Levi Armstrong

> Additionally, I am confused as to what exactly the need for the `addInterpolatedResults` is [here](https://github.com/tesseract-robotics/tesseract/blob/d5158e2510fbc3f4299d5e987c663a88b13f26f2/tesseract_environment/src/utils.cpp#L245). I know if I remove those and all the `contacts.push_back()`s I get a average...

Related the noise you are seeing. When running the benchmark it prints out a message state what to do around setting the cpu to performance. I always do this when...

I may have time this weekend to pull it down on my machine and run it.

Some of these results are interesting. Is the state solver and joint group benchmarks running the same code where the only different is the joint group and state solver?

Hey just wanted to check; did you build in release because some of the times look very high?

> > If I had to guess it was probably release with debug > > This is indeed how it is built. > > Is there anything else you need...

The unites should be micro second (us) based on the code.

This is now supported

What version are you using?

That is an old version of Tesseract so likely fixed in the latest version.