diff --git a/src/viser/client/src/CameraControls.tsx b/src/viser/client/src/CameraControls.tsx
index f8e6503c..430c3c81 100644
--- a/src/viser/client/src/CameraControls.tsx
+++ b/src/viser/client/src/CameraControls.tsx
@@ -2,11 +2,83 @@ import { ViewerContext } from "./App";
 import { CameraControls } from "@react-three/drei";
 import { useThree } from "@react-three/fiber";
 import * as holdEvent from "hold-event";
-import React, { useContext, useRef } from "react";
+import React, { useContext, useRef, useState } from "react";
+import { useFrame } from "@react-three/fiber";
 import { PerspectiveCamera } from "three";
 import * as THREE from "three";
 import { computeT_threeworld_world } from "./WorldTransformUtils";
 import { useThrottledMessageSender } from "./WebsocketFunctions";
+import { Grid, PivotControls } from "@react-three/drei";
+
+function OrbitOriginTool({
+  forceShow,
+  pivotRef,
+  onPivotChange,
+  update,
+}: {
+  forceShow: boolean;
+  pivotRef: React.RefObject<THREE.Group>;
+  onPivotChange: (matrix: THREE.Matrix4) => void;
+  update: () => void;
+}) {
+  const viewer = useContext(ViewerContext)!;
+  const showCameraControls = viewer.useGui(
+    (state) => state.showOrbitOriginTool,
+  );
+  React.useEffect(update, [showCameraControls]);
+
+  if (!showCameraControls && !forceShow) return null;
+
+  return (
+    <PivotControls
+      ref={pivotRef}
+      scale={200}
+      lineWidth={4}
+      fixed={true}
+      axisColors={["#ffaaff", "#ff33ff", "#ffaaff"]}
+      disableScaling={true}
+      onDragEnd={() => {
+        onPivotChange(pivotRef.current!.matrix);
+      }}
+    >
+      <mesh>
+        <sphereGeometry args={[0.1, 32, 32]} />
+        <shaderMaterial
+          transparent
+          uniforms={{
+            color: { value: new THREE.Color("#ff33ff") },
+            size: { value: 200.0 },
+          }}
+          vertexShader={`
+            // Custom shader for defining sphere size in screen space.
+            uniform float size;
+            void main() {
+              vec4 clipPos = projectionMatrix * modelViewMatrix * vec4(0.0, 0.0, 0.0, 1.0);
+              vec4 clipPosOffset = projectionMatrix * modelViewMatrix * vec4(position * size / 1000.0, 1.0);
+              gl_Position = clipPos + (clipPosOffset - clipPos) * clipPos.w;
+            }
+          `}
+          fragmentShader={`
+            uniform vec3 color;
+            void main() {
+              gl_FragColor = vec4(color, 0.8);
+            }
+          `}
+        />
+      </mesh>
+      <Grid
+        args={[10, 10, 10, 10]}
+        infiniteGrid
+        fadeStrength={0}
+        fadeFrom={0}
+        fadeDistance={1000}
+        sectionColor={"#ffaaff"}
+        cellColor={"#ffccff"}
+        side={THREE.DoubleSide}
+      />
+    </PivotControls>
+  );
+}
 
 export function SynchronizedCameraControls() {
   const viewer = useContext(ViewerContext)!;
@@ -20,7 +92,157 @@ export function SynchronizedCameraControls() {
     lookAt: THREE.Vector3;
   } | null>(null);
 
+  const pivotRef = useRef<THREE.Group>(null);
+
+  const cameraControlRef = viewer.cameraControlRef;
+
+  // Animation state interface
+  interface CameraAnimation {
+    startUp: THREE.Vector3;
+    targetUp: THREE.Vector3;
+    startLookAt: THREE.Vector3;
+    targetLookAt: THREE.Vector3;
+    startTime: number;
+    duration: number;
+  }
+
+  const [cameraAnimation, setCameraAnimation] =
+    useState<CameraAnimation | null>(null);
+
+  // Animation parameters
+  const ANIMATION_DURATION = 0.5; // seconds
+
+  useFrame((state) => {
+    if (cameraAnimation && cameraControlRef.current) {
+      const cameraControls = cameraControlRef.current;
+      const camera = cameraControls.camera;
+
+      const elapsed = state.clock.getElapsedTime() - cameraAnimation.startTime;
+      const progress = Math.min(elapsed / cameraAnimation.duration, 1);
+
+      // Smooth step easing
+      const t = progress * progress * (3 - 2 * progress);
+
+      // Interpolate up vector
+      const newUp = new THREE.Vector3()
+        .copy(cameraAnimation.startUp)
+        .lerp(cameraAnimation.targetUp, t)
+        .normalize();
+
+      // Interpolate look-at position
+      const newLookAt = new THREE.Vector3()
+        .copy(cameraAnimation.startLookAt)
+        .lerp(cameraAnimation.targetLookAt, t);
+
+      camera.up.copy(newUp);
+
+      // Back up position
+      const prevPosition = new THREE.Vector3();
+      cameraControls.getPosition(prevPosition);
+
+      cameraControls.updateCameraUp();
+
+      // Restore position and set new look-at
+      cameraControls.setPosition(
+        prevPosition.x,
+        prevPosition.y,
+        prevPosition.z,
+        false,
+      );
+
+      cameraControls.setLookAt(
+        prevPosition.x,
+        prevPosition.y,
+        prevPosition.z,
+        newLookAt.x,
+        newLookAt.y,
+        newLookAt.z,
+        false,
+      );
+
+      // Clear animation when complete
+      if (progress >= 1) {
+        setCameraAnimation(null);
+      }
+    }
+  });
+
+  const { clock } = useThree();
+
+  const updateCameraLookAtAndUpFromPivotControl = (matrix: THREE.Matrix4) => {
+    if (!cameraControlRef.current) return;
+
+    const targetPosition = new THREE.Vector3();
+    targetPosition.setFromMatrixPosition(matrix);
+
+    const cameraControls = cameraControlRef.current;
+    const camera = cameraControlRef.current.camera;
+
+    // Get target up vector from matrix
+    const targetUp = new THREE.Vector3().setFromMatrixColumn(matrix, 1);
+
+    // Get current look-at position
+    const currentLookAt = cameraControls.getTarget(new THREE.Vector3());
+
+    // Start new animation
+    setCameraAnimation({
+      startUp: camera.up.clone(),
+      targetUp: targetUp,
+      startLookAt: currentLookAt,
+      targetLookAt: targetPosition,
+      startTime: clock.getElapsedTime(),
+      duration: ANIMATION_DURATION,
+    });
+  };
+
+  const updatePivotControlFromCameraLookAtAndup = () => {
+    if (cameraAnimation !== null) return;
+    if (!cameraControlRef.current) return;
+    if (!pivotRef.current) return;
+
+    const cameraControls = cameraControlRef.current;
+    const lookAt = cameraControls.getTarget(new THREE.Vector3());
+
+    // Rotate matrix s.t. it's y-axis aligns with the camera's up vector.
+    // We'll do this with math.
+    const origRotation = new THREE.Matrix4().extractRotation(
+      pivotRef.current.matrix,
+    );
+
+    const cameraUp = camera.up.clone().normalize();
+    const pivotUp = new THREE.Vector3(0, 1, 0)
+      .applyMatrix4(origRotation)
+      .normalize();
+    const axis = new THREE.Vector3()
+      .crossVectors(pivotUp, cameraUp)
+      .normalize();
+    const angle = Math.acos(Math.min(1, Math.max(-1, cameraUp.dot(pivotUp))));
+
+    // Create rotation matrix
+    const rotationMatrix = new THREE.Matrix4();
+    if (axis.lengthSq() > 0.0001) {
+      // Check if cross product is valid
+      rotationMatrix.makeRotationAxis(axis, angle);
+    }
+    // rotationMatrix.premultiply(origRotation);
+
+    // Combine rotation with position
+    const matrix = new THREE.Matrix4();
+    matrix.multiply(rotationMatrix);
+    matrix.multiply(origRotation);
+    matrix.setPosition(lookAt);
+
+    pivotRef.current.matrix.copy(matrix);
+    pivotRef.current.updateMatrixWorld(true);
+  };
+
   viewer.resetCameraViewRef.current = () => {
+    viewer.cameraRef.current!.up.set(
+      initialCameraRef.current!.camera.up.x,
+      initialCameraRef.current!.camera.up.y,
+      initialCameraRef.current!.camera.up.z,
+    );
+    viewer.cameraControlRef.current!.updateCameraUp();
     viewer.cameraControlRef.current!.setLookAt(
       initialCameraRef.current!.camera.position.x,
       initialCameraRef.current!.camera.position.y,
@@ -30,12 +252,6 @@ export function SynchronizedCameraControls() {
       initialCameraRef.current!.lookAt.z,
       true,
     );
-    viewer.cameraRef.current!.up.set(
-      initialCameraRef.current!.camera.up.x,
-      initialCameraRef.current!.camera.up.y,
-      initialCameraRef.current!.camera.up.z,
-    );
-    viewer.cameraControlRef.current!.updateCameraUp();
   };
 
   // Callback for sending cameras.
@@ -51,6 +267,8 @@ export function SynchronizedCameraControls() {
   const t_world_camera = new THREE.Vector3();
   const scale = new THREE.Vector3();
   const sendCamera = React.useCallback(() => {
+    updatePivotControlFromCameraLookAtAndup();
+
     const three_camera = camera;
     const camera_control = viewer.cameraControlRef.current;
 
@@ -270,14 +488,24 @@ export function SynchronizedCameraControls() {
   }, [CameraControls]);
 
   return (
-    <CameraControls
-      ref={viewer.cameraControlRef}
-      minDistance={0.01}
-      dollySpeed={0.3}
-      smoothTime={0.05}
-      draggingSmoothTime={0.0}
-      onChange={sendCamera}
-      makeDefault
-    />
+    <>
+      <CameraControls
+        ref={viewer.cameraControlRef}
+        minDistance={0.01}
+        dollySpeed={0.3}
+        smoothTime={0.05}
+        draggingSmoothTime={0.0}
+        onChange={sendCamera}
+        makeDefault
+      />
+      <OrbitOriginTool
+        forceShow={logCamera !== null /* Always show if logging camera */}
+        pivotRef={pivotRef}
+        onPivotChange={(matrix) => {
+          updateCameraLookAtAndUpFromPivotControl(matrix);
+        }}
+        update={updatePivotControlFromCameraLookAtAndup}
+      />
+    </>
   );
 }
diff --git a/src/viser/client/src/ControlPanel/ControlPanel.tsx b/src/viser/client/src/ControlPanel/ControlPanel.tsx
index 6a143de2..b4856118 100644
--- a/src/viser/client/src/ControlPanel/ControlPanel.tsx
+++ b/src/viser/client/src/ControlPanel/ControlPanel.tsx
@@ -83,7 +83,7 @@ export default function ControlPanel(props: {
     >
       <Tooltip
         zIndex={100}
-        label={showSettings ? "Return to GUI" : "Connection & diagnostics"}
+        label={showSettings ? "Return to GUI" : "Configuration & diagnostics"}
         withinPortal
       >
         {showSettings ? (
diff --git a/src/viser/client/src/ControlPanel/GuiState.tsx b/src/viser/client/src/ControlPanel/GuiState.tsx
index 7e84ac91..c6aa3124 100644
--- a/src/viser/client/src/ControlPanel/GuiState.tsx
+++ b/src/viser/client/src/ControlPanel/GuiState.tsx
@@ -16,6 +16,7 @@ interface GuiState {
   shareUrl: string | null;
   websocketConnected: boolean;
   backgroundAvailable: boolean;
+  showOrbitOriginTool: boolean;
   guiUuidSetFromContainerUuid: {
     [containerUuid: string]: { [uuid: string]: true } | undefined;
   };
@@ -65,6 +66,7 @@ const cleanGuiState: GuiState = {
   shareUrl: null,
   websocketConnected: false,
   backgroundAvailable: false,
+  showOrbitOriginTool: false,
   guiUuidSetFromContainerUuid: {},
   modals: [],
   guiOrderFromUuid: {},
diff --git a/src/viser/client/src/ControlPanel/ServerControls.tsx b/src/viser/client/src/ControlPanel/ServerControls.tsx
index 38d7cd21..4741faf1 100644
--- a/src/viser/client/src/ControlPanel/ServerControls.tsx
+++ b/src/viser/client/src/ControlPanel/ServerControls.tsx
@@ -7,6 +7,7 @@ import {
   Switch,
   Text,
   TextInput,
+  Tooltip,
 } from "@mantine/core";
 import { IconHomeMove, IconPhoto } from "@tabler/icons-react";
 import { Stats } from "@react-three/drei";
@@ -130,6 +131,33 @@ export default function ServerControls() {
         >
           Reset View
         </Button>
+        <Tooltip
+          label={
+            <>
+              Show tool for setting the look-at point and
+              <br />
+              up direction of the camera.
+              <br />
+              <br />
+              These can be used to set the origin of the
+              <br />
+              camera&apos;s orbit controls.
+            </>
+          }
+          refProp="rootRef"
+          position="top-start"
+        >
+          <Switch
+            radius="sm"
+            label="Orbit Origin Tool"
+            onChange={(event) => {
+              viewer.useGui.setState({
+                showOrbitOriginTool: event.currentTarget.checked,
+              });
+            }}
+            size="sm"
+          />
+        </Tooltip>
         <Switch
           radius="sm"
           label="WebGL Statistics"