diff --git a/web/pose_3d.js b/web/pose_3d.js
index e0511c1..b631d4e 100644
--- a/web/pose_3d.js
+++ b/web/pose_3d.js
@@ -197,6 +197,27 @@ function updateRealWrists() {
   }
 }
 
+function syncGhostsToTargetOrReal() {
+  for (const side of ['right', 'left']) {
+    const ghost = state.ghosts[side];
+    if (!ghost) continue;
+    if (state.target[side]) {
+      // ghost segue il target locale (mosso dal gizmo)
+      ghost.visible = true;
+    } else if (side === state.active_side) {
+      // ghost allineato al reale (preparato per drag)
+      const real = state.current[side];
+      if (real) {
+        ghost.position.set(real.position[0], real.position[1], real.position[2]);
+        ghost.quaternion.set(real.quaternion[0], real.quaternion[1],
+                             real.quaternion[2], real.quaternion[3]);
+      }
+    } else {
+      ghost.visible = false;
+    }
+  }
+}
+
 function updateReadout() {
   const side = state.active_side;
   const pose = state.target[side] || state.current[side];
@@ -226,6 +247,7 @@ async function pollState() {
     state.saved_poses = s.poses || {};
     state.live_max_step_m = s.live_max_step_m || 0.15;
     updateRealWrists();
+    syncGhostsToTargetOrReal();
     updateReadout();
     // Aggiorna dropdown pose salvate
     refreshPoseSelect();
@@ -248,6 +270,99 @@ function refreshPoseSelect() {
   sel.value = cur;
 }
 
+// ----- selezione polso via click -----
+function setupSelection() {
+  const { renderer, camera, transform } = state.three;
+  const raycaster = new THREE.Raycaster();
+  const mouse = new THREE.Vector2();
+  const canvas = renderer.domElement;
+
+  canvas.addEventListener('pointerdown', (e) => {
+    // Se sta interagendo con il gizmo, non fare nulla
+    if (transform.dragging) return;
+    const rect = canvas.getBoundingClientRect();
+    mouse.x = ((e.clientX - rect.left) / rect.width) * 2 - 1;
+    mouse.y = -((e.clientY - rect.top) / rect.height) * 2 + 1;
+    raycaster.setFromCamera(mouse, camera);
+    // Verifica intersezione con sphere destra o sinistra
+    const candidates = [state.arms.right.userData.sphere,
+                        state.arms.left.userData.sphere];
+    const hits = raycaster.intersectObjects(candidates, false);
+    if (hits.length > 0) {
+      const sphere = hits[0].object;
+      const side = sphere.parent.userData.side;
+      activateSide(side);
+    }
+  });
+}
+
+function activateSide(side) {
+  state.active_side = side;
+  // sync radio buttons
+  for (const r of document.querySelectorAll('input[name=p3Side]')) {
+    r.checked = (r.value === side);
+  }
+  // Attacca gizmo al ghost (lo creiamo se non esiste, posizionandolo sul reale)
+  ensureGhostInit(side);
+  const { transform } = state.three;
+  transform.attach(state.ghosts[side]);
+  state.ghosts[side].visible = true;
+  updateReadout();
+}
+
+function ensureGhostInit(side) {
+  // Se non c'è target locale, allinea ghost al reale (preparato per drag)
+  if (!state.target[side]) {
+    const real = state.current[side];
+    if (real) {
+      state.ghosts[side].position.set(real.position[0], real.position[1], real.position[2]);
+      state.ghosts[side].quaternion.set(real.quaternion[0], real.quaternion[1],
+                                         real.quaternion[2], real.quaternion[3]);
+    }
+  }
+}
+
+// ----- gizmo mode toggle -----
+function bindGizmoControls() {
+  for (const r of document.querySelectorAll('input[name=p3Gizmo]')) {
+    r.addEventListener('change', () => {
+      state.gizmo_mode = r.value;
+      state.three.transform.setMode(r.value);
+    });
+  }
+  // tasti t/r
+  window.addEventListener('keydown', (e) => {
+    if (!$('tab-pose-3d')?.classList.contains('active')) return;
+    if (e.target.tagName === 'INPUT' || e.target.tagName === 'TEXTAREA') return;
+    if (e.key === 't') { setGizmoMode('translate'); }
+    if (e.key === 'r') { setGizmoMode('rotate'); }
+  });
+}
+
+function setGizmoMode(mode) {
+  state.gizmo_mode = mode;
+  state.three.transform.setMode(mode);
+  for (const r of document.querySelectorAll('input[name=p3Gizmo]')) {
+    r.checked = (r.value === mode);
+  }
+}
+
+// ----- target tracking durante drag gizmo -----
+function bindGizmoEvents() {
+  const { transform } = state.three;
+  transform.addEventListener('change', () => {
+    const side = state.active_side;
+    const ghost = state.ghosts[side];
+    if (!ghost) return;
+    state.target[side] = {
+      position: [ghost.position.x, ghost.position.y, ghost.position.z],
+      quaternion: [ghost.quaternion.x, ghost.quaternion.y,
+                   ghost.quaternion.z, ghost.quaternion.w],
+    };
+    updateReadout();
+  });
+}
+
 // ----- side change listener -----
 function bindSideControls() {
   for (const r of document.querySelectorAll('input[name=p3Side]')) {
@@ -265,7 +380,10 @@ function ensureInit() {
   if (!$('p3Canvas')) return;
   inited = true;
   initScene();
+  setupSelection();
   bindSideControls();
+  bindGizmoControls();
+  bindGizmoEvents();
   pollState();
   pollTimer = setInterval(pollState, POLL_MS);
 }