From e9117dc1950edcd503a56f3df03c0bd4236db3b9 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 8 Nov 2019 14:28:11 -0800
Subject: [PATCH 1/2] fix colors in URDF file

---
 data/table/table.urdf | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/data/table/table.urdf b/data/table/table.urdf
index 5e9aa7460..32e505b0e 100644
--- a/data/table/table.urdf
+++ b/data/table/table.urdf
@@ -29,21 +29,21 @@
       <geometry>
 	    <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>	 
+	  <material name="white"/>	 
     </visual>
     <visual>
       <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
       <geometry>
         <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>
+	  <material name="white"/>
 	  </visual>
     <visual>
       <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
       <geometry>
         <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>
+	  <material name="white"/>
 	  </visual>
     <visual>
       <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>

From bbf983bfbb3de7728db6bcdadd4059110cea356a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 8 Nov 2019 16:10:05 -0800
Subject: [PATCH 2/2] reserve faces (minor performance improvement?)

---
 examples/TinyRenderer/model.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 664765f12..d4ef4a617 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -126,10 +126,13 @@ int Model::nfaces()
 std::vector<int> Model::face(int idx)
 {
 	std::vector<int> face;
-	for (int i = 0; i < (int)faces_[idx].size(); i++) face.push_back(faces_[idx][i][0]);
-	return face;
+        face.reserve((int)faces_[idx].size());
+        for (int i = 0; i < (int)faces_[idx].size(); i++)
+          face.push_back(faces_[idx][i][0]);
+        return face;
 }
 
+
 Vec3f Model::vert(int i)
 {
 	return verts_[i];