diff --git a/rmf_site_editor/src/site/load.rs b/rmf_site_editor/src/site/load.rs
index f839eb60..cfc7c24e 100644
--- a/rmf_site_editor/src/site/load.rs
+++ b/rmf_site_editor/src/site/load.rs
@@ -17,10 +17,7 @@
 
 use crate::{recency::RecencyRanking, site::*, WorkspaceMarker};
 use bevy::{ecs::system::SystemParam, prelude::*};
-use std::{
-    collections::{BTreeMap, HashMap},
-    path::PathBuf,
-};
+use std::{collections::HashMap, path::PathBuf};
 use thiserror::Error as ThisError;
 
 /// This component is given to the site to keep track of what file it should be
@@ -256,27 +253,12 @@ fn generate_site_entities(
         consider_id(*model_description_id);
     }
 
-    let (default_scenario_id, default_scenario) = site_data
-        .scenarios
-        .first_key_value()
-        .expect("No scenarios found");
-    let active_model_instance_ids: std::collections::HashSet<u32> = default_scenario
-        .scenario
-        .added_model_instances
-        .iter()
-        .map(|(id, _)| *id)
-        .collect();
     for (model_instance_id, model_instance) in &site_data.model_instances {
         let model_instance = model_instance.convert(&id_to_entity).for_site(site_id)?;
-        let model_instance_parent = if active_model_instance_ids.contains(model_instance_id) {
-            model_instance.parent.0.unwrap_or(site_id)
-        } else {
-            site_id
-        };
         let model_instance_entity = commands
             .spawn(model_instance.clone())
             .insert(SiteID(*model_instance_id))
-            .set_parent(model_instance_parent)
+            .set_parent(site_id)
             .id();
         id_to_entity.insert(*model_instance_id, model_instance_entity);
         consider_id(*model_instance_id);
diff --git a/rmf_site_editor/src/site/model.rs b/rmf_site_editor/src/site/model.rs
index 7cf5a59b..d3d64455 100644
--- a/rmf_site_editor/src/site/model.rs
+++ b/rmf_site_editor/src/site/model.rs
@@ -17,7 +17,7 @@
 
 use crate::{
     interaction::{DragPlaneBundle, Selectable, MODEL_PREVIEW_LAYER},
-    site::{Category, Group, Members, PreventDeletion, SiteAssets},
+    site::{Category, Group, PreventDeletion, SiteAssets},
     site_asset_io::MODEL_ENVIRONMENT_VARIABLE,
 };
 use bevy::{
@@ -31,8 +31,7 @@ use rmf_site_format::{
     Affiliation, AssetSource, ModelMarker, ModelProperty, NameInSite, Pending, Pose, Scale,
 };
 use smallvec::SmallVec;
-use std::{any::TypeId, collections::HashMap};
-use yaserde::xml::name;
+use std::any::TypeId;
 
 #[derive(Component, Debug, Clone)]
 pub struct ModelScene {
@@ -490,7 +489,7 @@ pub fn propagate_model_render_layers(
 
 pub fn update_model_instances<T: Component + Default + Clone>(
     mut commands: Commands,
-    mut model_properties: Query<
+    model_properties: Query<
         (Entity, &NameInSite, Ref<ModelProperty<T>>),
         (With<ModelMarker>, With<Group>),
     >,
@@ -498,7 +497,7 @@ pub fn update_model_instances<T: Component + Default + Clone>(
 ) {
     for (instance_entity, affiliation) in model_instances.iter() {
         if let Some(description_entity) = affiliation.0 {
-            if let Ok((_, name, property)) = model_properties.get(description_entity) {
+            if let Ok((_, _, property)) = model_properties.get(description_entity) {
                 if property.is_changed() || affiliation.is_changed() {
                     let mut cmd = commands.entity(instance_entity);
                     cmd.remove::<ModelProperty<T>>();
@@ -508,6 +507,3 @@ pub fn update_model_instances<T: Component + Default + Clone>(
         }
     }
 }
-
-#[derive(Component)]
-pub struct Inactive;
diff --git a/rmf_site_editor/src/site/scenario.rs b/rmf_site_editor/src/site/scenario.rs
index f320dec4..015b3a23 100644
--- a/rmf_site_editor/src/site/scenario.rs
+++ b/rmf_site_editor/src/site/scenario.rs
@@ -15,35 +15,116 @@
  *
 */
 
-use crate::site::CurrentScenario;
+use crate::{site::CurrentScenario, CurrentWorkspace};
 use bevy::prelude::*;
-use rmf_site_format::{Group, ModelMarker, NameInSite, Pose};
+use rmf_site_format::{Group, ModelMarker, NameInSite, Pose, Scenario, SiteParent};
+use std::collections::HashMap;
 
 #[derive(Clone, Copy, Debug, Event)]
 pub struct ChangeCurrentScenario(pub Entity);
 
 pub fn update_current_scenario(
+    mut commands: Commands,
     mut change_current_scenario: EventReader<ChangeCurrentScenario>,
     mut current_scenario: ResMut<CurrentScenario>,
-    scenarios: Query<Entity, &NameInSite>,
+    current_workspace: Res<CurrentWorkspace>,
+    scenarios: Query<&Scenario<Entity>>,
+    mut model_instances: Query<
+        (Entity, &mut Pose, &SiteParent<Entity>, &mut Visibility),
+        (With<ModelMarker>, Without<Group>),
+    >,
 ) {
-    for ChangeCurrentScenario(new_scenario_entity) in change_current_scenario.read() {
-        *current_scenario = CurrentScenario(Some(*new_scenario_entity));
-        println!("Changed scenario");
+    for ChangeCurrentScenario(scenario_entity) in change_current_scenario.read() {
+        // Used to build a scenario from root
+        let mut scenario_stack = Vec::<&Scenario<Entity>>::new();
+        let mut scenario = scenarios
+            .get(*scenario_entity)
+            .expect("Failed to get scenario entity");
+        loop {
+            scenario_stack.push(scenario);
+            if let Some(scenario_parent) = scenario.parent_scenario.0 {
+                scenario = scenarios
+                    .get(scenario_parent)
+                    .expect("Scenario parent doesn't exist");
+            } else {
+                break;
+            }
+        }
+
+        // Iterate stack to identify instances and poses in this model
+        let mut active_model_instances = HashMap::<Entity, Pose>::new();
+        for scenario in scenario_stack.iter().rev() {
+            for (e, pose) in scenario.added_model_instances.iter() {
+                active_model_instances.insert(*e, pose.clone());
+            }
+            for (e, pose) in scenario.moved_model_instances.iter() {
+                active_model_instances.insert(*e, pose.clone());
+            }
+            for e in scenario.removed_model_instances.iter() {
+                active_model_instances.remove(e);
+            }
+        }
+
+        let current_site_entity = match current_workspace.root {
+            Some(current_site) => current_site,
+            None => return,
+        };
+
+        // If active, assign parent to level, otherwise assign parent to site
+        for (entity, mut pose, parent, mut visibility) in model_instances.iter_mut() {
+            if let Some(new_pose) = active_model_instances.get(&entity) {
+                commands.entity(entity).set_parent(parent.0.unwrap());
+                *pose = new_pose.clone();
+                *visibility = Visibility::Inherited;
+            } else {
+                commands.entity(entity).set_parent(current_site_entity);
+                *visibility = Visibility::Hidden;
+            }
+        }
+
+        *current_scenario = CurrentScenario(Some(*scenario_entity));
     }
 }
 
 pub fn update_scenario_properties(
     current_scenario: Res<CurrentScenario>,
+    mut scenarios: Query<&mut Scenario<Entity>>,
     changed_models: Query<(Entity, &NameInSite, Ref<Pose>), (With<ModelMarker>, Without<Group>)>,
 ) {
-    for (e, name, pose) in changed_models.iter() {
-        if pose.is_added() {
-            println!("Added: {}", name.0);
-        }
+    if let Some(mut current_scenario) = current_scenario
+        .0
+        .and_then(|entity| scenarios.get_mut(entity).ok())
+    {
+        for (entity, _, pose) in changed_models.iter() {
+            if pose.is_changed() {
+                let existing_added_model = current_scenario
+                    .added_model_instances
+                    .iter_mut()
+                    .find(|(e, _)| *e == entity);
+                if let Some(existing_added_model) = existing_added_model {
+                    existing_added_model.1 = pose.clone();
+                    return;
+                } else if pose.is_added() {
+                    current_scenario
+                        .added_model_instances
+                        .push((entity, pose.clone()));
+                    return;
+                }
 
-        if !pose.is_added() && pose.is_changed() {
-            println!("Moved: {}", name.0)
+                let existing_moved_model = current_scenario
+                    .moved_model_instances
+                    .iter_mut()
+                    .find(|(e, _)| *e == entity);
+                if let Some(existing_moved_model) = existing_moved_model {
+                    existing_moved_model.1 = pose.clone();
+                    return;
+                } else {
+                    current_scenario
+                        .moved_model_instances
+                        .push((entity, pose.clone()));
+                    return;
+                }
+            }
         }
     }
 }
diff --git a/rmf_site_editor/src/site/site.rs b/rmf_site_editor/src/site/site.rs
index ae461b5a..56a6129d 100644
--- a/rmf_site_editor/src/site/site.rs
+++ b/rmf_site_editor/src/site/site.rs
@@ -17,10 +17,14 @@
 
 use crate::{interaction::CameraControls, CurrentWorkspace};
 use bevy::prelude::*;
+use itertools::Itertools;
 use rmf_site_format::{
-    LevelElevation, LevelProperties, NameInSite, NameOfSite, Pose, UserCameraPoseMarker,
+    LevelElevation, LevelProperties, NameInSite, NameOfSite, Pose, ScenarioBundle, ScenarioMarker,
+    UserCameraPoseMarker,
 };
 
+use super::ChangeCurrentScenario;
+
 /// Used as an event to command that a new site should be made the current one
 #[derive(Clone, Copy, Debug, Event)]
 pub struct ChangeCurrentSite {
@@ -50,15 +54,17 @@ pub struct NextSiteID(pub u32);
 pub fn change_site(
     mut commands: Commands,
     mut change_current_site: EventReader<ChangeCurrentSite>,
+    mut change_current_scenario: EventWriter<ChangeCurrentScenario>,
     mut current_workspace: ResMut<CurrentWorkspace>,
     mut current_level: ResMut<CurrentLevel>,
-    mut current_scenario: ResMut<CurrentScenario>,
+    current_scenario: ResMut<CurrentScenario>,
     cached_levels: Query<&CachedLevel>,
     mut visibility: Query<&mut Visibility>,
     open_sites: Query<Entity, With<NameOfSite>>,
     children: Query<&Children>,
     parents: Query<&Parent>,
     levels: Query<Entity, With<LevelElevation>>,
+    scenarios: Query<Entity, With<ScenarioMarker>>,
 ) {
     let mut set_visibility = |entity, value| {
         if let Ok(mut v) = visibility.get_mut(entity) {
@@ -139,6 +145,30 @@ pub fn change_site(
                 }
             }
         }
+
+        if let Some(new_scenario) = cmd.scenario {
+            if let Some(previous_scenario) = current_scenario.0 {
+                if previous_scenario != new_scenario {
+                    change_current_scenario.send(ChangeCurrentScenario(new_scenario));
+                }
+            }
+        } else {
+            if let Ok(children) = children.get(cmd.site) {
+                let any_scenario = children
+                    .iter()
+                    .filter(|child| scenarios.get(**child).is_ok())
+                    .find_or_first(|_| true);
+                if let Some(new_scenario) = any_scenario {
+                    change_current_scenario.send(ChangeCurrentScenario(*new_scenario));
+                } else {
+                    let new_scenario = commands
+                        .spawn(ScenarioBundle::<Entity>::default())
+                        .set_parent(cmd.site)
+                        .id();
+                    change_current_scenario.send(ChangeCurrentScenario(new_scenario));
+                }
+            }
+        }
     }
 }
 
diff --git a/rmf_site_editor/src/widgets/inspector/inspect_group.rs b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
index b7d2368f..64979d93 100644
--- a/rmf_site_editor/src/widgets/inspector/inspect_group.rs
+++ b/rmf_site_editor/src/widgets/inspector/inspect_group.rs
@@ -17,8 +17,8 @@
 
 use crate::{
     site::{
-        Affiliation, AssetSource, Change, DefaultFile, Group, IsStatic, Members, ModelProperty,
-        NameInSite, Scale, Texture,
+        Affiliation, AssetSource, Change, DefaultFile, Group, Members, ModelProperty, NameInSite,
+        Texture,
     },
     widgets::{inspector::InspectTexture, prelude::*, Inspect, SelectorWidget},
     CurrentWorkspace,
@@ -33,8 +33,6 @@ pub struct InspectGroup<'w, 's> {
     names: Query<'w, 's, &'static NameInSite>,
     textures: Query<'w, 's, &'static Texture>,
     model_assets: Query<'w, 's, &'static ModelProperty<AssetSource>>,
-    is_static: Query<'w, 's, &'static ModelProperty<AssetSource>>,
-    scale: Query<'w, 's, &'static ModelProperty<Scale>>,
     members: Query<'w, 's, &'static Members>,
     default_file: Query<'w, 's, &'static DefaultFile>,
     current_workspace: Res<'w, CurrentWorkspace>,
@@ -73,7 +71,7 @@ impl<'w, 's> InspectGroup<'w, 's> {
             .root
             .map(|e| self.default_file.get(e).ok())
             .flatten();
-        if let Ok(ModelProperty(asset)) = self.model_assets.get(id) {
+        if let Ok(ModelProperty(_)) = self.model_assets.get(id) {
             ui.label(RichText::new("Model Description Properties").size(18.0));
             ui.add_space(10.0);
         }
diff --git a/rmf_site_editor/src/widgets/view_groups.rs b/rmf_site_editor/src/widgets/view_groups.rs
index f404ec08..f536d2d0 100644
--- a/rmf_site_editor/src/widgets/view_groups.rs
+++ b/rmf_site_editor/src/widgets/view_groups.rs
@@ -194,7 +194,7 @@ impl<'w, 's> ViewGroups<'w, 's> {
         });
 
         for child in children {
-            let Ok((name, asset_source, site_id)) = q_groups.get(*child) else {
+            let Ok((name, _, site_id)) = q_groups.get(*child) else {
                 continue;
             };
             let text = site_id
diff --git a/rmf_site_editor/src/widgets/view_scenarios.rs b/rmf_site_editor/src/widgets/view_scenarios.rs
index 53ef513e..a05d6cb8 100644
--- a/rmf_site_editor/src/widgets/view_scenarios.rs
+++ b/rmf_site_editor/src/widgets/view_scenarios.rs
@@ -21,7 +21,7 @@ use crate::{
         ScenarioMarker,
     },
     widgets::prelude::*,
-    AppState, Icons,
+    Icons,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{Button, CollapsingHeader, Color32, Ui};
@@ -212,7 +212,7 @@ impl<'w, 's> ViewScenarios<'w, 's> {
         let mut version = 1;
         self.scenarios
             .iter()
-            .filter(|(e, name, scenario)| scenario.parent_scenario.0.is_none())
+            .filter(|(_, _, scenario)| scenario.parent_scenario.0.is_none())
             .for_each(|(scenario_entity, _, _)| {
                 show_scenario_widget(
                     ui,
@@ -244,7 +244,7 @@ fn show_scenario_widget(
     >,
     icons: &Res<Icons>,
 ) {
-    let (entity, name, scenario) = q_scenario.get(scenario_entity).unwrap();
+    let (entity, name, _) = q_scenario.get(scenario_entity).unwrap();
     let scenario_version_str = scenario_version
         .iter()
         .map(|v| v.to_string())
@@ -257,7 +257,6 @@ fn show_scenario_widget(
             change_current_scenario.send(ChangeCurrentScenario(entity));
         }
         ui.colored_label(Color32::DARK_GRAY, scenario_version_str.clone());
-        ui.label(name.0.clone());
         let mut new_name = name.0.clone();
         if ui.text_edit_singleline(&mut new_name).changed() {
             change_name.send(Change::new(NameInSite(new_name), entity));