update deepnote link, and other README cleanup

Author: RussTedrake

README.md

@@ -4,16 +4,12 @@ This repository contains the code to reproduce the examples in the paper [Motion
 
 To use [Graphs of Convex Sets (GCS) Trajectory Optimization](https://drake.mit.edu/doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_gcs_trajectory_optimization.html) in your own code, we recommend that you use the version in [Drake](http://drake.mit.edu), which is being actively developed and improved.
 
-## Versions
-
-This code has been updated since the Arxiv paper was published. The code used to run the examples in that paper can be found under the [`arxiv_paper_version`](https://github.com/mpetersen94/gcs/releases/tag/arxiv_paper_version) tag. That version was tested to work with Drake version 1.3 (although version up to 1.8 should work with some deprecation warnings).
-
 ## Running via Deepnote
-Most of the examples and reproductions can be run on [Deepnote](https://deepnote.com/workspace/mark-petersen-2785519d-2c3e-430b-9a10-a1754f2de37d/project/GCS-Motion-Planning-around-Obstacles-with-Convex-Optimization-3afac8e3-cbc0-41d1-9afb-0d38dfbe9ffa/).
+Most of the examples and reproductions can be run on [Deepnote](https://deepnote.com/workspace/Manipulation-ac8201a1-470a-4c77-afd0-2cc45bc229ff/project/GCS-Motion-Planning-around-Obstacles-with-Convex-Optimization-3e7290e8-b92c-4efc-9b58-28a724a78142).
 
 After duplicating the project into your own account, be sure to run the `MosekLicenseUpload.ipynb` notebook to make your Mosek License available for solving the optimization problems.
 
-Note: The PRM and Bimanual reproductions do not yet work on Deepnote and the UAV and Maze reproductions have been shrunk in size to avoid hitting memory limits on Deepnote.
+Note: The Bimanual reproductions do not yet work on Deepnote and the UAV and Maze reproductions have been shrunk in size to avoid hitting memory limits on Deepnote.
 
 ## Running locally