Update benchmarks.md

Author: ferrolho

docs/src/benchmarks.md

@@ -15,7 +15,7 @@ Run `perf/runbenchmarks.jl` to see benchmark results for the Atlas robot (v5). R
 > **Note**
 > Results on CI builds are **not at all** representative because of code coverage.
 
-Here are the results on an Apple MacBook Air (M1, 2020) (8GB RAM, 512GB SSD) at commit [b9ef1d](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/b9ef1d6974beff4d4fbe7dffc6dbfa65f71e0132):
+Below are the results for **RBD.jl 2.3.2** (commit [`b9ef1d`](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/b9ef1d6974beff4d4fbe7dffc6dbfa65f71e0132)) using **Julia 1.8.5** on an **Apple MacBook Air (M1, 2020)** (8GB RAM, 512GB SSD):
 
 Output of `versioninfo()`:
 ```
@@ -39,54 +39,34 @@ BenchmarkTools.Trial: 10000 samples with 10 evaluations.
  Range (min … max):  3.796 μs …  6.183 μs  ┊ GC (min … max): 0.00% … 0.00%
  Time  (median):     3.858 μs              ┊ GC (median):    0.00%
  Time  (mean ± σ):   3.879 μs ± 93.310 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
-
-    ▁▄▄▆▆██▇█▆▇▄▅▄▂▃▁▃▂▃▃▁▃▁▂ ▁                              ▂
-  ▅█████████████████████████████▇█▇█▇▆▇▅▆▅▆▅▅▆▅▆▄▇▆█▇▅▆▆▇▅▄▄ █
-  3.8 μs       Histogram: log(frequency) by time     4.18 μs <
-
  Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
 Mass matrix ([`mass_matrix!`](@ref)) and Jacobian ([`geometric_jacobian!`](@ref)) from left hand to right foot:
-```julia
+```
 BenchmarkTools.Trial: 10000 samples with 10 evaluations.
  Range (min … max):  4.042 μs …   6.763 μs  ┊ GC (min … max): 0.00% … 0.00%
  Time  (median):     4.167 μs               ┊ GC (median):    0.00%
  Time  (mean ± σ):   4.187 μs ± 115.303 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
-
-     ▁▁▂▁▁ ▁▃▄▆▇██▇█▇▆▄▃▃▃▃▁▃▃▃▂▂▁▁                           ▃
-  ▃▅███████████████████████████████▇██▇██▆▇▆▄▆▅▆▇▇██▆██▆▆▅▁▅▄ █
-  4.04 μs      Histogram: log(frequency) by time       4.5 μs <
-
  Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
 Note the low additional cost of computing a Jacobian when the mass matrix is already computed. This is because RigidBodyDynamics.jl caches intermediate computation results.
 
 Inverse dynamics ([`inverse_dynamics!`](@ref)):
-```julia
+```
 BenchmarkTools.Trial: 10000 samples with 10 evaluations.
  Range (min … max):  2.700 μs …  5.700 μs  ┊ GC (min … max): 0.00% … 0.00%
  Time  (median):     2.767 μs              ┊ GC (median):    0.00%
  Time  (mean ± σ):   2.773 μs ± 79.491 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
-
-              ▁▁█
-  ▂▂▂▂▂▂▃▅▅▆▇█████▇▆▅▄▃▄▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▂▁▂▂▁▂▂▂▁▂▂▂▂ ▃
-  2.7 μs         Histogram: frequency by time        2.98 μs <
-
  Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
 Forward dynamics ([`dynamics!`](@ref)):
-```julia
+```
 BenchmarkTools.Trial: 10000 samples with 10 evaluations.
  Range (min … max):  10.554 μs …  23.692 μs  ┊ GC (min … max): 0.00% … 0.00%
  Time  (median):     10.667 μs               ┊ GC (median):    0.00%
  Time  (mean ± σ):   10.703 μs ± 212.557 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
-
-        ▃▇█▇▅▂
-  ▁▁▂▂▄███████▇▄▃▂▂▂▁▁▁▁▁▁▁▁▁▁▂▂▂▂▂▂▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁ ▂
-  10.6 μs         Histogram: frequency by time         11.3 μs <
-
  Memory estimate: 0 bytes, allocs estimate: 0.
 ```