diff --git a/euscollada/src/collada2eus_urdfmodel.cpp b/euscollada/src/collada2eus_urdfmodel.cpp
index ed90840f..88cbc3a2 100644
--- a/euscollada/src/collada2eus_urdfmodel.cpp
+++ b/euscollada/src/collada2eus_urdfmodel.cpp
@@ -1730,6 +1730,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
                 << std::endl;
 #endif
       double radius = ((Sphere *)g.get())->radius;
+      fprintf(fp, "#+:gl\n");
       fprintf(fp, "      (let ((bdy (make-sphere %f)))\n", 1000*radius);
       fprintf(fp, "         (setq qhull bdy)\n");
       fprintf(fp, "         (setq glv (gl::make-glvertices-from-faceset bdy\n");
@@ -1738,6 +1739,10 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
       fprintf(fp, "         (send glv :transform local-cds)\n");
       fprintf(fp, "         (send bdy :transform local-cds)\n");
       fprintf(fp, "         (send glv :calc-normals))\n");
+      fprintf(fp, "#-:gl\n");
+      fprintf(fp, "      (let ((bdy (make-sphere %f)))\n", 1000*radius);
+      fprintf(fp, "         (setq qhull bdy)\n");
+      fprintf(fp, "         (send bdy :transform local-cds))\n");
     } else if (g->type == Geometry::BOX) {
       Vector3 vec = ((Box *)g.get())->dim;
 #if 0
@@ -1745,6 +1750,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
                 << ", dim = " << vec.x << " " << vec.y << " " << vec.z
                 << std::endl;
 #endif
+      fprintf(fp, "#+:gl\n");
       fprintf(fp, "      (let ((bdy (make-cube %f %f %f)))\n", 1000*vec.x, 1000*vec.y, 1000*vec.z);
       fprintf(fp, "         (setq qhull bdy)\n");
       fprintf(fp, "         (setq glv (gl::make-glvertices-from-faceset bdy\n");
@@ -1753,6 +1759,10 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
       fprintf(fp, "         (send glv :transform local-cds)\n");
       fprintf(fp, "         (send bdy :transform local-cds)\n");
       fprintf(fp, "         (send glv :calc-normals))\n");
+      fprintf(fp, "#-:gl\n");
+      fprintf(fp, "      (let ((bdy (make-cube %f %f %f)))\n", 1000*vec.x, 1000*vec.y, 1000*vec.z);
+      fprintf(fp, "         (setq qhull bdy)\n");
+      fprintf(fp, "         (send bdy :transform local-cds))\n");
     } else if (g->type == Geometry::CYLINDER) {
 #if 0
       std::cerr << "CYLINDER: " << name
@@ -1762,6 +1772,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
 #endif
       double length = ((Cylinder *)g.get())->length;
       double radius = ((Cylinder *)g.get())->radius;
+      fprintf(fp, "#+:gl\n");
       fprintf(fp, "      (let ((bdy (make-cylinder %f %f :segments 24)))\n", 1000*radius, 1000*length);
       fprintf(fp, "         (send bdy :translate-vertices (float-vector 0 0 %f))\n", -500*length);
       fprintf(fp, "         (setq qhull bdy)\n");
@@ -1771,6 +1782,10 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
       fprintf(fp, "         (send glv :transform local-cds)\n");
       fprintf(fp, "         (send bdy :transform local-cds)\n");
       fprintf(fp, "         (send glv :calc-normals))\n");
+      fprintf(fp, "#-:gl\n");
+      fprintf(fp, "      (let ((bdy (make-cylinder %f %f :segments 24)))\n", 1000*radius, 1000*length);
+      fprintf(fp, "         (send bdy :translate-vertices (float-vector 0 0 %f))\n", -500*length);
+      fprintf(fp, "         (setq qhull bdy))\n");
     } else {
       std::cerr << "unknown geometry type: " << name << std::endl;
     }
@@ -1853,6 +1868,8 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
     Vector3 scale = ((Mesh *)(g.get()))->scale;
     vector<coordT> points;
     if (scene && scene->HasMeshes() && !use_loadable_mesh) {
+      fprintf(fp, "#+:gl\n");
+      fprintf(fp, "    (progn\n");
       fprintf(fp, "      (setq glv\n");
       fprintf(fp, "       (instance gl::glvertices :init\n");
       fprintf(fp, "                 (list ;; mesh list\n");
@@ -1862,6 +1879,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
       fprintf(fp, "                 ))\n");
       fprintf(fp, "      (send glv :transform local-cds)\n");
       fprintf(fp, "      (send glv :calc-normals)\n");
+      fprintf(fp, "     )");
     } else if (scene && scene->HasMeshes()) {
       fprintf(fp, "      (setq glv (load-mesh-file (ros::resolve-ros-path \"%s\")\n", gname.c_str());
       fprintf(fp, "                                       :scale %f :process-max-quality t))\n", scale.x*1000);
diff --git a/euscollada/src/euscollada-robot.l b/euscollada/src/euscollada-robot.l
index 17d57b87..8cda04e4 100644
--- a/euscollada/src/euscollada-robot.l
+++ b/euscollada/src/euscollada-robot.l
@@ -75,6 +75,7 @@
            (push (send bd :faces) fs)))
        (setq fs (flatten fs))
        (cond
+#+:gl
         ((and (not fs) glv) ;; if there is no faces, use glvertices for creating pqpmodel
          (setq usefs (instance gl::glvertices :init nil))
          (send usefs :transform (send ll :worldcoords))
@@ -101,10 +102,24 @@
 
 ;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
 ;; This euscollada-body class is for bodies in robot model converted from collada files.
+#+:gl
 (defclass collada-body
   :super gl::glbody
   :slots (glvertices) ;; glvertices slot for backward compatibility
   )
+;; For euslisp without :gl features, may be we should put glbody/glvertices in irtgeo?
+#-:gl
+(defclass collada-body
+  :super body
+  ;; glvertices slot for backward compatibility
+  ;; aglvertices slot is defined in glbody
+  :slots (gl::aglvertices glvertices)
+  )
+;; glbody defineds :gvertices methods
+#-:gl
+(defmethod collada-body
+  (:glvertices (&rest args) (user::forward-message-to glvertices args))
+  )
 (defmethod collada-body
   (:init (&key (name) (replace-obj))
     (if replace-obj