Add Newton course notebook, improve ViewerViser

CHANGELOG.md

@@ -6,6 +6,7 @@
 
 - Add `SolverXPBD.update_contacts()` to populate `contacts.force` with per-contact spatial forces (linear force and torque) derived from XPBD constraint impulses
 - Raise process priority automatically in `--benchmark` mode for more stable measurements; add `--realtime` for maximum priority.
+- Add introductory tutorial notebook covering ModelBuilder, solvers, CUDA graphs, IK, and pick-and-place
 - Add `TRIANGLE_PRISM` support-function type for heightfield triangles, extruding 1 m along the heightfield's local -Z so GJK/MPR naturally resolves shapes on the back side
 - Add `ViewerGL.log_scalar()` for live scalar time-series plots in the viewer
 - Add `deterministic` flag to `CollisionPipeline` and `NarrowPhase` for GPU-thread-scheduling-independent contact ordering via radix sort and deterministic fingerprint tiebreaking in contact reduction
@@ -33,6 +34,8 @@
 - Fix box support-map sign flips from quaternion rotation noise (~1e-14) producing invalid GJK/MPR contacts for face-touching boxes with non-trivial base rotations
 - Fix USD import of multi-DOF joints from MuJoCo-converted assets where multiple revolute joints between the same two bodies caused false cycle detection; merge them into D6 joints with correct DOF label mapping for MjcActuator target resolution
 - Fix ViewerViser mesh popping artifacts caused by viser's automatic LOD simplification creating holes in complex geometry
+- Fix ViewerViser notebook playback behind Jupyter proxies by loading the client from the installed `viser` package
+- Fix rendering of planes in ViewerViser to render as wireframe models to prevent flickering artifacts
 
 ## [1.1.0] - 2026-04-13
 

docs/conf.py

@@ -395,21 +395,22 @@ def _copy_viser_client_into_output_static(*, outdir: Path) -> None:
     """Ensure the Viser web client assets are available at `{outdir}/_static/viser/`.
 
     This avoids relying on repo-relative `html_static_path` entries (which can break under `uv`),
-    and avoids writing generated assets into `docs/_static` in the working tree.
+    avoids writing generated assets into `docs/_static` in the working tree, and
+    keeps the copied client aligned with the installed `viser` package.
     """
 
     dest_dir = outdir / "_static" / "viser"
 
     src_candidates: list[Path] = []
 
-    # Repo checkout layout (most common for local builds).
-    src_candidates.append(project_root / "newton" / "_src" / "viewer" / "viser" / "static")
-
-    # Installed package layout (e.g. building docs from an environment where `newton` is installed).
+    # Installed viser package build. Prefer this so the copied docs assets stay in
+    # sync with the serializer version used for notebook playback.
     try:
-        import newton  # noqa: PLC0415
+        import inspect  # noqa: PLC0415
+
+        import viser  # noqa: PLC0415
 
-        src_candidates.append(Path(newton.__file__).resolve().parent / "_src" / "viewer" / "viser" / "static")
+        src_candidates.append(Path(inspect.getfile(viser)).resolve().parent / "client" / "build")
     except Exception:
         pass
 
@@ -418,7 +419,7 @@ def _copy_viser_client_into_output_static(*, outdir: Path) -> None:
         # Don't hard-fail doc builds; the viewer docs can still build without the embedded client.
         expected = ", ".join(str(p) for p in src_candidates)
         print(
-            f"Warning: could not find Viser client assets to copy. Expected `index.html` under one of: {expected}",
+            f"Warning: could not find installed Viser client assets to copy. Expected `index.html` under one of: {expected}",
             file=sys.stderr,
         )
         return