diff --git a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
index ff1de7d7da..c4aa27239a 100644
--- a/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
+++ b/SofaGLFW/src/SofaGLFW/SofaGLFWBaseGUI.cpp
@@ -512,6 +512,9 @@ std::size_t SofaGLFWBaseGUI::runLoop(std::size_t targetNbIterations)
                     
                     m_guiEngine->beforeDraw(glfwWindow);
                     sofaGlfwWindow->draw(m_groot, m_vparams);
+
+                    drawSelection(m_vparams);
+
                     m_guiEngine->afterDraw();
 
                     m_guiEngine->startFrame(this);
diff --git a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
index 545f28b666..eba3b9f5e6 100644
--- a/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
+++ b/SofaImGui/src/SofaImGui/ImGuiGUIEngine.cpp
@@ -368,7 +368,6 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
     static constexpr auto windowNameMouse = ICON_FA_COMPUTER_MOUSE "  Mouse Manager";
     static constexpr auto windowNameSettings = ICON_FA_SLIDERS "  Settings";
 
-
     if (!*firstRunState.getStatePtr())
     {
         resetView(dockspace_id, windowNameSceneGraph, windowNameLog, windowNameViewport);
@@ -670,9 +669,9 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
     /***************************************
      * Viewport window
      **************************************/
-    showViewPort(groot, windowNameViewport, ini, m_fbo, m_viewportWindowSize,
-                 isMouseOnViewport, winManagerViewPort, baseGUI,
-                 isViewportDisplayedForTheFirstTime, lastViewPortPos);
+    windows::showViewPort(groot, windowNameViewport, ini, m_fbo, m_viewportWindowSize,
+                          isMouseOnViewport, winManagerViewPort, baseGUI,
+                          isViewportDisplayedForTheFirstTime, lastViewPortPos);
 
 
     /***************************************
@@ -695,7 +694,15 @@ void ImGuiGUIEngine::startFrame(sofaglfw::SofaGLFWBaseGUI* baseGUI)
      **************************************/
     static std::set<core::objectmodel::BaseObject*> openedComponents;
     static std::set<core::objectmodel::BaseObject*> focusedComponents;
-    windows::showSceneGraph(groot, windowNameSceneGraph, openedComponents, focusedComponents, winManagerSceneGraph);
+    static std::set<core::objectmodel::Base*> currentSelection;
+    windows::showSceneGraph(groot, windowNameSceneGraph, openedComponents,
+                            focusedComponents, currentSelection,
+                            winManagerSceneGraph);
+
+    std::set<core::objectmodel::Base::SPtr> currentSelectionV;
+    for(auto component : currentSelection)
+        currentSelectionV.insert(component);
+    baseGUI->setCurrentSelection(currentSelectionV);
 
     /***************************************
      * Display flags window
diff --git a/SofaImGui/src/SofaImGui/windows/SceneGraph.cpp b/SofaImGui/src/SofaImGui/windows/SceneGraph.cpp
index 6497acce56..f14a5e9925 100644
--- a/SofaImGui/src/SofaImGui/windows/SceneGraph.cpp
+++ b/SofaImGui/src/SofaImGui/windows/SceneGraph.cpp
@@ -47,6 +47,7 @@ namespace windows
                         const char* const& windowNameSceneGraph,
                         std::set<sofa::core::objectmodel::BaseObject*>& openedComponents,
                         std::set<sofa::core::objectmodel::BaseObject*>& focusedComponents,
+                        std::set<sofa::core::objectmodel::Base*>& currentSelection,
                         WindowState& winManagerSceneGraph)
     {
         std::set<sofa::core::objectmodel::BaseObject*> componentToOpen;
@@ -75,7 +76,7 @@ namespace windows
 
                 std::function<void(sofa::simulation::Node*)> showNode;
                 showNode = [&showNode, &treeDepth, expand, collapse, &openedComponents,
-                            &componentToOpen](sofa::simulation::Node* node)
+                            &componentToOpen, &currentSelection](sofa::simulation::Node* node)
                 {
                     if (node == nullptr) return;
                     if (treeDepth == 0)
@@ -168,22 +169,29 @@ namespace windows
                                 else
                                 {
                                     clickedObject = object;
+                                    if(!currentSelection.contains(clickedObject)){
+                                        currentSelection.clear();
+                                        currentSelection.insert(clickedObject);
+                                    }
+                                    else{
+                                        currentSelection.erase(clickedObject);
+                                    }
                                 }
                             }
 
                             ImGui::SameLine();
 
-                            if (isObjectHighlighted)
+                            bool doHighLight = isObjectHighlighted || currentSelection.contains(object);
+                            if (doHighLight)
                             {
                                 ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1,1,0,1));
                             }
                             ImGui::Text(object->getName().c_str());
-
                             ImGui::TableNextColumn();
                             ImGui::TextDisabled(objectClassName.c_str());
                             ImGui::PopID();
 
-                            if (isObjectHighlighted)
+                            if (doHighLight)
                             {
                                 ImGui::PopStyleColor();
                             }
@@ -353,7 +361,6 @@ namespace windows
 
         openedComponents.insert(componentToOpen.begin(), componentToOpen.end());
         openedComponents.insert(focusedComponents.begin(), focusedComponents.end());
-        focusedComponents.clear();
 
         sofa::type::vector<sofa::core::objectmodel::BaseObject*> toRemove;
         static std::map<sofa::core::objectmodel::BaseObject*, int> resizeWindow;
diff --git a/SofaImGui/src/SofaImGui/windows/SceneGraph.h b/SofaImGui/src/SofaImGui/windows/SceneGraph.h
index a33b1d0157..9daf7c9781 100644
--- a/SofaImGui/src/SofaImGui/windows/SceneGraph.h
+++ b/SofaImGui/src/SofaImGui/windows/SceneGraph.h
@@ -42,6 +42,7 @@ namespace windows
                             const char* const& windowNameSceneGraph,
                             std::set<sofa::core::objectmodel::BaseObject*>& openedComponents,
                             std::set<sofa::core::objectmodel::BaseObject*>& focusedComponents,
+                            std::set<sofa::core::objectmodel::Base*>& currentSelection,
                             WindowState& winManagerSceneGraph);