What pdf reader has vim commands, and is able to add highlights and annotation?

I am looking for a pdf reader that can be controlled with vim movement h-j-k-l and add highlights and annotations. Moreover, I prefer to omit the mouse when highlighting.

I saw that zathura and evince have the vim movement, but each has its flaws.

1. zathura has no highlights and annotation
2. evince needs to use the mouse and right-click to highlight and annotate

I would love to have a visual and command mode in the pdf viewer in true vim fashion. With the command mode, I would be able to move around, and with the visual mode, I could highlight.

Surely I would want to have the basic vim commands :w :q and similar in command mode.