diff --git a/irteus/irtrobot.l b/irteus/irtrobot.l
index d71194ef1..be729462a 100644
--- a/irteus/irtrobot.l
+++ b/irteus/irtrobot.l
@@ -786,6 +786,26 @@
                             (setq dx (+ dx ddx) dy (+ dy ddy) dth (+ dth ddth)))))
        (push (funcall gen-go-pos-step-node-func mc leg leg-translate-pos) ret)
        (reverse ret))))
+  ;; make collision model from faces or gl-vertices
+  (:make-collision-model-for-links
+   (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
+   (dolist (ll ls)
+     (unless (send ll :get (read-from-string (format nil ":~Amodel"
+                                                     (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
+       (send ll
+             (read-from-string
+              (format nil ":make-~Amodel"
+                      (string-right-trim "-COLLISION-CHECK" (string collision-func))))
+             :fat fat
+             :faces (flatten (mapcar #'(lambda (x)
+                                         (cond
+                                          ((find-method x :def-gl-vertices)
+                                           (send (x . glvertices) :convert-to-faces :wrt :world))
+                                          (t
+                                           (send x :faces))))
+                                     (send ll :bodies)))))
+     )
+   )
   )
 (in-package "GEOMETRY")