diff --git a/CHANGELOG.md b/CHANGELOG.md
index a50e9eb2f9..6307331305 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Added
 - Added map source uri as `map_source` inside of `hiway-v1` reset info to indicate what the current map is on reset.
 ### Changed
+- Made changes in the docs to reflect `master` branch as the main development branch.
 ### Deprecated
 ### Fixed
 - Fixed an exit error that occurs when envision attempts to close down.
diff --git a/docs/benchmarks/benchmark.rst b/docs/benchmarks/benchmark.rst
index 9e170e47fc..753d6b996e 100644
--- a/docs/benchmarks/benchmark.rst
+++ b/docs/benchmarks/benchmark.rst
@@ -1,9 +1,9 @@
 .. _benchmark:
 
-Driving SMARTS Competition Benchmark
-====================================
+Driving SMARTS 2022
+===================
 
-The Driving SMARTS competition benchmark is a benchmark derived from the
+The Driving SMARTS 2022 is a benchmark derived from the
 NeurIPS 2022 Driving SMARTS Competition.
 
 This benchmark is intended to address the following requirements:
@@ -30,7 +30,7 @@ available.
 
 .. code:: bash
 
-   > scl benchmark list 
+   $ scl benchmark list 
    BENCHMARK_NAME               BENCHMARK_ID             VERSIONS
    - Driving SMARTS:            driving_smarts           0.0 0.1
 
@@ -133,7 +133,7 @@ file.
 
 .. code:: bash
 
-   > scl benchmark run driving_smarts "./baselines/driving_smarts/v0/agent_config.yaml" --auto-install # --auto-install only needs to be used to get dependencies.
+   $ scl benchmark run driving_smarts "./baselines/driving_smarts/v0/agent_config.yaml" --auto-install # --auto-install only needs to be used to get dependencies.
    Starting `Driving SMARTS V1` benchmark.
    This is a cleaned up version of the Driving SMARTS benchmark.
 
@@ -151,17 +151,17 @@ file.
 
    `Driving SMARTS V0` result:
    - completion: 1
-   - humanness: 0.2
-   - rules: 0.8
-   - time: 0.3
-   - overall: 1.7
+   - humanness: 0.7
+   - rules: 0.9
+   - time: 0.2
+   - overall: 0.504
 
 A particular version of a benchmark can be targeted using a modified
 syntax ``benchmark_name==version``:
 
 .. code:: bash
 
-   > scl benchmark run driving_smarts==0.0 ...
+   $ scl benchmark run driving_smarts==0.0 "./baselines/driving_smarts/v0/agent_config.yaml"
 
 Advanced Configuration
 ----------------------
@@ -178,7 +178,7 @@ what benchmarks are currently available. This can be passed using
 
 .. code:: bash
 
-   > scl benchmark run --benchmark-listing benchmark_listing.yaml driving_smarts "./baselines/driving_smarts/v0/agent_config.yaml"
+   $ scl benchmark run --benchmark-listing benchmark_listing.yaml driving_smarts "./baselines/driving_smarts/v0/agent_config.yaml"
 
 WARNING! Since with ``scl benchmark run`` this listing directs to a code
 ``entrypoint`` do not use this with a listing file from an unknown
@@ -192,7 +192,7 @@ file.
 
 .. code:: bash
 
-   > scl benchmark list --benchmark-listing benchmark_listing.yaml
+   $ scl benchmark list --benchmark-listing benchmark_listing.yaml
 
 Listing File
 ^^^^^^^^^^^^
diff --git a/docs/conf.py b/docs/conf.py
index df6908cc2a..4196799cd8 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -46,11 +46,11 @@
 
 extlinks = {
     "examples": (
-        "https://github.com/huawei-noah/SMARTS/blob/develop/examples/%s",
+        "https://github.com/huawei-noah/SMARTS/blob/master/examples/%s",
         "%s",
     ),
     "scenarios": (
-        "https://github.com/huawei-noah/SMARTS/blob/develop/scenarios/%s",
+        "https://github.com/huawei-noah/SMARTS/blob/master/scenarios/%s",
         "%s",
     ),
 }
@@ -77,6 +77,7 @@
 autodoc_mock_imports = [
     "cpuinfo",
     "cv2",
+    "gymnasium",
     "lxml",
     "mdutils",
     "moviepy",
diff --git a/docs/resources/contributing.rst b/docs/resources/contributing.rst
index 0ce63bd0c6..7fa400128a 100644
--- a/docs/resources/contributing.rst
+++ b/docs/resources/contributing.rst
@@ -54,7 +54,7 @@ Pre-Push Checklist
 ------------------
 
 1. Do your best to see that your code compiles locally.
-2. Do not push to ``master``. Instead make a branch and a pull request to the ``develop`` branch.
+2. Do not push directly to ``master``. Instead make a branch and a pull request to the ``master`` branch.
 
 Submission of a Pull Request
 ----------------------------
diff --git a/docs/setup.rst b/docs/setup.rst
index ddf8b3ca23..ab16e6911e 100644
--- a/docs/setup.rst
+++ b/docs/setup.rst
@@ -6,7 +6,7 @@ Setup
 Prerequisites
 -------------
 
-+ python3 (3.7 and 3.8)
++ python3 (3.7 or 3.8)
 + ubuntu (>=16.04)
 
 Installation
@@ -20,7 +20,8 @@ Run the following commands to setup the SMARTS simulator.
     $ cd <path/to/SMARTS>
 
     # For latest stable release
-    $ git checkout master
+    $ git checkout tags/<tag_name>
+    # e.g., git checkout tags/v1.0.3
 
 .. note::
 
@@ -28,7 +29,7 @@ Run the following commands to setup the SMARTS simulator.
 
     .. code-block:: bash
 
-        $ git checkout develop
+        $ git checkout master
 
 .. code-block:: bash