diff --git a/src/curobo/wrap/reacher/motion_gen.py b/src/curobo/wrap/reacher/motion_gen.py
index 2edf67c..48b5c51 100644
--- a/src/curobo/wrap/reacher/motion_gen.py
+++ b/src/curobo/wrap/reacher/motion_gen.py
@@ -161,7 +161,6 @@ class MotionGenConfig:
     #: tried again until :attr:`MotionGenPlanConfig.finetune_attempts`.
     optimize_dt: bool = True
 
-    @profiler.record_function("motion_gen_config/load_from_robot_config")
     @staticmethod
     def load_from_robot_config(
         robot_cfg: Union[Union[str, Dict], RobotConfig],
diff --git a/src/curobo/wrap/reacher/types.py b/src/curobo/wrap/reacher/types.py
index 913b086..ecded25 100644
--- a/src/curobo/wrap/reacher/types.py
+++ b/src/curobo/wrap/reacher/types.py
@@ -182,7 +182,7 @@ class ReacherSolveState:
             link_poses: Dictionary of link poses to reach. This is only required for multi-link
                 pose reaching, where the goal is to reach multiple poses with different links. To
                 use this,
-                :var:`curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig.link_names`
+                :attr:`curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig.link_names`
                 should have the link names to reach.
             current_solve_state: Current reacher solve state.
             current_goal_buffer: Current goal buffer.