diff --git a/pr2eus_moveit/euslisp/collision-object-publisher.l b/pr2eus_moveit/euslisp/collision-object-publisher.l
index a9f9dba36..52342e82d 100644
--- a/pr2eus_moveit/euslisp/collision-object-publisher.l
+++ b/pr2eus_moveit/euslisp/collision-object-publisher.l
@@ -105,7 +105,8 @@
        (let ((org-cds (send obj :copy-worldcoords)))
          (send obj :reset-coords)
          (send obj :worldcoords)
-         (mapcar #'(lambda (body) (send body :worldcoords)) (send obj :bodies))
+         (when (find-method obj :bodies)
+           (mapcar #'(lambda (body) (send body :worldcoords)) (send obj :bodies)))
          (let ((fs (body-to-faces obj))
                (geom (instance shape_msgs::mesh :init))
                idx-lst vertices (cntr 0))