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diff --git a/latest/.doctrees/conventions.doctree b/latest/.doctrees/conventions.doctree
diff --git a/latest/.doctrees/development.doctree b/latest/.doctrees/development.doctree
diff --git a/latest/.doctrees/environment.pickle b/latest/.doctrees/environment.pickle
diff --git a/latest/.doctrees/examples/08_smpl_visualizer.doctree b/latest/.doctrees/examples/08_smpl_visualizer.doctree
diff --git a/latest/.doctrees/examples/15_gui_in_scene.doctree b/latest/.doctrees/examples/15_gui_in_scene.doctree
diff --git a/latest/.doctrees/examples/20_scene_pointer.doctree b/latest/.doctrees/examples/20_scene_pointer.doctree
diff --git a/latest/_modules/index.html b/latest/_modules/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_gui_api/index.html b/latest/_modules/viser/_gui_api/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_gui_handles/index.html b/latest/_modules/viser/_gui_handles/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_icons_enum/index.html b/latest/_modules/viser/_icons_enum/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_scene_api/index.html b/latest/_modules/viser/_scene_api/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_scene_handles/index.html b/latest/_modules/viser/_scene_handles/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/_viser/index.html b/latest/_modules/viser/_viser/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/extras/_record3d/index.html b/latest/_modules/viser/extras/_record3d/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/extras/_urdf/index.html b/latest/_modules/viser/extras/_urdf/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/infra/_infra/index.html b/latest/_modules/viser/infra/_infra/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/infra/_messages/index.html b/latest/_modules/viser/infra/_messages/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/infra/_typescript_interface_gen/index.html b/latest/_modules/viser/infra/_typescript_interface_gen/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/transforms/_base/index.html b/latest/_modules/viser/transforms/_base/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/transforms/_se2/index.html b/latest/_modules/viser/transforms/_se2/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/transforms/_se3/index.html b/latest/_modules/viser/transforms/_se3/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/transforms/_so2/index.html b/latest/_modules/viser/transforms/_so2/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_modules/viser/transforms/_so3/index.html b/latest/_modules/viser/transforms/_so3/index.html
@@ -259,7 +259,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/05_camera_commands/">Camera commands</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/06_mesh/">Meshes</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/07_record3d_visualizer/">Record3D visualizer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">Visualizer for SMPL human body models. Requires a .npz model file.</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../examples/08_smpl_visualizer/">SMPL model visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/09_urdf_visualizer/">Robot URDF visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/10_realsense/">RealSense visualizer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../examples/11_colmap_visualizer/">COLMAP visualizer</a></li>

diff --git a/latest/_sources/conventions.md.txt b/latest/_sources/conventions.md.txt
@@ -12,8 +12,9 @@ If we add a coordinate frame called `/base_link/shoulder/wrist`, it signifies
 three nodes: the `wrist` is a child of the `shoulder` which is a child of the
 `base_link`.
 
-If we set the transformation of a given node like `/shoulder`, both it and all
-of its children will move. Its parent, `/base_link`, will be unaffected.
+If we set the transformation of a given node like `/base_link/shoulder`, both
+it and its child `/base_link/shoulder/wrist` will move. Its parent,
+`/base_link`, will be unaffected.
 
 ## Poses
 
@@ -29,12 +30,13 @@ parent frame:
 
 .. math::
 
-   p_\mathrm{parent} = \begin{bmatrix} R \mid t \end{bmatrix}p_\mathrm{local}
+   p_\mathrm{parent} = \begin{bmatrix} R & t \end{bmatrix}\begin{bmatrix}p_\mathrm{local} \\ 1\end{bmatrix}
 
 <!-- prettier-ignore-end -->
 
 where `wxyz` is the quaternion form of the :math:`\mathrm{SO}(3)` matrix
-:math:`R` and `position` is the translation term :math:`t`.
+:math:`R` and `position` is the :math:`\mathbb{R}^3` translation term
+:math:`t`.
 
 ## World coordinates
 
@@ -44,8 +46,8 @@ overridden with :func:`viser.ViserServer.set_up_direction()` or
 
 ## Cameras
 
-All camera parameters exposed to the Python API use the COLMAP/OpenCV
-convention:
+In `viser`, all camera parameters exposed to the Python API use the
+COLMAP/OpenCV convention:
 
 - Forward: +Z
 - Up: -Y
@@ -58,5 +60,4 @@ convention:
 - Up: +Y
 - Right: +X
 
-Note that conversion between the two is a simple 180 degree rotation around the
-X-axis.
+Conversion between the two is a simple 180 degree rotation around the local X-axis.
diff --git a/latest/_sources/development.md.txt b/latest/_sources/development.md.txt
@@ -115,4 +115,4 @@ one of:
 - `prettier -w .`
 - `npx prettier -w .`
 
-from `~/viser/client`.
+from `~/viser/src/viser/client`.