diff --git a/python/mujoco/experimental/studio/sample/ghost.py b/python/mujoco/experimental/studio/sample/ghost.py
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+++ b/python/mujoco/experimental/studio/sample/ghost.py
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+# Copyright 2026 DeepMind Technologies Limited
+#
+# 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
+#
+#     https://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.
+"""Example to run studio with a time-delayed ghost overlay of model geoms.
+
+This script runs a Studio viewer that renders time-delayed semi-transparent
+ghosts of the primitive mjvGeoms in the model.
+"""
+
+import collections
+import os
+import sys
+
+from absl import app as _app
+from absl import flags as _flags
+import mujoco
+from mujoco.experimental.studio import launch_passive
+from mujoco.experimental.studio import messages
+from mujoco.experimental.studio import parser
+from mujoco.experimental.studio import sim
+from mujoco.experimental.studio import studio_app_events
+from mujoco.experimental.studio import ux
+from mujoco.experimental.studio import viewer_protocol
+from mujoco.experimental.studio import viewer_utils
+import numpy as np
+
+from mujoco.experimental.dear_imgui import dear_imgui as imgui
+
+vp = viewer_protocol
+
+_GFX = _flags.DEFINE_enum('gfx', None, vp.GFX_MODES, 'Graphics mode.')
+_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
+_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
+_VIEWER = _flags.DEFINE_enum_class(
+    'viewer', vp.ViewerMode.NATIVE, vp.ViewerMode, 'Viewer mode.'
+)
+
+
+class GhostRenderer:
+  """Handler that renders time-delayed semi-transparent ghost geoms."""
+
+  def __init__(self) -> None:
+    self._viewer: viewer_protocol.Viewer | None = None
+    self._delay: float = 0.5
+    self._ghost_rgba: list[float] = [0.4, 0.5, 0.9, 0.5]
+    self._history: collections.deque[tuple[float, np.ndarray, np.ndarray]] = (
+        collections.deque()
+    )
+    self._last_time: float | None = None
+
+  def _is_fixed_body(self, body_id: int) -> bool:
+    """Check if a body is fixed (welded to world, not attached to mocap)."""
+    assert self._viewer is not None
+    model = self._viewer.model
+    is_weld = model.body_weldid[body_id] == 0
+    root_id = model.body_rootid[body_id]
+    return bool(is_weld and model.body_mocapid[root_id] < 0)
+
+  @messages.handler
+  def on_viewer_init(self, event: viewer_protocol.ViewerInitEvent) -> None:
+    """Caches the Viewer reference for later access to model/data."""
+    self._viewer = event.viewer
+
+  @messages.handler
+  def on_model(self, event: messages.ModelEvent) -> bool:
+    """Resets ghost-specific state when the model changes."""
+    del event  # Model/data are accessed via self._viewer.
+    self._history.clear()
+    self._last_time = None
+    return False
+
+  @messages.handler
+  def on_build_gui(self, _: messages.BuildGuiEvent) -> None:
+    """Renders the ghost configuration GUI panel."""
+    if imgui.Begin('Ghost', flags=int(imgui.WindowFlags.AlwaysAutoResize)):
+      changed_delay, delay = imgui.InputFloat(
+          'Delay (s)', self._delay, 0.05, 0.5, '%.2f'
+      )
+      if changed_delay:
+        self._delay = max(0.0, delay)
+
+      changed_color, rgba = imgui.ColorEdit4('Color', self._ghost_rgba)
+      if changed_color:
+        self._ghost_rgba = rgba
+    imgui.End()
+
+  @messages.handler
+  def on_update(self, _: messages.UpdateEvent) -> None:
+    """Handles mouse events, applies perturbations, and updates ghost geoms."""
+    assert self._viewer is not None
+    model = self._viewer.model
+    data = self._viewer.data
+
+    studio_app_events.handle_mouse_events(
+        model,
+        data,
+        self._viewer.camera,
+        self._viewer.vis_options,
+        self._viewer.perturb,
+        ux.UxState(),
+    )
+    viewer_utils.apply_perturb(self._viewer, model, data)
+
+    self._viewer.extra_geoms.clear()
+    if self._last_time is None or data.time < self._last_time:
+      self._history.clear()
+    if not self._history or data.time > self._last_time:
+      self._history.append((
+          data.time,
+          data.geom_xpos.copy(),
+          data.geom_xmat.copy(),
+      ))
+      self._last_time = data.time
+
+    target_time = data.time - self._delay
+    while len(self._history) > 1 and self._history[1][0] <= target_time:
+      self._history.popleft()
+
+    _, xpos, xmat = self._history[0]
+    if len(xpos) != model.ngeom or len(xmat) != model.ngeom:
+      return
+
+    ghost_rgba = np.array(self._ghost_rgba, dtype=np.float32)
+    for i in range(model.ngeom):
+      if (
+          self._is_fixed_body(model.geom_bodyid[i])
+          or model.geom_rgba[i, 3] == 0
+          or model.geom_group[i] > 2
+      ):
+        continue
+
+      geom = mujoco.MjvGeom()
+      mujoco.mjv_initGeom(
+          geom,
+          int(model.geom_type[i]),
+          model.geom_size[i],
+          xpos[i],
+          xmat[i].flatten(),
+          ghost_rgba,
+      )
+      geom.dataid = model.geom_dataid[i]
+      geom.objtype = int(mujoco.mjtObj.mjOBJ_GEOM)
+      geom.objid = i
+      self._viewer.extra_geoms.append(geom)
+
+
+def main(argv: list[str]) -> None:
+  if len(argv) != 2:
+    raise _app.UsageError('Please provide exactly one MJCF path argument.')
+
+  data = None
+  try:
+    if (data := parser.parse(argv[1])) is None:
+      raise ValueError('parser returned None')
+  except Exception as ex:  # pylint: disable=broad-except
+    print(f'Failed to load model from {argv[1]!r}: {ex}')
+    sys.exit(1)
+  model = data.model
+
+  config = viewer_protocol.ViewerConfig(
+      title=os.path.basename(sys.argv[0]),
+      width=_WIDTH.value,
+      height=_HEIGHT.value,
+      gfx=_GFX.value or '',
+      viewer_mode=_VIEWER.value,
+  )
+
+  ghost_renderer = GhostRenderer()
+
+  with launch_passive.launch_passive(
+      config,
+      viewer_handlers=[ghost_renderer],
+  ) as handle:
+    handle.send_to_viewer(messages.ModelEvent(model=model))
+
+    step_control = sim.StepControl()
+    while handle.is_running():
+      step_control.advance(model, data)
+      model, data, step_control = handle.sync(model, data, step_control)
+
+
+if __name__ == '__main__':
+  _app.run(main)