diff --git a/tutorials/01_intro.md b/tutorials/01_intro.md
index dd19d65ff..eb62dae67 100644
--- a/tutorials/01_intro.md
+++ b/tutorials/01_intro.md
@@ -2,7 +2,7 @@
 
 Next Tutorial: \ref installation
 
-Ignition Physics is a component in Ignition Robotics, a set of libraries
+Ignition Physics is a component in Ignition, a set of libraries
 designed to rapidly develop robot and simulation applications. The main
 goal of the library is to provide an abstraction layer to various physics
 engines, which gives end users the ability to use multiple physics engines
diff --git a/tutorials/02_installation.md b/tutorials/02_installation.md
index d623031de..8408108c7 100644
--- a/tutorials/02_installation.md
+++ b/tutorials/02_installation.md
@@ -44,6 +44,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
     sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
     sudo apt-get build-dep -y ignition-physics<#>-dev
     ```
+
     Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need.
 
 
diff --git a/tutorials/03_physics_plugins.md b/tutorials/03_physics_plugins.md
index 616721693..7eed91016 100644
--- a/tutorials/03_physics_plugins.md
+++ b/tutorials/03_physics_plugins.md
@@ -4,7 +4,7 @@ This is an introduction to different physics engines and how they are integrated
 
 ## Ignition Physics
 
-The \ref ignition::physics "Ignition Physics" library integrates external physics engines into the Ignition Simulation eco-system.
+The \ref ignition::physics "Ignition Physics" library integrates external physics engines into the Ignition eco-system.
 It allows users to select from multiple supported physics engines based on their simulation needs.
 Its plugin interface loads physics engines with requested features at runtime.
 It is also possible to integrate your own selected physics engine by writing a compatible plugin interface.
@@ -76,10 +76,10 @@ Users do not need to organize their own plugin implementations this way.
 <!-- ### Bullet -->
 
 Dart ([Dynamic Animation and Robotics Toolkit](https://dartsim.github.io/)) is an open source library that provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.
-It is the default physics engine used in Ignition Simulation.
+It is the default physics engine used in Ignition.
 The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/master) under `dartsim` directory.
 
-TPE ([Trivial Physics Engine](<!-- add repo link after merged-->)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
+TPE ([Trivial Physics Engine](https://github.com/ignitionrobotics/ign-physics/tree/master/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
 It supports higher-order fleet dynamics without real physics (eg. gravity, force, constraint etc.) and multi-machine synchronization.
 Ignition support for TPE targets [Citadel](https://ignitionrobotics.org/docs/citadel) and onward releases.
 The source code for TPE plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2) under `tpe/plugin` directory
@@ -153,5 +153,5 @@ The following is a table of implemented `Features` of Dartsim and TPE-Plugin.
 | AttachSphereShapeFeature | ✓ | ✓ |
 | mesh::GetMeshShapeProperties | ✓ | ✓ |
 | mesh::AttachMeshShapeFeature | ✓ | ✓ |
-| ForwardStep | ✓ | ✓ | ✓ |
+| ForwardStep | ✓ | ✓ |
 | GetContactsFromLastStepFeature | ✓ | ✕ |