rcb4robot から roboasm に変換しようとするとエラーになる

[hiroya1224]

@YoheiKakiuchi
#73 で追加された euslisp/README.md に従って rcb4robot の変換を試みているところですが，

;; extending gcstack 0x558063048230[32738] --> 0x558064a672b0[65476] top=7de9
Call Stack (max depth: 20):
  0: at (send (bd . gl::aglvertices) :vertices)
  1: at (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices))
  2: at (make-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)
  3: at (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)\
) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-package*)) (id (intern (string-upcase (format nil "~A-~D" (string kn) name-counter)) *keywo\
rd-package*))) (incf name-counter) (if bottom-to-upper (send bd :name (bottom-to-upper kn)) (send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id\
))
  4: at (while #:dolist2077 (setq bd (pop #:dolist2077)) (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector \
v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-package*)) (id (intern (string-upcase (for\
mat nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper (send bd :name (bottom-to-upper kn)) (send bd :name \
kn)) (send bd :put :bbox bx) (send bd :put :id id)))
  5: at (let ((bd nil) (#:dolist2077 (send lk :bodies))) nil (while #:dolist2077 (setq bd (pop #:dolist2077)) (let* ((bx (make-bounding-box (mapcar #'(lambd\
a (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))\
) *keyword-package*)) (id (intern (string-upcase (format nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper\
 (send bd :name (bottom-to-upper kn)) (send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id))) nil)
  6: at (dolist (bd (send lk :bodies)) (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl\
::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-package*)) (id (intern (string-upcase (format nil "~A-~D" (s\
tring kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper (send bd :name (bottom-to-upper kn)) (send bd :name kn)) (send bd :put\
 :bbox bx) (send bd :put :id id)))
  7: at (while #:dolist2075 (setq lk (pop #:dolist2075)) (dolist (bd (send lk :bodies)) (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (send bd :\
worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-package*)) \
(id (intern (string-upcase (format nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper (send bd :name (botto\
m-to-upper kn)) (send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id))))
  8: at (let ((lk nil) (#:dolist2075 (send robot :links))) nil (while #:dolist2075 (setq lk (pop #:dolist2075)) (dolist (bd (send lk :bodies)) (let* ((bx (m\
ake-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string\
-upcase (ra-name (send bd :name))) *keyword-package*)) (id (intern (string-upcase (format nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf \
name-counter) (if bottom-to-upper (send bd :name (bottom-to-upper kn)) (send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id)))) nil)
  9: at (dolist (lk (send robot :links)) (dolist (bd (send lk :bodies)) (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (send bd :worldcoords) :tr\
ansform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-package*)) (id (intern (str\
ing-upcase (format nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper (send bd :name (bottom-to-upper kn)) \
(send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id))))
  10: at (let ((name-counter 0)) (dolist (lk (send robot :links)) (dolist (bd (send lk :bodies)) (let* ((bx (make-bounding-box (mapcar #'(lambda (v) (send (\
send bd :worldcoords) :transform-vector v)) (send (bd . gl::aglvertices) :vertices)) fat)) (kn (intern (string-upcase (ra-name (send bd :name))) *keyword-pa\
ckage*)) (id (intern (string-upcase (format nil "~A-~D" (string kn) name-counter)) *keyword-package*))) (incf name-counter) (if bottom-to-upper (send bd :na\
me (bottom-to-upper kn)) (send bd :name kn)) (send bd :put :bbox bx) (send bd :put :id id)))) (send robot :init-pose) robot)
  11: at (rename-and-add-bbox (kxr-make-robot "kxrl2l6a6h2"))
  12: at (setq *robot* (rename-and-add-bbox (kxr-make-robot "kxrl2l6a6h2")))
/opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl: ERROR th=0 cannot find method :vertices:vertices in (send (bd . gl::aglvertices) :vertices)E\
: 

と，(send (bd . gl::aglvertices) :vertices) のところでエラーになっているようです．

実行したコマンドは以下です．readme の第1パラグラフにあるものをそのまま実行したのち，以下のコマンドを実行しました．

;; Here is the process on rcb4robot side
(load "rcb4robots.l")
(load "package://robot_assembler/euslisp/convert-rcb4robots.l")
(load-parts-association-file "/tmp/ra_parts_attach_list.l")

;; convert kxr-robot to roboasm-robot
(setq *robot* (rename-and-add-bbox (kxr-make-robot "kxrl2l6a6h2")))
(setq ht (convert-robot-to-roboasm *robot*)) ;; make hash-table from kxr-robot
(dump-hash "/tmp/roboasm.l" ht) ;; dump hash-table to roboasm.l

(exit)