Add MESH into planning scene collision object FAILED [closed]

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Hi all,

I've been trying to add meshes into collision object, but always get error: "Unable to compute convex hull"

trimesh_object.type = arm_navigation_msgs::Shape::MESH;
for (int i = 0; i < 3; i++) {
    geometry_msgs::Point p;
    p.x = i;
    p.y = i+1;
    p.z = i+2;
    trimesh_object.vertices.push_back(p);
}

// then add {0, 1, 2} into trimesh_object.triangles
// ...

collision_object.shapes.push_back(trimesh_object);

geometry_msgs::Pose pose;
collision_object.poses.push_back(pose);

...

planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);
get_planning_scene_client.call(planning_scene_req, planning_scene_res) ...

I've followed the instructions on Tutorials/PlanningScene/AddingVirtualObjectsToThePlanningScene

All I'm trying to do is just to add a simple triangle into the scene, but so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.

I don't get why there's "unable to compute convex hull" error. Thanks in advance.

Best, Paul