diff --git a/rmf_site_editor/src/interaction/assets.rs b/rmf_site_editor/src/interaction/assets.rs
index 12bb8c12..a6c452dd 100644
--- a/rmf_site_editor/src/interaction/assets.rs
+++ b/rmf_site_editor/src/interaction/assets.rs
@@ -82,6 +82,7 @@ impl InteractionAssets {
                 material: material_set.passive.clone(),
                 ..default()
             })
+            .set_parent(parent)
             .id();
 
         if let Some(for_entity) = for_entity_opt {
@@ -89,7 +90,6 @@ impl InteractionAssets {
                 .entity(child_entity)
                 .insert(DragAxisBundle::new(for_entity, Vec3::Z).with_materials(material_set));
         }
-        commands.entity(parent).add_child(child_entity);
         child_entity
     }
 
@@ -126,8 +126,8 @@ impl InteractionAssets {
         let drag_parent = commands
             .spawn(SpatialBundle::default())
             .insert(VisualCue::no_outline().irregular().always_xray())
+            .set_parent(anchor)
             .id();
-        commands.entity(anchor).add_child(drag_parent);
 
         let height = 0.0;
         let scale = 0.2;
diff --git a/rmf_site_editor/src/site/lane.rs b/rmf_site_editor/src/site/lane.rs
index 42aedced..aec379ea 100644
--- a/rmf_site_editor/src/site/lane.rs
+++ b/rmf_site_editor/src/site/lane.rs
@@ -125,29 +125,30 @@ pub fn add_lane_visuals(
                 transform: Transform::from_xyz(0.0, 0.0, height),
                 ..default()
             })
+            .set_parent(e)
             .id();
 
         let mut spawn_lane_mesh_and_outline = |lane_tf, lane_mesh, outline_mesh| {
-            let outline = commands
+            let mesh = commands
                 .spawn(PbrBundle {
-                    mesh: outline_mesh,
-                    transform: Transform::from_translation(-0.000_5 * Vec3::Z),
-                    visibility: Visibility { is_visible: false },
+                    mesh: lane_mesh,
+                    material: lane_material.clone(),
+                    transform: lane_tf,
                     ..default()
                 })
+                .set_parent(layer)
                 .id();
 
-            let mesh = commands
+            let outline = commands
                 .spawn(PbrBundle {
-                    mesh: lane_mesh,
-                    material: lane_material.clone(),
-                    transform: lane_tf,
+                    mesh: outline_mesh,
+                    transform: Transform::from_translation(-0.000_5 * Vec3::Z),
+                    visibility: Visibility { is_visible: false },
                     ..default()
                 })
-                .add_child(outline)
+                .set_parent(mesh)
                 .id();
 
-            commands.entity(layer).add_child(mesh);
             (mesh, outline)
         };
 
@@ -184,8 +185,7 @@ pub fn add_lane_visuals(
                 ..default()
             })
             .insert(Category::Lane)
-            .insert(EdgeLabels::StartEnd)
-            .add_child(layer);
+            .insert(EdgeLabels::StartEnd);
     }
 }
 
diff --git a/rmf_site_editor/src/site/load.rs b/rmf_site_editor/src/site/load.rs
index 3b8dc767..7523144f 100644
--- a/rmf_site_editor/src/site/load.rs
+++ b/rmf_site_editor/src/site/load.rs
@@ -87,104 +87,109 @@ fn generate_site_entities(
         let anchor_entity = commands
             .spawn(AnchorBundle::new(anchor.clone()))
             .insert(SiteID(*anchor_id))
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*anchor_id, anchor_entity);
         consider_id(*anchor_id);
-        commands.entity(site_id).add_child(anchor_entity);
     }
 
     for (group_id, group) in &site_data.fiducial_groups {
-        let group_entity = commands.spawn(group.clone()).insert(SiteID(*group_id)).id();
+        let group_entity = commands
+            .spawn(group.clone())
+            .insert(SiteID(*group_id))
+            .set_parent(site_id)
+            .id();
         id_to_entity.insert(*group_id, group_entity);
         consider_id(*group_id);
-        commands.entity(site_id).add_child(group_entity);
     }
 
     for (group_id, group) in &site_data.textures {
-        let group_entity = commands.spawn(group.clone()).insert(SiteID(*group_id)).id();
+        let group_entity = commands
+            .spawn(group.clone())
+            .insert(SiteID(*group_id))
+            .set_parent(site_id)
+            .id();
         id_to_entity.insert(*group_id, group_entity);
         consider_id(*group_id);
-        commands.entity(site_id).add_child(group_entity);
     }
 
     for (level_id, level_data) in &site_data.levels {
-        let level_entity = commands.spawn(SiteID(*level_id)).id();
+        let level_entity = commands.spawn(SiteID(*level_id)).set_parent(site_id).id();
 
         for (anchor_id, anchor) in &level_data.anchors {
             let anchor_entity = commands
                 .spawn(AnchorBundle::new(anchor.clone()))
                 .insert(SiteID(*anchor_id))
+                .set_parent(level_entity)
                 .id();
             id_to_entity.insert(*anchor_id, anchor_entity);
             consider_id(*anchor_id);
-            commands.entity(level_entity).add_child(anchor_entity);
         }
 
         for (door_id, door) in &level_data.doors {
             let door_entity = commands
                 .spawn(door.convert(&id_to_entity).for_site(site_id)?)
                 .insert(SiteID(*door_id))
+                .set_parent(level_entity)
                 .id();
             id_to_entity.insert(*door_id, door_entity);
             consider_id(*door_id);
-            commands.entity(level_entity).add_child(door_entity);
         }
 
         for (drawing_id, drawing) in &level_data.drawings {
             let drawing_entity = commands
                 .spawn(DrawingBundle::new(drawing.properties.clone()))
                 .insert(SiteID(*drawing_id))
+                .set_parent(level_entity)
                 .id();
 
             for (anchor_id, anchor) in &drawing.anchors {
                 let anchor_entity = commands
                     .spawn(AnchorBundle::new(anchor.clone()))
                     .insert(SiteID(*anchor_id))
+                    .set_parent(drawing_entity)
                     .id();
                 id_to_entity.insert(*anchor_id, anchor_entity);
                 consider_id(*anchor_id);
-                commands.entity(drawing_entity).add_child(anchor_entity);
             }
 
             for (fiducial_id, fiducial) in &drawing.fiducials {
-                let fiducial_entity = commands
+                commands
                     .spawn(fiducial.convert(&id_to_entity).for_site(site_id)?)
                     .insert(SiteID(*fiducial_id))
+                    .set_parent(drawing_entity)
                     .id();
                 consider_id(*fiducial_id);
-                commands.entity(drawing_entity).add_child(fiducial_entity);
             }
 
             for (measurement_id, measurement) in &drawing.measurements {
-                let measurement_entity = commands
+                commands
                     .spawn(measurement.convert(&id_to_entity).for_site(site_id)?)
                     .insert(SiteID(*measurement_id))
+                    .set_parent(drawing_entity)
                     .id();
                 consider_id(*measurement_id);
-                commands
-                    .entity(drawing_entity)
-                    .add_child(measurement_entity);
             }
 
             consider_id(*drawing_id);
         }
 
         for (floor_id, floor) in &level_data.floors {
-            let floor_entity = commands
+            commands
                 .spawn(floor.convert(&id_to_entity).for_site(site_id)?)
                 .insert(SiteID(*floor_id))
+                .set_parent(level_entity)
                 .id();
             consider_id(*floor_id);
-            commands.entity(level_entity).add_child(floor_entity);
         }
 
         for (wall_id, wall) in &level_data.walls {
-            let wall_entity = commands
+            commands
                 .spawn(wall.convert(&id_to_entity).for_site(site_id)?)
                 .insert(SiteID(*wall_id))
+                .set_parent(level_entity)
                 .id();
             consider_id(*wall_id);
-            commands.entity(level_entity).add_child(wall_entity);
         }
 
         commands
@@ -228,11 +233,10 @@ fn generate_site_entities(
             );
         id_to_entity.insert(*level_id, level_entity);
         consider_id(*level_id);
-        commands.entity(site_id).add_child(level_entity);
     }
 
     for (lift_id, lift_data) in &site_data.lifts {
-        let lift_entity = commands.spawn(SiteID(*lift_id)).id();
+        let lift_entity = commands.spawn(SiteID(*lift_id)).set_parent(site_id).id();
 
         commands.entity(lift_entity).with_children(|lift| {
             lift.spawn(SpatialBundle::default())
@@ -253,10 +257,10 @@ fn generate_site_entities(
             let door_entity = commands
                 .spawn(door.convert(&id_to_entity).for_site(site_id)?)
                 .insert(Dependents::single(lift_entity))
+                .set_parent(lift_entity)
                 .id();
             id_to_entity.insert(*door_id, door_entity);
             consider_id(*door_id);
-            commands.entity(lift_entity).add_child(door_entity);
         }
 
         commands.entity(lift_entity).insert(Category::Lift).insert(
@@ -268,17 +272,16 @@ fn generate_site_entities(
 
         id_to_entity.insert(*lift_id, lift_entity);
         consider_id(*lift_id);
-        commands.entity(site_id).add_child(lift_entity);
     }
 
     for (fiducial_id, fiducial) in &site_data.fiducials {
         let fiducial_entity = commands
             .spawn(fiducial.convert(&id_to_entity).for_site(site_id)?)
             .insert(SiteID(*fiducial_id))
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*fiducial_id, fiducial_entity);
         consider_id(*fiducial_id);
-        commands.entity(site_id).add_child(fiducial_entity);
     }
 
     for (nav_graph_id, nav_graph_data) in &site_data.navigation.guided.graphs {
@@ -286,30 +289,30 @@ fn generate_site_entities(
             .spawn(SpatialBundle::default())
             .insert(nav_graph_data.clone())
             .insert(SiteID(*nav_graph_id))
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*nav_graph_id, nav_graph);
         consider_id(*nav_graph_id);
-        commands.entity(site_id).add_child(nav_graph);
     }
 
     for (lane_id, lane_data) in &site_data.navigation.guided.lanes {
         let lane = commands
             .spawn(lane_data.convert(&id_to_entity).for_site(site_id)?)
             .insert(SiteID(*lane_id))
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*lane_id, lane);
         consider_id(*lane_id);
-        commands.entity(site_id).add_child(lane);
     }
 
     for (location_id, location_data) in &site_data.navigation.guided.locations {
         let location = commands
             .spawn(location_data.convert(&id_to_entity).for_site(site_id)?)
             .insert(SiteID(*location_id))
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*location_id, location);
         consider_id(*location_id);
-        commands.entity(site_id).add_child(location);
     }
 
     let nav_graph_rankings = match RecencyRanking::<NavGraphMarker>::from_u32(
diff --git a/rmf_site_editor/src/site/model.rs b/rmf_site_editor/src/site/model.rs
index 9dd05c25..6279ded1 100644
--- a/rmf_site_editor/src/site/model.rs
+++ b/rmf_site_editor/src/site/model.rs
@@ -108,53 +108,58 @@ pub fn handle_model_loaded_events(
                     .as_ref()
                     .map(|s| s.clone())
                     .unwrap_or(gltf.scenes.get(0).unwrap().clone());
-                let scene_id = commands
-                    .spawn(SceneBundle {
-                        scene,
-                        transform: Transform::from_scale(**scale),
-                        ..default()
-                    })
-                    .id();
-                commands.entity(e).add_child(scene_id);
-                Some(scene_id)
+                Some(
+                    commands
+                        .spawn(SceneBundle {
+                            scene,
+                            transform: Transform::from_scale(**scale),
+                            ..default()
+                        })
+                        .set_parent(e)
+                        .id(),
+                )
             } else if scenes.contains(&h.typed_weak::<Scene>()) {
                 let h_typed = h.0.clone().typed::<Scene>();
-                let scene_id = commands
-                    .spawn(SceneBundle {
-                        scene: h_typed,
-                        transform: Transform::from_scale(**scale),
-                        ..default()
-                    })
-                    .id();
-                commands.entity(e).add_child(scene_id);
-                Some(scene_id)
+                Some(
+                    commands
+                        .spawn(SceneBundle {
+                            scene: h_typed,
+                            transform: Transform::from_scale(**scale),
+                            ..default()
+                        })
+                        .set_parent(e)
+                        .id(),
+                )
             } else if meshes.contains(&h.typed_weak::<Mesh>()) {
                 let h_typed = h.0.clone().typed::<Mesh>();
-                let mesh_id = commands
-                    .spawn(PbrBundle {
-                        mesh: h_typed,
-                        material: site_assets.default_mesh_grey_material.clone(),
-                        transform: Transform::from_scale(**scale),
-                        ..default()
-                    })
-                    .id();
-                commands.entity(e).add_child(mesh_id);
-                Some(mesh_id)
+                Some(
+                    commands
+                        .spawn(PbrBundle {
+                            mesh: h_typed,
+                            material: site_assets.default_mesh_grey_material.clone(),
+                            transform: Transform::from_scale(**scale),
+                            ..default()
+                        })
+                        .set_parent(e)
+                        .id(),
+                )
             } else if let Some(urdf) = urdfs.get(&h.typed_weak::<UrdfRoot>()) {
-                let urdf_id = commands
-                    .spawn(SpatialBundle::VISIBLE_IDENTITY)
-                    .insert(urdf.clone())
-                    .insert(Category::Workcell)
-                    .id();
-                commands.entity(e).add_child(urdf_id);
-                Some(urdf_id)
+                Some(
+                    commands
+                        .spawn(SpatialBundle::VISIBLE_IDENTITY)
+                        .insert(urdf.clone())
+                        .insert(Category::Workcell)
+                        .set_parent(e)
+                        .id(),
+                )
             } else if let Some(sdf) = sdfs.get(&h.typed_weak::<SdfRoot>()) {
-                let sdf_id = commands
-                    .spawn(SpatialBundle::VISIBLE_IDENTITY)
-                    .insert(sdf.clone())
-                    .id();
-                commands.entity(e).add_child(sdf_id);
-                Some(sdf_id)
+                Some(
+                    commands
+                        .spawn(SpatialBundle::VISIBLE_IDENTITY)
+                        .insert(sdf.clone())
+                        .set_parent(e)
+                        .id(),
+                )
             } else {
                 None
             };
diff --git a/rmf_site_editor/src/site/site.rs b/rmf_site_editor/src/site/site.rs
index 2ab5ddcd..0e3e9f6e 100644
--- a/rmf_site_editor/src/site/site.rs
+++ b/rmf_site_editor/src/site/site.rs
@@ -124,12 +124,10 @@ pub fn change_site(
                                 global_floor_visibility: default(),
                                 global_drawing_visibility: default(),
                             })
+                            .set_parent(cmd.site)
                             .id();
 
-                        commands
-                            .entity(cmd.site)
-                            .insert(CachedLevel(new_level))
-                            .add_child(new_level);
+                        commands.entity(cmd.site).insert(CachedLevel(new_level));
                         current_level.0 = Some(new_level);
                     }
                 }