From 885e9f5e7a4ed69ebab052fbe07eaa48380c73fa Mon Sep 17 00:00:00 2001
From: nlyubova <nlyubova@aldebaran-robotics.com>
Date: Tue, 28 Apr 2015 16:58:58 +0200
Subject: [PATCH] fixing adding tables to the collision world

---
 perception/semantic_world/src/semantic_world.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/semantic_world/src/semantic_world.cpp b/perception/semantic_world/src/semantic_world.cpp
index d7bd9a4e7d..df006fed47 100644
--- a/perception/semantic_world/src/semantic_world.cpp
+++ b/perception/semantic_world/src/semantic_world.cpp
@@ -125,7 +125,7 @@ bool SemanticWorld::addTablesToCollisionWorld()
     std::vector<unsigned int> triangles((vertices.size() - 2)* 3);
     for (unsigned int j = 0 ; j < convex_hull.size() ; ++j)
       vertices[j] = Eigen::Vector3d(convex_hull[j].x, convex_hull[j].y, convex_hull[j].z);
-    for (unsigned int j = 1; j < triangles.size() - 1; ++j)
+    for (unsigned int j = 0; j < vertices.size() - 2; ++j)
     {
       unsigned int i3 = j * 3;
       triangles[i3++] = 0;