diff --git a/examples/PD_controller.ipynb b/examples/PD_controller.ipynb
index 7cf54591e..55a0874e1 100644
--- a/examples/PD_controller.ipynb
+++ b/examples/PD_controller.ipynb
@@ -15,17 +15,29 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[34mjaxsim[51171]\u001b[0m \u001b[1;30mINFO\u001b[0m Running on [CpuDevice(id=0)]\n"
+     ]
+    }
+   ],
    "source": [
+    "from IPython.display import clear_output\n",
+    "\n",
     "%pip install --upgrade -q \"jax[cuda12_pip]\" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html\n",
-    "%pip install -q -e git+https://github.com/ami-iit/jaxsim@new_api#egg=jaxsim\n",
+    "%pip install -q git+https://github.com/ami-iit/jaxsim\n",
+    "clear_output()\n",
     "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
     "from jaxsim import logging\n",
     "\n",
+    "logging.set_logging_level(logging.LoggingLevel.INFO)\n",
     "logging.info(f\"Running on {jax.devices()}\")"
    ]
   },
@@ -38,13 +50,19 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [],
    "source": [
-    "model_urdf_path = (\n",
-    "    \"https://raw.githubusercontent.com/flferretti/jaxsim/examples/assets/cartpole.urdf\"\n",
-    ")"
+    "import requests\n",
+    "\n",
+    "url = \"https://raw.githubusercontent.com/flferretti/jaxsim/example/notebook/examples/assets/cartpole.urdf\"\n",
+    "\n",
+    "response = requests.get(url)\n",
+    "if response.status_code == 200:\n",
+    "    model_urdf_path = response.text\n",
+    "else:\n",
+    "    logging.error(\"Failed to fetch data\")"
    ]
   },
   {
@@ -56,20 +74,29 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [],
    "source": [
-    "from jaxsim.high_level import Model"
+    "from jaxsim.high_level.model import Model"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 10,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[34mjaxsim[51171]\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[51171]\u001b[0m \u001b[1;30mINFO\u001b[0m The kinematic graph doesn't need to be reduced\n"
+     ]
+    }
+   ],
    "source": [
-    "model = Model.build_from_model_description(model_description=urdf_path)"
+    "model = Model.build_from_model_description(model_description=model_urdf_path, is_urdf=True)"
    ]
   },
   {
@@ -81,9 +108,35 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 13,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "You can open the visualizer by visiting the following URL:\n",
+      "http://127.0.0.1:7002/static/\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[34mmeshcat_viz[51171]\u001b[0m \u001b[1;30mWARNING\u001b[0m \u001b[33mFailed to find parent element 'world_to_rail' of frame 'world'\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "'Cartpole'"
+      ]
+     },
+     "execution_count": 13,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "try:\n",
     "    from meshcat_viz.world import MeshcatWorld\n",
@@ -95,10 +148,10 @@
     "world.open()\n",
     "\n",
     "from IPython.display import IFrame\n",
-    "IFrame(src=\"https://127.0.0.1:7010/static/\", width='100%', height='500px')\n",
+    "IFrame(src=world.web_url, width='100%', height='500px')\n",
     "\n",
     "world.insert_model(\n",
-    "    model_description=model_urdf_path, model_name=\"Cartpole\"\n",
+    "    model_description=model_urdf_path, model_name=\"Cartpole\", is_urdf=True\n",
     ")"
    ]
   },