diff --git a/examples/PD_controller.ipynb b/examples/PD_controller.ipynb
index 9a46f38b3..a220d03f6 100644
--- a/examples/PD_controller.ipynb
+++ b/examples/PD_controller.ipynb
@@ -15,23 +15,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[34mjaxsim[85289]\u001b[0m \u001b[1;30mINFO\u001b[0m Running on [cuda(id=0)]\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from IPython.display import clear_output, HTML\n",
+    "import sys \n",
     "\n",
     "# Install JAX and Gazebo\n",
-    "!pip install -U -q \"jax[cuda12_pip]\" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html\n",
-    "!pip install -q git+https://github.com/ami-iit/jaxsim@new_api\n",
+    "!{sys.executable} -m pip install -U -q \"jax[cuda12_pip]\" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html\n",
+    "!{sys.executable} -m pip install -U -q jaxsim\n",
     "!apt -qq update && apt install -qq --no-install-recommends gazebo\n",
     "clear_output()\n",
     "\n",
@@ -52,7 +45,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -76,18 +69,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[34mjaxsim[85289]\u001b[0m \u001b[1;30mINFO\u001b[0m Combining the pose of base link 'rail' with the pose of joint 'world_to_rail'\n",
-      "\u001b[34mjaxsim[85289]\u001b[0m \u001b[1;30mINFO\u001b[0m The kinematic graph doesn't need to be reduced\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from jaxsim.high_level.model import Model\n",
     "\n",
@@ -105,7 +89,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -132,7 +116,7 @@
     "try:\n",
     "    from meshcat_viz.world import MeshcatWorld\n",
     "except:\n",
-    "    !pip install -q git+https://github.com/ami-iit/meshcat-viz-python\n",
+    "    !{sys.executable} -m pip install -q git+https://github.com/ami-iit/meshcat-viz-python\n",
     "    clear_output()\n",
     "    from meshcat_viz.world import MeshcatWorld\n",
     "\n",
@@ -146,6 +130,15 @@
     ")"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "world.meshcat_visualizer.render_static()"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -191,7 +184,6 @@
     "KP = 10.0\n",
     "KD = 1.0\n",
     "\n",
-    "\n",
     "def pd_controller(\n",
     "    q: jax.Array, q_d: jax.Array, q_dot: jax.Array, q_dot_d: jax.Array\n",
     ") -> jax.Array:\n",