Click to reach, drag to orbit, scroll to zoom. Lisp unprojects the click into 3D, glides the hand there along a minimum-jerk trajectory (the classic model of smooth human reaching), solves the joints each frame with damped-least-squares Jacobian IK (linalg:matmul / solve; or FABRIK / analytic 2R + matrix forward kinematics — toggle below right) — gripper open in flight, closing on the target on arrival — and tessellates every cylinder and sphere, camera matrices included. JavaScript is one-line WebGL bindings, pointer gestures and this HUD.