body-models-viser

Browser-side body model evaluation for viser.

Python owns the body model asset loaders and the prepare_identity() / prepare_pose() calls. TypeScript owns the browser model lifecycle and WASM buffers. Rust owns the stateless fallback kernels.

Usage

Skinned Body Models

Use add_body_model() for any body_models.SkinnedModel, including SMPL, SMPL-X, MANO, FLAME, MHR, SOMA, SKEL, ANNY, and GarmentMeasurements.

import body_models_viser as bmv
import viser
from body_models.smpl.numpy import SMPL

server = viser.ViserServer()
model = SMPL(gender="neutral")
handle = bmv.add_body_model(server.scene, "/smpl", model, color=(173, 216, 230))

pose = handle.body_pose.copy()
pose[2, 0] = 0.5
handle.body_pose = pose

translation = handle.global_translation.copy()
translation[1] = 0.25
handle.set_transform(global_translation=translation)

shape = handle.shape.copy()
shape[0] = 1.0
handle.set_identity(shape=shape)

add_body_model() returns a generic handle with set_identity(...), set_pose(...), set_transform(...), remove(), global_rotation, global_translation, and the parameter properties declared by the model.

Pose correctives are disabled by default. Enable them explicitly when their visual fidelity is needed:

handle = bmv.add_body_model(
    server.scene,
    "/smpl",
    model,
    use_pose_correctives=True,
)

Correctives are evaluated in the client. Enabling them sends the model's dense or sparse corrective basis once per shared asset, quantized to signed 16-bit values, then sends only the small coefficient vector on each pose update. The basis is not retransmitted per body or frame. Browser clients receive this model data, so applications must ensure that doing so is compatible with the asset's license.

Skeletons

Use add_skeleton() for a standalone clickable skeleton. It takes joint positions and a parent index for each joint.

import body_models_viser as bmv

pose = model.get_rest_pose()
skeleton = model.forward_skeleton(**pose)
joint_positions = skeleton[:, :3, 3]

handle = bmv.add_skeleton(
    server.scene,
    "/skeleton",
    joint_positions,
    model.parents,
    joint_names=tuple(model.joint_names),
)

handle.visible = True
handle.joint_positions = joint_positions

Rigid Body Models

Use add_rigid_body_model() for any body_models.RigidBodyModel, such as G1, BrainCo, SmplHumanoid, and MyoFullBody.

import body_models_viser as bmv
from body_models.g1.numpy import G1

model = G1()
handle = bmv.add_rigid_body_model(server.scene, "/robot", model)
handle.set_pose(body_pose=handle.pose["body_pose"])

The rigid-body helper creates one static mesh from each public link_meshes entry, then only updates its transform from forward_links() when the pose changes.

Runtime

bmv.add_body_model(scene, name, model) does three things:

1. Injects body-models-viser.js and body-models-viser.wasm.
2. Sends shared topology and sparse skin weights once, followed by the current identity and pose as little-endian binary buffers.
3. Returns a body model handle.

handle.set_identity(...) sends rest vertices and pose state. handle.set_pose(...) sends only joint transforms and, when requested, pose coefficients. handle.set_transform(...) sends only the global transform. Without correctives, Rust applies sparse linear-blend skinning in WASM. With correctives, a fused WebGPU kernel evaluates the corrective basis and skinning together; the runtime falls back to WASM when WebGPU is unavailable. Both paths preserve the basis representation exposed by body-models: dense bases remain dense, while sparse bases remain sparse. The resulting vertex buffer is sent to viser as a regular mesh message.

The browser protocol is model-agnostic. It consumes only the public SkinningSpec, prepared identity and pose state, and link_meshes contracts introduced in body-models 0.21.1.

viser compatibility

This package patches viser private internals (message serializer, websock client state, and the client React tree) to inject its runtime. The supported viser range is pinned in pyproject.toml; when raising the ceiling, run uv run pytest and uv run scripts/visualize_models.py against the new version and check a browser actually renders.

Development

Build the Rust crate:

cargo test

Build the browser bundle and WASM:

cd client
npm test

The browser build requires a Rust toolchain with wasm32-unknown-unknown installed, for example:

rustup target add wasm32-unknown-unknown

Run the small visualizer:

uv run --no-sync scripts/visualize_models.py

Check NumPy/WASM vertex parity for all supported models:

uv run scripts/check_model_parity.py

Stress ten full-resolution SMPL-X bodies at 60 FPS:

OPENBLAS_NUM_THREADS=1 uv run scripts/stress_smplx.py
OPENBLAS_NUM_THREADS=1 uv run scripts/stress_smplx.py --use-pose-correctives

In the browser console, BodyModelsViser.stats() reports render FPS, model update FPS, the corrective backend, and corrective batch time.