diff --git a/include/ignition/gui/qml/GzPose.qml b/include/ignition/gui/qml/GzPose.qml
new file mode 100644
index 000000000..3cc05efa3
--- /dev/null
+++ b/include/ignition/gui/qml/GzPose.qml
@@ -0,0 +1,291 @@
+/*
+ * Copyright (C) 2022 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.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+
+/**
+ *  Item displaying 3D pose information.
+ *
+ *  Users should load values to xValues, yValues, etc.
+ *  If readOnly == False,
+ *  users can read from signal pararmeters of gzPoseSet: _x, _y, etc.
+ *
+ *  Usage example:
+ *  GzPose {
+ *    id: gzPose
+ *    readOnly: false
+ *    xValue: xValueFromCPP
+ *    yValue: yValueFromCPP
+ *    zValue: zValueFromCPP
+ *    rollValue: rollValueFromCPP
+ *    pitchValue: pitchValueFromCPP
+ *    yawValue: yawValueFromCPP
+ *    onGzPoseSet: {
+ *      myFunc(_x, _y, _z, _roll, _pitch, _yaw)
+ *    }
+ *  }
+**/
+
+Item {
+  id: gzPoseRoot
+
+  // Read-only / write
+  property bool readOnly: false
+
+  // User input value.
+  property double xValue
+  property double yValue
+  property double zValue
+  property double rollValue
+  property double pitchValue
+  property double yawValue
+
+  /**
+   * Used to read spinbox values
+   * @params: _x, _y, _z, _roll, _pitch, _yaw: corresponding spinBoxes values
+   * @note: When readOnly == false, user should read spinbox value from its
+   *        parameters.
+   *        When readOnly == true, this signal is unused.
+   */
+  signal gzPoseSet(double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
+
+
+  /*** The following are private variables: ***/
+  // Show Pose bar (used to control expand)
+  property bool show: true
+
+  height: gzPoseContent.height
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Maximum spinbox value
+  property double spinMax: 1000000
+
+  // local variables to store spinbox values
+  property var xItem: {}
+  property var yItem: {}
+  property var zItem: {}
+  property var rollItem: {}
+  property var pitchItem: {}
+  property var yawItem: {}
+
+  // Dummy component to use its functions.
+  IgnHelpers {
+    id: gzHelper
+  }
+  /*** Private variables end: ***/
+
+  /**
+   * Used to create a spin box
+   */
+  Component {
+    id: writableNumber
+    IgnSpinBox {
+      id: writableSpin
+      value:  numberValue
+      minimumValue: -spinMax
+      maximumValue: spinMax
+      decimals: gzHelper.getDecimals(writableSpin.width)
+      onEditingFinished: {
+        gzPoseRoot.gzPoseSet(xItem.value, yItem.value, zItem.value, rollItem.value, pitchItem.value, yawItem.value)
+      }
+    }
+  }
+
+  /**
+   * 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 = gzHelper.getDecimals(numberText.width)
+        return numberValue.toFixed(decimals)
+      }
+    }
+  }
+
+  Rectangle {
+    id: gzPoseContent
+    width: parent.width
+    height: show ? gzPoseGrid.height : 0
+    clip: true
+    color: "transparent"
+
+    Behavior on height {
+      NumberAnimation {
+        duration: 200;
+        easing.type: Easing.InOutQuad
+      }
+    }
+
+    GridLayout {
+      id: gzPoseGrid
+      width: parent.width
+      columns: 6
+
+      // Left spacer
+      Item {
+        Layout.rowSpan: 3
+        width: margin + indentation
+      }
+
+      Text {
+        text: 'X (m)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: xLoader
+          anchors.fill: parent
+          property double numberValue: xValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+            xItem = xLoader.item
+          }
+        }
+      }
+
+      Text {
+        text: 'Roll (rad)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: rollLoader
+          anchors.fill: parent
+          property double numberValue: rollValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+            rollItem = rollLoader.item
+          }
+        }
+      }
+
+      // Right spacer
+      Item {
+        Layout.rowSpan: 3
+        width: margin
+      }
+
+      Text {
+        text: 'Y (m)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: yLoader
+          anchors.fill: parent
+          property double numberValue: yValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+             yItem = yLoader.item
+          }
+        }
+      }
+
+      Text {
+        text: 'Pitch (rad)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: pitchLoader
+          anchors.fill: parent
+          property double numberValue: pitchValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+            pitchItem = pitchLoader.item
+          }
+        }
+      }
+
+      Text {
+        text: 'Z (m)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: zLoader
+          anchors.fill: parent
+          property double numberValue: zValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+            zItem = zLoader.item
+          }
+        }
+      }
+
+      Text {
+        text: 'Yaw (rad)'
+        leftPadding: 5
+        color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+        font.pointSize: 12
+      }
+
+      Item {
+        Layout.fillWidth: true
+        height: 40
+        Loader {
+          id: yawLoader
+          anchors.fill: parent
+          property double numberValue: yawValue
+          sourceComponent: readOnly ? readOnlyNumber : writableNumber
+          onLoaded: {
+            yawItem = yawLoader.item
+          }
+        }
+      }
+    } // end of GridLayout
+  } // end of Rectangle (gzPoseContent)
+} // end of Rectangle (gzPoseRoot)
diff --git a/include/ignition/gui/qml/IgnHelpers.qml b/include/ignition/gui/qml/IgnHelpers.qml
index 57c0619b3..9938872f8 100644
--- a/include/ignition/gui/qml/IgnHelpers.qml
+++ b/include/ignition/gui/qml/IgnHelpers.qml
@@ -39,4 +39,21 @@ Item {
 
     return result;
   }
+
+  /**
+   * Helper function to get number of decimal digits based on a width value.
+   * @param _width Pixel width.
+   * @returns 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
+  }
 }
diff --git a/include/ignition/gui/resources.qrc b/include/ignition/gui/resources.qrc
index df7f2ced7..2a01f294a 100644
--- a/include/ignition/gui/resources.qrc
+++ b/include/ignition/gui/resources.qrc
@@ -3,6 +3,7 @@
   <file>qtquickcontrols2.conf</file>
 
   <file>qml/GzColor.qml</file>
+  <file>qml/GzPose.qml</file>
   <file>qml/IgnCard.qml</file>
   <file>qml/IgnCardSettings.qml</file>
   <file>qml/IgnHelpers.qml</file>
@@ -27,6 +28,7 @@
     <file alias="qmldir">qml/qmldir</file>
     <!-- Add any QML components referenced in the qmldir file here -->
     <file alias="GzColor.qml">qml/GzColor.qml</file>
+    <file alias="GzPose.qml">qml/GzPose.qml</file>
     <file alias="IgnSnackBar.qml">qml/IgnSnackBar.qml</file>
     <file alias="IgnSpinBox.qml">qml/IgnSpinBox.qml</file>
 </qresource>