diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
index 1b0c909cc0..2d7b6152de 100644
--- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
+++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
@@ -1,9 +1,9 @@
 How To Command Simulated Isaac Robot
 ====================================
 
-This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or higher installed.
-For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/requirements.html>`_.
-To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#>`_.
+This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or ``Isaac Sim 4.2`` installed.
+For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/index.html>`_.
+To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html#running-native-ros>`_.
 
 This tutorial has the following assumptions on system configuration:
 
@@ -57,19 +57,19 @@ updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_har
     </xacro:if>
 
 In this tutorial we have included a Python script that loads a Panda robot
-and builds an `OmniGraph <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/introduction/quickstart_isaacsim_robot.html>`_
+and builds an `OmniGraph <https://docs.omniverse.nvidia.com/extensions/latest/ext_omnigraph/tutorials/gentle_intro.html>`_
 to publish and subscribe to the ROS topics used to control the robot.
 The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda.
 The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``.
 The frame ID of the camera frame is ``/sim_camera``.
 To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the
-`Joint Control tutorial https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
+`Joint Control tutorial <https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
 on Omniverse.
 
 Computer Setup
 --------------
 
-1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/quick-install.html>`_.
+1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html>`_.
 
 2. Perform a shallow clone of the MoveIt 2 Tutorials repo.
 
diff --git a/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst b/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst
index 88d44be37f..5abeb8350e 100644
--- a/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst
+++ b/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst
@@ -18,11 +18,12 @@ Currently, mimic joints are *not* supported.
 Install
 -------
 
-The ``rolling-devel`` branch of the TRAC-IK repository has the latest ROS 2 implementation.
-For now, the repository must be built from source in your ROS 2 workspace, for example ``~/moveit2_ws``. ::
+The ``rolling`` branch of the TRAC-IK repository has the latest ROS 2 implementation, but it is also available as binaries.
+
+If you instead want to build from source, go to your ROS 2 workspace, for example ``~/moveit2_ws``. ::
 
   cd ~/moveit2_ws/src
-  git clone -b rolling-devel https://bitbucket.org/traclabs/trac_ik.git
+  git clone -b rolling https://bitbucket.org/traclabs/trac_ik.git
 
 Usage
 -----