diff --git a/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
index f2d642fcdd0d48b5ba58b4e578b5a3d39ce56387..a0fe9d5fe2f1cfc0703f721ffb35a5296aa304e3 100755
--- a/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
+++ b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
@@ -7,61 +7,61 @@
<xacro:obstacle_base name="obstacle_base"/>
- <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25" size="0.2">
+ <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25" size="0.14">
<origin xyz="0.016 0.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75" size="0.2">
+ <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75" size="0.14">
<origin xyz="0.016 0.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125" size="0.2">
+ <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125" size="0.14">
<origin xyz="0.016 1.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175" size="0.2">
+ <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175" size="0.14">
<origin xyz="0.016 1.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225" size="0.2">
+ <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225" size="0.14">
<origin xyz="0.016 2.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="E25" size="0.2">
+ <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="E25" size="0.14">
<origin xyz="1.999 0.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="E75" size="0.2">
+ <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="E75" size="0.14">
<origin xyz="1.999 0.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="E125" size="0.2">
+ <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="E125" size="0.14">
<origin xyz="1.999 1.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="E175" size="0.2">
+ <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="E175" size="0.14">
<origin xyz="1.999 1.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="E225" size="0.2">
+ <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="E225" size="0.14">
<origin xyz="1.999 2.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25" size="0.2">
+ <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25" size="0.14">
<origin xyz="0.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75" size="0.2">
+ <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75" size="0.14">
<origin xyz="0.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125" size="0.2">
+ <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125" size="0.14">
<origin xyz="1.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175" size="0.2">
+ <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175" size="0.14">
<origin xyz="1.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25" size="0.2">
+ <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25" size="0.14">
<origin xyz="0.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75" size="0.2">
+ <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75" size="0.14">
<origin xyz="0.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125" size="0.2">
+ <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125" size="0.14">
<origin xyz="1.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175" size="0.2">
+ <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175" size="0.14">
<origin xyz="1.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
</robot>