Merge branch 'main' into main

README.md

@@ -17,7 +17,11 @@ Use [Discussions](https://github.com/NVlabs/curobo/discussions) for questions on
 Use [Issues](https://github.com/NVlabs/curobo/issues) if you find a bug.
 
 
-For business inquiries, please visit our website and submit the form: [NVIDIA Research Licensing](https://www.nvidia.com/en-us/research/inquiries/)
+cuRobo's collision-free motion planner is available for commercial applications as a
+MoveIt plugin: [Isaac ROS cuMotion](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion)
+
+For business inquiries of this python library, please visit our website and submit the form: [NVIDIA Research Licensing](https://www.nvidia.com/en-us/research/inquiries/)
+
 
 **Check [curobo.org](https://curobo.org) for installing and getting started with examples!**
 
@@ -94,9 +98,9 @@ If you found this work useful, please cite the below report,
 
 ```
 @misc{curobo_report23,
-      title={cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation}, 
-      author={Balakumar Sundaralingam and Siva Kumar Sastry Hari and Adam Fishman and Caelan Garrett 
-              and Karl Van Wyk and Valts Blukis and Alexander Millane and Helen Oleynikova and Ankur Handa 
+      title={cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
+      author={Balakumar Sundaralingam and Siva Kumar Sastry Hari and Adam Fishman and Caelan Garrett
+              and Karl Van Wyk and Valts Blukis and Alexander Millane and Helen Oleynikova and Ankur Handa
               and Fabio Ramos and Nathan Ratliff and Dieter Fox},
       year={2023},
       eprint={2310.17274},

benchmark/curobo_benchmark.py

@@ -209,7 +209,6 @@ def load_curobo(
         collision_activation_distance=collision_activation_distance,
         trajopt_dt=0.25,
         finetune_dt_scale=finetune_dt_scale,
-        maximum_trajectory_dt=0.15,
         high_precision=args.high_precision,
     )
     mg = MotionGen(motion_gen_config)
@@ -296,7 +295,6 @@ def benchmark_mb(
                     enable_graph_attempt=1,
                     disable_graph_attempt=10,
                     enable_finetune_trajopt=not args.no_finetune,
-                    partial_ik_opt=False,
                     enable_graph=graph_mode or force_graph,
                     timeout=60,
                     enable_opt=not graph_mode,
@@ -572,6 +570,7 @@ def benchmark_mb(
         if not args.kpi:
 
             try:
+                # Third Party
                 from tabulate import tabulate
 
                 headers = ["Metric", "Value"]
@@ -604,6 +603,7 @@ def benchmark_mb(
     g_m = CuroboGroupMetrics.from_list(all_files)
 
     try:
+        # Third Party
         from tabulate import tabulate
 
         headers = ["Metric", "Value"]