diff --git a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l
index 15bc6a0a..0ad5575e 100644
--- a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l
+++ b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l
@@ -14,7 +14,7 @@
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 (defclass dxl-armed-turtlebot-interface
   :super robot-interface
-  :slots ())
+  :slots (gripper-action))
 
 (eval `(defmethod dxl-armed-turtlebot-interface
          ;; dxl-7dof-arm-interface, turtlebot-interfaceのメソッドをそれぞれdefmethodする
@@ -48,4 +48,4 @@
   (send *irtviewer* :change-background #f(0.9 0.9 0.9))
   (send *irtviewer* :draw-objects)
   )
-(warn ";; (dxl-armed-turtlebot-init) ;; for initialize ~%")
\ No newline at end of file
+(warn ";; (dxl-armed-turtlebot-init) ;; for initialize ~%")
diff --git a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
index 45cb4e12..1d57d934 100644
--- a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
+++ b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
@@ -63,6 +63,8 @@
      (send self :method-copying "-pose")
      (send self :method-copying "_joint")
      (send self :method-copying "inverse-kinematics" t)
+     (send self :method-copying "gripper" t)
+     (send self :method-copying "arm" t)
      t))
   (:method-copying
    (substr &optional (use-args nil))
@@ -79,10 +81,12 @@
             ,(if use-args `(send* arm-robot ,me args) `(send arm-robot ,me))
             )
            ))
-       )))
+       )
+     methods))
+
   ;; limbs
-  (:arm (&rest args)
-        (unless args (setq args (list nil))) (send* self :limb :rarm args))
+  ;;(:arm (&rest args)
+  ;;(unless args (setq args (list nil))) (send* self :limb :rarm args))
   )
 
 ;; アーム台車モデル生成関数