+        EXPECT_NE(nullptr, _parentLinkName);
+
+        std::cout << "JointName[" << _name->Data() << "]\n";
+        if (_name->Data() == "world_fixed")
+        {
+          EXPECT_EQ("world", _parentLinkName->Data());
+        }
+        jointCount++;
+
+        return true;
+      });
+
+    EXPECT_EQ(2u, jointCount);
+  };
+
+  // validate initial state
+  validateEntities();
+
+  // Run once to let the test relay system creates the components::Recreate
+  server.Run(true, 1, false);
+
+  // Run again so that entities get recreated in the ECM
+  server.Run(true, 1, false);
+
+  // validate that the entities are recreated
+  validateEntities();
+
+  // Run again to make sure the recreate components are removed and no
+  // entities to to be recreated
+  server.Run(true, 1, false);
+
+  auto entities = ecm->EntitiesByComponents(components::Model(),
+      components::Recreate());
+  EXPECT_TRUE(entities.empty());
+}
diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc
index 2dc83ca890..c4dbf14231 100644
--- a/test/integration/scene_broadcaster_system.cc
+++ b/test/integration/scene_broadcaster_system.cc
@@ -711,7 +711,9 @@ TEST_P(SceneBroadcasterTest, RemovedComponent)
   EXPECT_TRUE(received);
   EXPECT_TRUE(hasState);
 
-  // Run server again. The second time shouldn't send the state message.
+  // Run server again. The second time shouldn't have state info. The
+  // message can still arrive due the passage of time (see `itsPubTime` in
+  // SceneBroadcaster::PostUpdate.
   sleep = 0u;
   received = false;
   hasState = false;
@@ -720,7 +722,6 @@ TEST_P(SceneBroadcasterTest, RemovedComponent)
   // cppcheck-suppress knownConditionTrueFalse
   while (!received && sleep++ < maxSleep)
     IGN_SLEEP_MS(100);
-  EXPECT_FALSE(received);
   EXPECT_FALSE(hasState);
 
   // Run server again. The third time should send the state message because
diff --git a/test/integration/world_control_state.cc b/test/integration/world_control_state.cc
new file mode 100644
index 0000000000..cce40ed276
--- /dev/null
+++ b/test/integration/world_control_state.cc
@@ -0,0 +1,114 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#include <gtest/gtest.h>
+
+#include "ignition/msgs.hh"
+#include "ignition/transport.hh"
+#include "ignition/gazebo/components/Model.hh"
+#include "ignition/gazebo/components/Name.hh"
+
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
+
+#include "../helpers/EnvTestFixture.hh"
+#include "../helpers/Relay.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace std::chrono_literals;
+
+class WorldControlState : public InternalFixture<::testing::Test>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_F(WorldControlState, SetState)
+{
+  common::Console::SetVerbosity(4);
+
+  ServerConfig serverConfig;
+  Server server(serverConfig);
+  server.SetUpdatePeriod(1us);
+  transport::Node node;
+
+  bool received = false;
+  std::function<void(const msgs::SerializedStepMap &)> cb =
+      [&](const msgs::SerializedStepMap &_res)
+  {
+    if (_res.stats().iterations() == 1)
+    {
+      EntityComponentManager localEcm;
+      localEcm.SetState(_res.state());
+      Entity entity = localEcm.CreateEntity();
+      localEcm.CreateComponent(entity, components::Name("box"));
+
+      msgs::WorldControlState req;
+      req.mutable_state()->CopyFrom(localEcm.State());
+
+      std::function<void(const ignition::msgs::Boolean &, const bool)> cb2 =
+          [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+          {
+            if (!_result)
+              ignerr << "Error sharing WorldControl info with the server.\n";
+          };
+      node.Request("/world/default/control/state", req, cb2);
+    }
+    received = true;
+  };
+
+  // Create a system that checks for state changes in the ECM
+  ignition::gazebo::test::Relay testSystem;
+
+  testSystem.OnUpdate([](const gazebo::UpdateInfo &_info,
+    gazebo::EntityComponentManager &_ecm)
+    {
+      // After the first iteration, there should be an entity with the name
+      // "box"
+      bool hasBox = false;
+      _ecm.Each<ignition::gazebo::components::Name>(
+        [&](const ignition::gazebo::Entity &,
+            const ignition::gazebo::components::Name *_name)->bool
+        {
+          if (_name->Data() == "box")
+          {
+            hasBox = true;
+          }
+          return true;
+        });
+      if (_info.iterations > 1)
+        EXPECT_TRUE(hasBox);
+      else
+        EXPECT_FALSE(hasBox);
+    });
+  server.AddSystem(testSystem.systemPtr);
+
+  EXPECT_TRUE(node.Subscribe("/world/default/state", cb));
+
+  // Run the server once
+  server.RunOnce(false);
+
+  // Wait for the state cb to take place
+  unsigned int sleep = 0u;
+  unsigned int maxSleep = 30u;
+  while (!received && sleep++ < maxSleep)
+    IGN_SLEEP_MS(100);
+
+  // Run again, and the test system should now find an entity with the name
+  // "box"
+  server.RunOnce(false);
+}
diff --git a/test/worlds/air_pressure.sdf b/test/worlds/air_pressure.sdf
index b4b6bdb468..4eebf682dc 100644
--- a/test/worlds/air_pressure.sdf
+++ b/test/worlds/air_pressure.sdf
@@ -5,6 +5,10 @@
       filename="ignition-gazebo-air-pressure-system"
       name="ignition::gazebo::systems::AirPressure">
     </plugin>
+    <plugin
+      filename="libignition-gazebo-scene-broadcaster-system.so"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
 
     <model name="air_pressure_model">
       <static>true</static>
diff --git a/test/worlds/depth_camera_sensor.sdf b/test/worlds/depth_camera_sensor.sdf
index f6fd16a163..06bd27f558 100644
--- a/test/worlds/depth_camera_sensor.sdf
+++ b/test/worlds/depth_camera_sensor.sdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!--
-  Note: For now, this file must be loaded from ign-gazebo's root folder so the
-  mesh's relative path is correct.
--->
 <sdf version="1.6">
   <world name="depth_camera_sensor">
     <physics name="1ms" type="ode">
diff --git a/test/worlds/double_pendulum.sdf b/test/worlds/double_pendulum.sdf
new file mode 100644
index 0000000000..10940e785f
--- /dev/null
+++ b/test/worlds/double_pendulum.sdf
@@ -0,0 +1,451 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="double_pendulum_with_base0">
+      <pose>0 0 0 0 0 0</pose>
+      <link name="base">
+        <inertial>
+          <mass>100</mass>
+        </inertial>
+        <visual name="vis_plate_on_ground">
+          <pose>0 0 0.01 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.8</radius>
+              <length>0.02</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_pole">
+          <pose>-0.275 0 1.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.2 0.2 2.2</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_plate_on_ground">
+          <pose>0 0 0.01 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.8</radius>
+              <length>0.02</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_pole">
+          <pose>-0.275 0 1.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.2 0.2 2.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+      <!-- upper link, length 1, IC -90 degrees -->
+      <link name="upper_link">
+        <pose>0 0 2.1 -1.5708 0 0</pose>
+        <self_collide>0</self_collide>
+        <inertial>
+          <pose>0 0 0.5 0 0 0</pose>
+        </inertial>
+        <visual name="vis_upper_joint">
+          <pose>-0.05 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_lower_joint">
+          <pose>0 0 1.0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.2</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_upper_joint">
+          <pose>-0.05 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_lower_joint">
+          <pose>0 0 1.0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.2</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <!-- lower link, length 1, IC ~-120 degrees more -->
+      <link name="lower_link">
+        <pose>0.25 1.0 2.1 -2 0 0</pose>
+        <self_collide>0</self_collide>
+        <inertial>
+          <pose>0 0 0.5 0 0 0</pose>
+        </inertial>
+        <visual name="vis_lower_joint">
+          <pose>0 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.08</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_lower_joint">
+          <pose>0 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.08</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <!-- pin joint for upper link, at origin of upper link -->
+      <joint name="upper_joint" type="revolute">
+        <parent>base</parent>
+        <child>upper_link</child>
+        <axis>
+          <xyz>1.0 0 0</xyz>
+        </axis>
+      </joint>
+      <!-- pin joint for lower link, at origin of child link -->
+      <joint name="lower_joint" type="revolute">
+        <parent>upper_link</parent>
+        <child>lower_link</child>
+        <axis>
+          <xyz>1.0 0 0</xyz>
+        </axis>
+      </joint>
+    </model>
+
+    <model name="double_pendulum_with_base1">
+      <pose>5 0 0 0 0 0</pose>
+      <link name="base">
+        <inertial>
+          <mass>100</mass>
+        </inertial>
+        <visual name="vis_plate_on_ground">
+          <pose>0 0 0.01 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.8</radius>
+              <length>0.02</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_pole">
+          <pose>-0.275 0 1.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.2 0.2 2.2</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_plate_on_ground">
+          <pose>0 0 0.01 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.8</radius>
+              <length>0.02</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_pole">
+          <pose>-0.275 0 1.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.2 0.2 2.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+      <!-- upper link, length 1, IC -90 degrees -->
+      <link name="upper_link">
+        <pose>0 0 2.1 -1.5708 0 0</pose>
+        <self_collide>0</self_collide>
+        <inertial>
+          <pose>0 0 0.5 0 0 0</pose>
+        </inertial>
+        <visual name="vis_upper_joint">
+          <pose>-0.05 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_lower_joint">
+          <pose>0 0 1.0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.2</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_upper_joint">
+          <pose>-0.05 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_lower_joint">
+          <pose>0 0 1.0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.2</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <!-- lower link, length 1, IC ~-120 degrees more -->
+      <link name="lower_link">
+        <pose>0.25 1.0 2.1 -2 0 0</pose>
+        <self_collide>0</self_collide>
+        <inertial>
+          <pose>0 0 0.5 0 0 0</pose>
+        </inertial>
+        <visual name="vis_lower_joint">
+          <pose>0 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.08</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <visual name="vis_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <collision name="col_lower_joint">
+          <pose>0 0 0 0 1.5708 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.08</radius>
+              <length>0.3</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <collision name="col_cylinder">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.9</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <!-- pin joint for upper link, at origin of upper link -->
+      <joint name="upper_joint" type="revolute">
+        <parent>base</parent>
+        <child>upper_link</child>
+        <axis>
+          <xyz>1.0 0 0</xyz>
+        </axis>
+      </joint>
+      <!-- pin joint for lower link, at origin of child link -->
+      <joint name="lower_joint" type="revolute">
+        <parent>upper_link</parent>
+        <child>lower_link</child>
+        <axis>
+          <xyz>1.0 0 0</xyz>
+        </axis>
+      </joint>
+    </model>
+
+  </world>
+</sdf>
diff --git a/test/worlds/fixed_world_joint.sdf b/test/worlds/fixed_world_joint.sdf
new file mode 100644
index 0000000000..114675b885
--- /dev/null
+++ b/test/worlds/fixed_world_joint.sdf
@@ -0,0 +1,88 @@
+ <?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <model name="joint_controller_demo">
+      <pose>0 0 0 0 1.57 0</pose>
+      <link name="base_link">
+        <pose>0.0 0.0 0.0 0 0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>2.501</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.501</iyy>
+            <iyz>0</iyz>
+            <izz>5</izz>
+          </inertia>
+          <mass>120.0</mass>
+        </inertial>
+        <visual name="base_visual">
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.5 0.5 0.01</size>
+            </box>
+          </geometry>
+        </visual>
+        <collision name="base_collision">
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.5 0.5 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+      <link name="rotor">
+        <pose>0.0 0.0 0.1 0 0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>0.032</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.032</iyy>
+            <iyz>0</iyz>
+            <izz>0.00012</izz>
+          </inertia>
+          <mass>0.6</mass>
+        </inertial>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.2 0.8 0.2 1</ambient>
+          </material>
+        </visual>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+
+      <joint name="world_fixed" type="fixed">
+        <parent>world</parent>
+        <child>base_link</child>
+      </joint>
+
+      <joint name="j1" type="revolute">
+        <pose>0 0 -0.5 0 0 0</pose>
+        <parent>base_link</parent>
+        <child>rotor</child>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+    </model>
+  </world>
+</sdf>
diff --git a/test/worlds/gpu_lidar.sdf b/test/worlds/gpu_lidar.sdf
new file mode 100644
index 0000000000..e029f7fe1f
--- /dev/null
+++ b/test/worlds/gpu_lidar.sdf
@@ -0,0 +1,65 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="gpu_lidar_sensor">
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0</real_time_factor>
+    </physics>
+    <model name="gpu_lidar">
+      <pose>0 0 0.5 0 0 0.0 </pose>
+      <link name="gpu_lidar_link">
+        <pose>0.05 0.05 0.05 0 0 0</pose>
+        <inertial>
+          <mass>0.1</mass>
+          <inertia>
+            <ixx>0.000166667</ixx>
+            <iyy>0.000166667</iyy>
+            <izz>0.000166667</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='gpu_lidar' type='gpu_lidar'>"
+          <topic>lidar</topic>
+          <update_rate>10</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>640</samples>
+                <resolution>1</resolution>
+                <min_angle>-1.396263</min_angle>
+                <max_angle>1.396263</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <resolution>0.01</resolution>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.08</min>
+              <max>10.0</max>
+              <resolution>0.01</resolution>
+            </range>
+          </ray>
+          <alwaysOn>1</alwaysOn>
+          <visualize>true</visualize>
+        </sensor>
+      </link>
+      <static>true</static>
+    </model>
+  </world>
+</sdf>
diff --git a/test/worlds/gpu_lidar_sensor.sdf b/test/worlds/gpu_lidar_sensor.sdf
index a8748e419b..165efb6adb 100644
--- a/test/worlds/gpu_lidar_sensor.sdf
+++ b/test/worlds/gpu_lidar_sensor.sdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!--
-  Note: For now, this file must be loaded from ign-gazebo's root folder so the
-  mesh's relative path is correct.
--->
 <sdf version="1.6">
   <world name="gpu_lidar_sensor">
     <physics name="1ms" type="ode">