diff --git a/tesseract_monitoring/src/contact_monitor.cpp b/tesseract_monitoring/src/contact_monitor.cpp
index 561ed970..6018d586 100644
--- a/tesseract_monitoring/src/contact_monitor.cpp
+++ b/tesseract_monitoring/src/contact_monitor.cpp
@@ -110,6 +110,7 @@ void ContactMonitor::computeCollisionReportThread()
   {
     boost::shared_ptr<sensor_msgs::JointState> msg = nullptr;
     tesseract_collision::ContactResultMap contacts;
+    tesseract_collision::ContactResultVector contacts_vector;
     tesseract_msgs::ContactResultVector contacts_msg;
     std::string root_link;
     // Limit the lock
@@ -152,6 +153,7 @@ void ContactMonitor::computeCollisionReportThread()
       current_joint_states_.reset();
 
       contacts.clear();
+      contacts_vector.clear();
       contacts_msg.contacts.clear();
 
       monitor_->environment().setState(msg->name,
@@ -164,8 +166,7 @@ void ContactMonitor::computeCollisionReportThread()
 
     if (!contacts.empty())
     {
-      tesseract_collision::ContactResultVector contacts_vector;
-      tesseract_collision::flattenMoveResults(std::move(contacts), contacts_vector);
+      contacts.flattenCopyResults(contacts_vector);
       contacts_msg.contacts.reserve(contacts_vector.size());
       for (std::size_t i = 0; i < contacts_vector.size(); ++i)
       {
@@ -240,7 +241,10 @@ bool ContactMonitor::callbackModifyTesseractEnv(tesseract_msgs::ModifyEnvironmen
 bool ContactMonitor::callbackComputeContactResultVector(tesseract_msgs::ComputeContactResultVectorRequest& request,
                                                         tesseract_msgs::ComputeContactResultVectorResponse& response)
 {
-  tesseract_collision::ContactResultMap contact_results;
+  thread_local tesseract_collision::ContactResultMap contact_results;
+  thread_local tesseract_collision::ContactResultVector contacts_vector;
+  contact_results.clear();
+  contacts_vector.clear();
 
   monitor_->environment().setState(
       request.joint_states.name,
@@ -254,8 +258,7 @@ bool ContactMonitor::callbackComputeContactResultVector(tesseract_msgs::ComputeC
     manager_->contactTest(contact_results, type_);
   }
 
-  tesseract_collision::ContactResultVector contacts_vector;
-  tesseract_collision::flattenMoveResults(std::move(contact_results), contacts_vector);
+  contact_results.flattenCopyResults(contacts_vector);
   response.collision_result.contacts.reserve(contacts_vector.size());
   for (const auto& contact : contacts_vector)
   {