From 51a71f0f2ad7b433d79480cb4f00db97c0d0bbca Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Wed, 25 Oct 2023 08:33:58 -0400
Subject: [PATCH] Fix bad MoveIt 1 and Isaac Sim URLs

---
 ...ning_with_approximated_constraint_manifolds_tutorial.rst | 2 +-
 doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst      | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst b/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst
index 2d1fe8b570..8f99a571ed 100644
--- a/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst
+++ b/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst
@@ -124,7 +124,7 @@ Such a constraint is compactly defined like this::
 Running the database generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`_
+Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to :moveit_codedir:`generate_state_database.launch <moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`.
 
 The file with the constraint definitions can be passed to the launch file::
 
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 dc5b7bef66..0fcba7f815 100644
--- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
+++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst
@@ -56,19 +56,19 @@ 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/tutorial_gui_omnigraph.html>`_
+and builds an `OmniGraph <https://docs.omniverse.nvidia.com/isaacsim/latest/gui_tutorials/tutorial_gui_omnigraph.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/tutorial_ros2_manipulation.html>`_
+`Joint Control tutorial <https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
 on Omniverse.
 
 Computer Setup
 --------------
 
-1. Install `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/install_workstation.html>`_.
+1. Install `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`_.
 
 2. Perform a shallow clone of the MoveIt2 Tutorials repo.