diff --git a/blueprint/comparison.md b/blueprint/comparison.md
index 23b57f493..764158f0f 100644
--- a/blueprint/comparison.md
+++ b/blueprint/comparison.md
@@ -1,7 +1,12 @@
 # Feature comparison
 
-A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/) and
-the status of their migration to [Ignition](https://ignitionrobotics.org/).
+A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/)
+version 11 and the status of their migration to
+[Ignition Blueprint](https://ignitionrobotics.org/).
+
+All the issues below are labeled with
+[close the gap](https://github.com/search?q=org%3Aignitionrobotics+label%3A%22close+the+gap%22&type=Issues)
+on GitHub.
 
 ## Sensors
 
@@ -12,162 +17,198 @@ Altimeter | ✓ | ✓
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
-Force-torque | ✓ |
-GPS | ✓ |
+Force-torque | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/25)
+GPS | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/23)
 GPU Ray | ✓ | ✓ Renamed to GPU Lidar
 IMU | ✓ | ✓
 Logical camera | ✓ | ✓
 Magnetometer | ✓ | ✓
-Multi-camera | ✓ |
-Ray | ✓ |
-RFID | ✓ |
-RFIDTag | ✓ |
-Sonar | ✓ |
-Thermal camera | ✕  | ✕ (available in Citadel)
-Wide-angle camera | ✓ |
-Wireless receiver | ✓ |
-Wireless transceiver | ✓ |
-Wireless transmitter | ✓ |
+Multi-camera | ✓ | ✕  Use individual cameras with same update rate
+Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
+RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
+Thermal camera | ✕  | ✕ (available from Citadel)
+Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
+Wireless | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/28)
 
 Sensor features | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Custom update rate | ✓ | ✓
 Gaussian noise | ✓ | ✓
-Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet)
+Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/9)
 
 ## SDF Features
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-SDF frame semantics |✓| ✕ (available in Citadel)
+SDF frame semantics |✓| ✕ (available from Citadel)
 Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/123)
 Closed kinematic chains | ✓  | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25)
 Nested models | ✓ | Partial support
-Populations | ✓ | 
-Actors | ✓ |  ✕ (available in Citadel)
-Markers | ✓ |  ✕ (available in Citadel)
-Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
-DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
-Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
+Populations | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/240)
+Actors | ✓ |  ✕ (available from Citadel)
+Markers | ✓ |  ✕ (available from Citadel)
+Heightmaps | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
+DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
+Polylines | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin
 Sensor plugins | ✓ | ✓ Now called System plugin
-Visual plugins | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
+Visual plugins | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 
 ## Plugins
 
+### Model plugins
+
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ActorPlugin | ✓ |
+ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
 ActuatorPlugin | ✓ |
-AmbientOcclusionVisualPlugin | ✓ |
 ArduCopterPlugin | ✓ |
-ArrangePlugin | ✓ |
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
-BlinkVisualPlugin | ✓ |
 Breadcrumbs | ✕ | ✓
-BreakableJointPlugin | ✓ |
-BuoyancyPlugin | ✓ |
-CameraPlugin | ✓ |
-CartDemoPlugin | ✓ |
+BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
+CartDemoPlugin | ✓ | ✕
 CessnaPlugin | ✓ |
-ContactPlugin | ✓ | ✓
-ContainPlugin | ✓ |
-DepthCameraPlugin | ✓ |
 DiffDrivePlugin | ✓ | ✓
-FiducialCameraPlugin | ✓ |
+ElevatorPlugin | ✓ |
 FlashLightPlugin | ✓ |
 FollowerPlugin | ✓ |
-ForceTorquePlugin | ✓ |
 GimbalSmall2dPlugin | ✓ |
-GpuRayPlugin | ✓ |
+GravityCompensationPlugin | ✓ |
 HarnessPlugin | ✓ |
-HeightmapLODPlugin | ✓ |
-ImuSensorPlugin | ✓ |
-InitialVelocityPlugin | ✓ |
+HydraDemoPlugin | ✓ |
+InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
 JointTrajectoryPlugin | ✓ |
-KeysToJointsPlugin | ✓ |
+KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
+KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
 LedPlugin | ✓ |
-LensFlareSensorPlugin | ✓ |
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ |
-ModelPropShop | ✓ |
+LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
 MudPlugin | ✓ |
 MulticopterMotorModel | ✕ | ✓
 PlaneDemoPlugin | ✓ |
 PosePublisher | ✕ | ✓
-PressurePlugin | ✓ |
-RayPlugin | ✓ | Provided through Ignition Sensors
-RaySensorNoisePlugin | ✓ |
-RubblePlugin | ✓ |
-ShaderParamVisualPlugin | ✓ |
+RandomVelocityPlugin | ✓ |
+RegionEventBoxPlugin | ✓ |
 SimpleTrackedVehiclePlugin | ✓ |
 SkidSteerDrivePlugin | ✓ | ✓
-SonarPlugin | ✓ |
-SphereAtlasDemoPlugin | ✓ |
-StaticMapPlugin | ✓ |
-StopWorldPlugin | ✓ |
+SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
+TrackedVehiclePlugin | ✓ |
+VariableGearboxPlugin | ✓ |
 VehiclePlugin | ✓ |
-WheelSlipPlugin | ✓ |
-WindPlugin | ✓ | ✓
+WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
-ElevatorPlugin | ✓ |
-RandomVelocityPlugin | ✓ |
-TransporterPlugin | ✓ |
+
+### World plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ArrangePlugin | ✓ |
+ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
 HydraPlugin | ✓ |
-HydraDemoPlugin | ✓ |
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
+MisalignmentPlugin | ✓ |
+RubblePlugin | ✓ |
+StaticMapPlugin | ✓ |
+TransporterPlugin | ✓ |
+WindPlugin | ✓ | ✓
+
+### Sensor plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+BreakableJointPlugin | ✓ |
+CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ContactPlugin | ✓ | ✓
+DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+FiducialCameraPlugin | ✓ |
+ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+LensFlareSensorPlugin | ✓ |
+PressurePlugin | ✓ |
+RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+RaySensorNoisePlugin | ✓ | ✕ Use SDF
+SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+
+### Visual plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+AmbientOcclusionVisualPlugin | ✓ |
+BlinkVisualPlugin | ✓ |
+HeightmapLODPlugin | ✓ |
+ShaderParamVisualPlugin | ✓ |
+
+### GUI plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
 CessnaGUIPlugin | ✓ |
-KeyboardGUIPlugin | ✓ |
+KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
 LookAtDemoPlugin | ✓ |
 TimerGUIPlugin | ✓ |
-GravityCompensationPlugin | ✓ |
+
+### System plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
+RestUiPlugin | ✓ |
+RestWebPlugin | ✓ |
+StopWorldPlugin | ✓ |
 
 ## GUI
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Play / pause / step | ✓ | ✓
-Reset world / models | ✓ |
+Reset world / models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/203)
 World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
 Translate / rotate | ✓ | ✓
-Scale models | ✓ |
-Insert models / lights | ✓ | ✓ (dragging Fuel URL)
+Scale models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/195)
+Insert models from Fuel | Partial support | ✓
+Insert models from disk | ✓ | ✓
+Insert simple shapes | ✓ | ✓
+Insert simple lights | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/119)
 Delete models | ✓ | ✓
-World tree | ✓ | ✓ (no properties yet)
+World tree | ✓ | ✓
+Scene properties | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/246)
 Log recording / playback | ✓ | ✓
-Plotting | ✓ |
+Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
-Screenshot | ✓ |
-View angles | ✓ |
+Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
+View angles | ✓ | ✓
 Apply force / torque | ✓ |
-Visualize model as transparent | ✓ | ✕
-Visualize model as wireframe | ✓ | ✕
-Visualize contacts | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/pull/234)
-Visualize link inertia | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
-Visualize centers of mass | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
-Visualize joints | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
-Visualize collision shapes | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize as transparent | ✓ |
+Visualize as wireframe | ✓ |
+Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
+Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
+Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
+Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
-Copy / paste | ✓ |
+Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
 Building editor | ✓ |
-Model editor | ✓ |
+Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ |
-Orthographic projection | ✓ |
-Save world | ✓ |
+Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
+Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
+Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
 Color scheme and themes | ✕ | ✓
 Position, resize and configure widgets | ✕ | ✓
-Load plugins from menu | ✕ | ✓
+Load GUI plugins from menu | ✕ | ✓
 
 ## Physics
 
@@ -177,11 +218,11 @@ in Gazebo.
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ODE engine | ✓ |
-Bullet engine | ✓ |
+ODE engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
+Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
-Simbody engine | ✓ |
-TPE engine | ✕ | ✕ (available in Citadel)
+Simbody engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
+TPE engine | ✕ | ✕ (available from Citadel)
 Custom engine plugins | ✕ | ✓
 
 ## Rendering
@@ -194,8 +235,8 @@ Feature | Gazebo-classic | Ignition Gazebo
 Ogre 1.x engine | ✓ | ✓
 Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
-Custom engine plugins | ✕ | ✓
-Sky | ✓ |
+Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
+Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
 Fog | ✓ |
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
@@ -210,10 +251,19 @@ Supported versions:
 * ROS 1 Melodic
 * ROS 2 Dashing
 
+## Platforms
+
+Platform | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+Ubuntu | ✓ | ✓
+OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/ignitionrobotics/ign-gazebo/issues/25), [render window](https://github.com/ignitionrobotics/ign-gazebo/issues/44)
+Windows | ✓ | The stack works up to ign-gazebo: [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
+
 ## Others
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
+Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
 Web client (GzWeb) | ✓ |
 COLLADA meshes | ✓ | ✓
@@ -223,4 +273,4 @@ Code introspection | ✓ | All simulation state is accessible from system plugin
 Distribute simulation across processes | ✕ | (coming up)
 Incrementally load levels | ✕ | ✓
 Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models)
-Saved simulation states | ✓ |
+Saved simulation states | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/137)
diff --git a/citadel/comparison.md b/citadel/comparison.md
index dcf912b20..2fcf4767d 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -1,7 +1,12 @@
 # Feature comparison
 
-A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/) and
-the status of their migration to [Ignition](https://ignitionrobotics.org/).
+A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/)
+version 11 and the status of their migration to
+[Ignition Citadel](https://ignitionrobotics.org/).
+
+All the issues below are labeled with
+[close the gap](https://github.com/search?q=org%3Aignitionrobotics+label%3A%22close+the+gap%22&type=Issues)
+on GitHub.
 
 ## Sensors
 
@@ -12,28 +17,25 @@ Altimeter | ✓ | ✓
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
-Force-torque | ✓ |
-GPS | ✓ |
+Force-torque | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/25)
+GPS | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/23)
 GPU Ray | ✓ | ✓ Renamed to GPU Lidar
 IMU | ✓ | ✓
 Logical camera | ✓ | ✓
 Magnetometer | ✓ | ✓
-Multi-camera | ✓ |
-Ray | ✓ |
-RFID | ✓ |
-RFIDTag | ✓ |
-Sonar | ✓ |
+Multi-camera | ✓ | ✕  Use individual cameras with same update rate
+Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
+RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
 Thermal camera | ✕  | ✓
-Wide-angle camera | ✓ |
-Wireless receiver | ✓ |
-Wireless transceiver | ✓ |
-Wireless transmitter | ✓ |
+Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
+Wireless | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/28)
 
 Sensor features | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Custom update rate | ✓ | ✓
 Gaussian noise | ✓ | ✓
-Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet)
+Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/9)
 
 ## SDF Features
 
@@ -43,132 +45,170 @@ SDF frame semantics |✓| ✓
 Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/123)
 Closed kinematic chains | ✓  | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25)
 Nested models | ✓ | Partial support
-Populations | ✓ | ✕
+Populations | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/240)
 Actors | ✓ | ✓
 Markers | ✓ | ✓
-Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
-DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
-Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
+Heightmaps | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
+DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
+Polylines | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin
 Sensor plugins | ✓ | ✓ Now called System plugin
-Visual plugins | ✓ | ✓
+Visual plugins | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 
-
 ## Plugins
 
+### Model plugins
+
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ActorPlugin | ✓ |
+ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
 ActuatorPlugin | ✓ |
-AmbientOcclusionVisualPlugin | ✓ |
 ArduCopterPlugin | ✓ |
-ArrangePlugin | ✓ |
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
-BlinkVisualPlugin | ✓ |
 Breadcrumbs | ✕ | ✓
-BreakableJointPlugin | ✓ |
-BuoyancyPlugin | ✓ |
-CameraPlugin | ✓ |
-CartDemoPlugin | ✓ |
+BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
+CartDemoPlugin | ✓ | ✕
 CessnaPlugin | ✓ |
-ContactPlugin | ✓ | ✓
-ContainPlugin | ✓ |
-DepthCameraPlugin | ✓ |
 DiffDrivePlugin | ✓ | ✓
-FiducialCameraPlugin | ✓ |
+ElevatorPlugin | ✓ |
 FlashLightPlugin | ✓ |
 FollowerPlugin | ✓ |
-ForceTorquePlugin | ✓ |
 GimbalSmall2dPlugin | ✓ |
-GpuRayPlugin | ✓ |
+GravityCompensationPlugin | ✓ |
 HarnessPlugin | ✓ |
-HeightmapLODPlugin | ✓ |
-ImuSensorPlugin | ✓ |
-InitialVelocityPlugin | ✓ |
+HydraDemoPlugin | ✓ |
+InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
 JointTrajectoryPlugin | ✓ |
-KeysToJointsPlugin | ✓ |
+KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
+KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
 LedPlugin | ✓ |
-LensFlareSensorPlugin | ✓ |
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ |
-ModelPropShop | ✓ |
+LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
 MudPlugin | ✓ |
 MulticopterMotorModel | ✕ | ✓
 PlaneDemoPlugin | ✓ |
 PosePublisher | ✕ | ✓
-PressurePlugin | ✓ |
-RayPlugin | ✓ | Provided through Ignition Sensors
-RaySensorNoisePlugin | ✓ |
-RubblePlugin | ✓ |
-ShaderParamVisualPlugin | ✓ |
+RandomVelocityPlugin | ✓ |
+RegionEventBoxPlugin | ✓ |
 SimpleTrackedVehiclePlugin | ✓ |
 SkidSteerDrivePlugin | ✓ | ✓
-SonarPlugin | ✓ |
-SphereAtlasDemoPlugin | ✓ | 
-StaticMapPlugin | ✓ |
-StopWorldPlugin | ✓ |
+SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
+TrackedVehiclePlugin | ✓ |
+VariableGearboxPlugin | ✓ |
 VehiclePlugin | ✓ |
-WheelSlipPlugin | ✓ |
+WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
-WindPlugin | ✓ | ✓
-ElevatorPlugin | ✓ |
-RandomVelocityPlugin | ✓ |
-TransporterPlugin | ✓ |
+
+### World plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ArrangePlugin | ✓ |
+ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
 HydraPlugin | ✓ |
-HydraDemoPlugin | ✓ |
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
+MisalignmentPlugin | ✓ |
+RubblePlugin | ✓ |
+StaticMapPlugin | ✓ |
+TransporterPlugin | ✓ |
+WindPlugin | ✓ | ✓
+
+### Sensor plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+BreakableJointPlugin | ✓ |
+CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ContactPlugin | ✓ | ✓
+DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+FiducialCameraPlugin | ✓ |
+ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+LensFlareSensorPlugin | ✓ |
+PressurePlugin | ✓ |
+RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+RaySensorNoisePlugin | ✓ | ✕ Use SDF
+SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+
+### Visual plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+AmbientOcclusionVisualPlugin | ✓ |
+BlinkVisualPlugin | ✓ |
+HeightmapLODPlugin | ✓ |
+ShaderParamVisualPlugin | ✓ |
+
+### GUI plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
 CessnaGUIPlugin | ✓ |
-KeyboardGUIPlugin | ✓ |
+KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
 LookAtDemoPlugin | ✓ |
 TimerGUIPlugin | ✓ |
-GravityCompensationPlugin | ✓ |
+
+### System plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
+RestUiPlugin | ✓ |
+RestWebPlugin | ✓ |
+StopWorldPlugin | ✓ |
 
 ## GUI
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Play / pause / step | ✓ | ✓
-Reset world / models | ✓ |
+Reset world / models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/203)
 World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
 Translate / rotate | ✓ | ✓
-Scale models | ✓ |
-Insert models / lights | ✓ | ✓ (dragging Fuel URL)
+Scale models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/195)
+Insert models from Fuel | Partial support | ✓
+Insert models from disk | ✓ | ✓
+Insert simple shapes | ✓ | ✓
+Insert simple lights | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/119)
 Delete models | ✓ | ✓
-World tree | ✓ | ✓ (no properties yet)
+World tree | ✓ | ✓
+Scene properties | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/246)
 Log recording / playback | ✓ | ✓
-Plotting | ✓ |
+Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
-Screenshot | ✓ |
-View angles | ✓ |
+Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
+View angles | ✓ | ✓
 Apply force / torque | ✓ |
-Visualize model as transparent | ✓ | ✕
-Visualize model as wireframe | ✓ | ✕
-Visualize contacts | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/pull/234)
-Visualize link inertia | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
-Visualize centers of mass | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
-Visualize joints | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
-Visualize collision shapes | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize as transparent | ✓ |
+Visualize as wireframe | ✓ |
+Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
+Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
+Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
+Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
-Copy / paste | ✓ |
+Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
 Building editor | ✓ |
-Model editor | ✓ |
+Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ |
-Orthographic projection | ✓ |
-Save world | ✓ |
+Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
+Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
+Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
 Color scheme and themes | ✕ | ✓
 Position, resize and configure widgets | ✕ | ✓
-Load plugins from menu | ✕ | ✓
+Load GUI plugins from menu | ✕ | ✓
 
 ## Physics
 
@@ -178,10 +218,10 @@ in Gazebo.
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ODE engine | ✓ |
-Bullet engine | ✓ |
+ODE engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
+Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
-Simbody engine | ✓ |
+Simbody engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
 TPE engine | ✕ | ✓
 Custom engine plugins | ✕ | ✓
 
@@ -195,8 +235,8 @@ Feature | Gazebo-classic | Ignition Gazebo
 Ogre 1.x engine | ✓ | ✓
 Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
-Custom engine plugins | ✕ | (coming up)
-Sky | ✓ |
+Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
+Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
 Fog | ✓ |
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
@@ -211,10 +251,19 @@ Supported versions:
 * ROS 1 Melodic
 * ROS 2 Dashing
 
+## Platforms
+
+Platform | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+Ubuntu | ✓ | ✓
+OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/ignitionrobotics/ign-gazebo/issues/25), [render window](https://github.com/ignitionrobotics/ign-gazebo/issues/44)
+Windows | ✓ | The stack works up to ign-gazebo: [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
+
 ## Others
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
+Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
 Web client (GzWeb) | ✓ |
 COLLADA meshes | ✓ | ✓
@@ -224,4 +273,4 @@ Code introspection | ✓ | All simulation state is accessible from system plugin
 Distribute simulation across processes | ✕ | (coming up)
 Incrementally load levels | ✕ | ✓
 Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models)
-Saved simulation states | ✓ |
+Saved simulation states | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/137)