diff --git a/urdf_editor/include/urdf_editor/link_collision_property.h b/urdf_editor/include/urdf_editor/link_collision_property.h
index 7ec2586..5701d43 100644
--- a/urdf_editor/include/urdf_editor/link_collision_property.h
+++ b/urdf_editor/include/urdf_editor/link_collision_property.h
@@ -31,6 +31,7 @@ namespace urdf_editor
 
     QtProperty *getTopItem() { return top_item_; }
 
+    void removeSubProperties();
 
   private slots:
     void onValueChanged(QtProperty *property, const QVariant &val);
diff --git a/urdf_editor/include/urdf_editor/link_inertial_property.h b/urdf_editor/include/urdf_editor/link_inertial_property.h
index 255181d..95e5276 100644
--- a/urdf_editor/include/urdf_editor/link_inertial_property.h
+++ b/urdf_editor/include/urdf_editor/link_inertial_property.h
@@ -27,6 +27,8 @@ namespace urdf_editor
 
     QtProperty *getTopItem() { return top_item_; }
 
+    void removeSubProperties();
+
   private slots:
     void onValueChanged(QtProperty *property, const QVariant &val);
     void onChildValueChanged(QtProperty *property, const QVariant &val);
diff --git a/urdf_editor/include/urdf_editor/link_property.h b/urdf_editor/include/urdf_editor/link_property.h
index 38f0d44..683344d 100644
--- a/urdf_editor/include/urdf_editor/link_property.h
+++ b/urdf_editor/include/urdf_editor/link_property.h
@@ -22,10 +22,12 @@ namespace urdf_editor
 
     void loadData();
 
+    void setLinkName(QString new_name);
+    void removeSubProperties();
+
     bool hasInertialProperty();
     void createInertialProperty();
     LinkInertialPropertySharedPtr getInertialProperty();
-
     
     /*! Check if has visual property */
     bool hasVisualProperty();
diff --git a/urdf_editor/include/urdf_editor/link_visual_property.h b/urdf_editor/include/urdf_editor/link_visual_property.h
index 4187ea4..a06c629 100644
--- a/urdf_editor/include/urdf_editor/link_visual_property.h
+++ b/urdf_editor/include/urdf_editor/link_visual_property.h
@@ -33,6 +33,9 @@ namespace urdf_editor
 
     QtProperty *getTopItem() { return top_item_; }
 
+    void removeSubProperties();
+
+
   private slots:
     void onValueChanged(QtProperty *property, const QVariant &val);
     void onChildValueChanged(QtProperty *property, const QVariant &val);
diff --git a/urdf_editor/include/urdf_editor/urdf_property.h b/urdf_editor/include/urdf_editor/urdf_property.h
index 1b13313..f3489f9 100644
--- a/urdf_editor/include/urdf_editor/urdf_property.h
+++ b/urdf_editor/include/urdf_editor/urdf_property.h
@@ -39,6 +39,7 @@ namespace urdf_editor
 
   private slots:
     void on_treeWidget_itemClicked(QTreeWidgetItem *item, int column);
+    void on_treeWidget_customContextMenuRequested(const QPoint &pos);
 
     void on_propertyWidget_customContextMenuRequested(const QPoint &pos);
     void on_propertyWidget_jointNameChanged(JointProperty *property, QString current_name, QString new_name);
diff --git a/urdf_editor/src/link_collision_property.cpp b/urdf_editor/src/link_collision_property.cpp
index 1900743..6fe2313 100644
--- a/urdf_editor/src/link_collision_property.cpp
+++ b/urdf_editor/src/link_collision_property.cpp
@@ -132,6 +132,13 @@ namespace urdf_editor
     loading_ = false;
   }
 
+  void LinkCollisionProperty::removeSubProperties()
+  {
+    QList<QtProperty *> sub_items = top_item_->subProperties();
+    for (int i = 0; i < sub_items.length(); ++i)
+        top_item_->removeSubProperty(sub_items[i]);
+  }
+
   void LinkCollisionProperty::loadFactoryForManager(QtTreePropertyBrowserSharedPtr& property_editor)
   {
     property_editor->setFactoryForManager(manager_, factory_);
diff --git a/urdf_editor/src/link_inertial_property.cpp b/urdf_editor/src/link_inertial_property.cpp
index c54b885..e2d02d9 100644
--- a/urdf_editor/src/link_inertial_property.cpp
+++ b/urdf_editor/src/link_inertial_property.cpp
@@ -121,6 +121,13 @@ namespace urdf_editor
     }
   }
 
+  void LinkInertialProperty::removeSubProperties()
+  {
+    QList<QtProperty *> sub_items = top_item_->subProperties();
+    for (int i = 0; i < sub_items.length(); ++i)
+        top_item_->removeSubProperty(sub_items[i]);
+  }
+
   void LinkInertialProperty::loadFactoryForManager(QtTreePropertyBrowserSharedPtr& property_editor)
   {
     property_editor->setFactoryForManager(manager_, factory_);
diff --git a/urdf_editor/src/link_property.cpp b/urdf_editor/src/link_property.cpp
index debf165..e350377 100644
--- a/urdf_editor/src/link_property.cpp
+++ b/urdf_editor/src/link_property.cpp
@@ -101,6 +101,19 @@ namespace urdf_editor
     }
   }
 
+  void LinkProperty::setLinkName(QString new_name)
+  {
+    name_item_->setValue(new_name);
+  }
+
+  void LinkProperty::removeSubProperties()
+  {
+    QList<QtProperty *> sub_items = top_item_->subProperties();
+    for (int i = 0; i < sub_items.length(); ++i)
+      if (sub_items[i]->propertyName() != "Type")
+        top_item_->removeSubProperty(sub_items[i]);
+  }
+
   bool LinkProperty::hasInertialProperty()
   {
     return (inertial_property_ != NULL);
diff --git a/urdf_editor/src/link_visual_property.cpp b/urdf_editor/src/link_visual_property.cpp
index dce6a0f..f22daee 100644
--- a/urdf_editor/src/link_visual_property.cpp
+++ b/urdf_editor/src/link_visual_property.cpp
@@ -164,6 +164,13 @@ namespace urdf_editor
     loading_ = false;
   }
 
+  void LinkVisualProperty::removeSubProperties()
+  {
+    QList<QtProperty *> sub_items = top_item_->subProperties();
+    for (int i = 0; i < sub_items.length(); ++i)
+        top_item_->removeSubProperty(sub_items[i]);
+  }
+
   void LinkVisualProperty::loadFactoryForManager(QtTreePropertyBrowserSharedPtr& property_editor)
   {
     property_editor->setFactoryForManager(manager_, factory_);
diff --git a/urdf_editor/src/urdf_property.cpp b/urdf_editor/src/urdf_property.cpp
index 8c28702..26858b0 100644
--- a/urdf_editor/src/urdf_property.cpp
+++ b/urdf_editor/src/urdf_property.cpp
@@ -195,6 +195,119 @@ namespace urdf_editor
     return rviz_widget_->loadRobot(tree_widget_->getRobotModel());
   }
 
+  void URDFProperty::on_treeWidget_customContextMenuRequested(const QPoint &pos)
+  {
+      QTreeWidgetItem *sel = tree_widget_->selectedItems()[0];
+      QMenu *menu = new QMenu(tree_widget_);
+      menu->addAction("Add");
+      menu->addAction("Remove");
+
+      // Add menu for converting the link to base/tool0 if there are no base/tool0 before
+      if (sel->parent() == link_root_)
+      {
+          bool base_exist = link_names_.contains("base", Qt::CaseSensitive);
+          bool tool0_exist = link_names_.contains("tool0", Qt::CaseSensitive);
+          if (!base_exist || !tool0_exist)
+          {
+              menu->addSeparator();
+              QMenu *convertMenu = menu->addMenu("Convert to");
+              if (!base_exist)
+              {
+                  convertMenu->addAction("base");
+              }
+              if (!tool0_exist)
+              {
+                  convertMenu->addAction("tool0");
+              }
+          }
+      }
+
+      QAction *selected_item = menu->exec(tree_widget_->mapToGlobal(pos));
+      if (selected_item)
+      {
+        if (selected_item->text() == "Add")
+        {
+          // we can only add to the link root item or to other links
+          if (sel == link_root_ || isLink(sel))
+          {
+            addModelLink(sel);
+          }
+          // or to the joint root item or to other links
+          else if (sel == joint_root_ || isJoint(sel))
+          {
+            addModelJoint(sel);
+          }
+        }
+        else if (selected_item->text() == "tool0")
+        {
+          // Change the name of current link
+          QString new_name = "tool0";
+          LinkPropertySharedPtr activeLink = ltree_to_link_property_[sel];
+          activeLink->setLinkName(new_name);
+
+          // if this link already has an 'inertial' element, delete it
+          if (activeLink->hasInertialProperty())
+          {
+            LinkInertialPropertySharedPtr inertial_property = activeLink->getInertialProperty();
+            inertial_property->removeSubProperties();
+          }
+          // if this link already has a 'visual element, delete it
+          if (activeLink->hasVisualProperty())
+          {
+            LinkVisualPropertySharedPtr visual_property = activeLink->getVisualProperty();
+            visual_property->removeSubProperties();
+          }
+          // if this link already has a 'collision element, delete it
+          if (activeLink->hasCollisionProperty())
+          {
+            LinkCollisionPropertySharedPtr collision_property = activeLink->getCollisionProperty();
+            collision_property->removeSubProperties();
+          }
+        }
+        else if (selected_item->text() == "base")
+        {
+          // Change the name of current link
+          QString new_name = "base";
+          LinkPropertySharedPtr activeLink = ltree_to_link_property_[sel];
+          activeLink->setLinkName(new_name);
+
+          // if this link already has an 'inertial' element, delete it
+          if (activeLink->hasInertialProperty())
+          {
+            LinkInertialPropertySharedPtr inertial_property = activeLink->getInertialProperty();
+            inertial_property->removeSubProperties();
+          }
+          // if this link already has a 'visual element, delete it
+          if (activeLink->hasVisualProperty())
+          {
+            LinkVisualPropertySharedPtr visual_property = activeLink->getVisualProperty();
+            visual_property->removeSubProperties();
+          }
+          // if this link already has a 'collision element, delete it
+          if (activeLink->hasCollisionProperty())
+          {
+            LinkCollisionPropertySharedPtr collision_property = activeLink->getCollisionProperty();
+            collision_property->removeSubProperties();
+          }
+        }
+        else
+         {
+          if (isLink(sel))
+          {
+            link_names_.removeOne(sel->text(0));
+            link_root_->removeChild(sel);
+          }
+          else if (isJoint(sel))
+          {
+            joint_names_.removeOne(sel->text(0));
+            sel->parent()->removeChild(sel);
+          }
+        }
+      }
+
+      delete menu;
+  }
+
   void URDFProperty::on_treeWidget_itemClicked(QTreeWidgetItem *item, int column)
   {
     if (tree_widget_->isLink(item))