From 3d4b3d61ae11098672f2f00989a6e50339b97174 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Thu, 6 Nov 2025 17:23:02 +0100
Subject: [PATCH 1/3] Fixed broken links detected by jhdhjdjjds

Fixed broken links detected by htmlproofer
---
 doc/how_to_guides/trac_ik/trac_ik_tutorial.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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 90f8609641..88d44be37f 100644
--- a/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst
+++ b/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst
@@ -12,7 +12,7 @@ From their documentation:
   By default, the IK search returns immediately when either of these algorithms converges to an answer.
   Secondary constraints of distance and manipulability are also provided in order to receive back the "best" IK solution.
 
-The package `trac_ik_kinematics_plugin <https://bitbucket.org/traclabs/trac_ik/src/rolling-devel/trac_ik_kinematics_plugin/>`_ provides a ``KinematicsBase`` MoveIt interface that can replace the default KDL solver.
+The package `trac_ik_kinematics_plugin <https://bitbucket.org/traclabs/trac_ik/src/rolling/trac_ik_kinematics_plugin/>`_ provides a ``KinematicsBase`` MoveIt interface that can replace the default KDL solver.
 Currently, mimic joints are *not* supported.
 
 Install
@@ -38,7 +38,7 @@ Usage
   - **kinematics\_solver\_attempts** parameter is unneeded: unlike KDL, TRAC-IK solver already restarts when it gets stuck.
   - **kinematics\_solver\_search\_resolution** is not applicable here.
 
-From the `trac_ik_lib <https://bitbucket.org/traclabs/trac_ik/src/rolling-devel/trac_ik_lib/>`_ package documentation (slightly modified), here is some information about the solve type parameter:
+From the `trac_ik_lib <https://bitbucket.org/traclabs/trac_ik/src/rolling/trac_ik_lib/>`_ package documentation (slightly modified), here is some information about the solve type parameter:
 
   - ``Speed``: returns very quickly the first solution found.
   - ``Distance``: runs for the full timeout, then returns the solution that minimizes sum of squares error (SSE) from the seed.

From 2fb1af31eacaef5dc556a571852017c2474cee51 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Thu, 6 Nov 2025 17:49:53 +0100
Subject: [PATCH 2/3] Update isaac_panda_tutorial.rst

---
 doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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 ef88739bce..063bb1f90b 100644
--- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
+++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
@@ -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.omniverse.nvidia.com/isaacsim/latest/gui_tutorials/tutorial_gui_omnigraph.html>`_
+and builds an `OmniGraph <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/introduction/quickstart_isaacsim_robot.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.omniverse.nvidia.com/isaacsim/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.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`_.
+1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/quick-install.html>`_.
 
 2. Perform a shallow clone of the MoveIt 2 Tutorials repo.
 

From 10b01c8203f3cc171d1667540b7d4bfcc4f793e6 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Thu, 6 Nov 2025 18:08:50 +0100
Subject: [PATCH 3/3] Update isaac_panda_tutorial.rst

---
 doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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 063bb1f90b..1b0c909cc0 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 ``Isaac Sim 4.2`` installed.
-For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>`_.
-To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#running-native-ros>`_.
+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 has the following assumptions on system configuration: