diff --git a/web/pose_3d.js b/web/pose_3d.js
index df2c985..a4ad9d1 100644
--- a/web/pose_3d.js
+++ b/web/pose_3d.js
@@ -424,6 +424,78 @@ function bindEditorButtons() {
   $('p3CancelBtn').addEventListener('click', onCancelClick);
 }
 
+// ----- mode toggle -----
+function bindModeControls() {
+  for (const r of document.querySelectorAll('input[name=p3Mode]')) {
+    r.addEventListener('change', () => {
+      state.mode = r.value;
+      const badge = $('p3ModeBadge');
+      if (state.mode === 'jog') {
+        badge.textContent = '🔴 JOG (live)';
+        badge.classList.add('jog');
+        $('p3EditorActions').style.display = 'none';
+      } else {
+        badge.textContent = 'Editor';
+        badge.classList.remove('jog');
+        $('p3EditorActions').style.display = '';
+      }
+    });
+  }
+}
+
+function bindPreciseControl() {
+  $('p3Precise').addEventListener('change', (e) => {
+    state.precise = e.target.checked;
+  });
+}
+
+// ----- jog auto-apply al mouseup gizmo -----
+function bindJogAutoApply() {
+  const { transform } = state.three;
+  transform.addEventListener('dragging-changed', async (e) => {
+    if (e.value) return;  // inizio drag, niente
+    if (state.mode !== 'jog') return;
+    const side = state.active_side;
+    const tgt = state.target[side];
+    if (!tgt) return;
+    const cur = state.current[side];
+    if (!cur) return;
+    const dx = tgt.position[0] - cur.position[0];
+    const dy = tgt.position[1] - cur.position[1];
+    const dz = tgt.position[2] - cur.position[2];
+    const delta = Math.sqrt(dx*dx + dy*dy + dz*dz);
+    if (delta > state.live_max_step_m) {
+      const ok = confirm(
+        `Movimento richiesto ${(delta*1000).toFixed(0)} mm > soglia ${(state.live_max_step_m*1000).toFixed(0)} mm.\n` +
+        `Procedere comunque?`,
+      );
+      if (!ok) return;
+    }
+    clearError();
+    try {
+      const res = await jsonFetch('/api/pose_3d/apply', {
+        method: 'POST', headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          side, position: tgt.position, quaternion: tgt.quaternion,
+          dry_run: false, precise: state.precise,
+        }),
+      });
+      const r = res.result || {};
+      if (r.reached_target === false || r.stalled === true) {
+        showError(`Move non completato: residual ${(r.position_error_mm||0).toFixed(1)} mm. ` +
+                  `Sblocca braccia e riprova, oppure disattiva Precise.`);
+      } else {
+        $('p3Status').textContent = `✓ Jog: raggiunto (residual ${(r.position_error_mm||0).toFixed(1)} mm)`;
+        $('p3Status').className = 'p3-status ok';
+        state.target[side] = null;
+        syncGhostsToTargetOrReal();
+      }
+    } catch (e) {
+      showError(e.message);
+    }
+  });
+}
+
 // ----- init triggered on first activation -----
 let inited = false;
 function ensureInit() {
@@ -436,6 +508,9 @@ function ensureInit() {
   bindGizmoControls();
   bindGizmoEvents();
   bindEditorButtons();
+  bindModeControls();
+  bindPreciseControl();
+  bindJogAutoApply();
   pollState();
   pollTimer = setInterval(pollState, POLL_MS);
 }