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index 92b8ab17f58c87d9a9128cec0108ff0e87e0ec9b..4afda02da73b4e78d225790fcc97753bc17782aa 100644
--- a/bioloid_description/urdf/qrcodes/E1.dae
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@@ -18,7 +18,7 @@
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diff --git a/bioloid_description/urdf/qrcodes/E125.dae b/bioloid_description/urdf/qrcodes/E125.dae
index ccc645dec0eb9b707fbebd691e64a72f27587062..bcad4eedb64038ab6e15f1bd22c0d5805029ac8f 100644
--- a/bioloid_description/urdf/qrcodes/E125.dae
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index 8d462830dba23a1d314d323e26b63a06924930e0..eda1df799d781675f4f4d88636a7d0105c55cce2 100644
--- a/bioloid_description/urdf/qrcodes/E175.dae
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index 7bb1a85fd5d65235f4cdd5b16730dcdcf48f6df5..ecd1cf918180f832417aa86be000132482960339 100644
--- a/bioloid_description/urdf/qrcodes/E2.dae
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index 3540ee21cd1cf115b833d29914877dd5b96297c4..c38201509f686aad5b2812aff88cb204f7051739 100644
--- a/bioloid_description/urdf/qrcodes/E225.dae
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index 18f82efdbdd6c6a91dec0ebf3102df6ab34c4fa6..487c9725fea1b776a46b1e22de0bbd08185a2ba6 100644
--- a/bioloid_description/urdf/qrcodes/E25.dae
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@@ -18,7 +18,7 @@
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diff --git a/bioloid_description/urdf/qrcodes/E3.dae b/bioloid_description/urdf/qrcodes/E3.dae
index 82aa86de052efda17dd91fd198f69c756ab0922f..3d784b5ebe901eec2d635676962e5ccb46c0fc96 100644
--- a/bioloid_description/urdf/qrcodes/E3.dae
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@@ -18,7 +18,7 @@
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diff --git a/bioloid_description/urdf/qrcodes/E4.dae b/bioloid_description/urdf/qrcodes/E4.dae
index 2447221079172c3404f483dfa045753c6d106792..866ad8e665cd3528484a34076dfc79e520d682b4 100644
--- a/bioloid_description/urdf/qrcodes/E4.dae
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@@ -18,7 +18,7 @@
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diff --git a/bioloid_description/urdf/qrcodes/E5.dae b/bioloid_description/urdf/qrcodes/E5.dae
index 2ac6f543b8aa265017b4b61ee31b7eabbbd9dd37..d253100640bd5796fa59e11f8c408bca491ffc15 100644
--- a/bioloid_description/urdf/qrcodes/E5.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/E6.dae b/bioloid_description/urdf/qrcodes/E6.dae
index 0e7e5e37113d38b035fa9bae8e45a0f276f697d9..de5ce30c0c8defaccfdb2e0f76f78af227b4d3ea 100644
--- a/bioloid_description/urdf/qrcodes/E6.dae
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diff --git a/bioloid_description/urdf/qrcodes/E75.dae b/bioloid_description/urdf/qrcodes/E75.dae
index b439d3416241093533ecaceafe2c063efba08ec8..963050cf7e4610dbf0fda3e3b3c3ef3f02a569d2 100644
--- a/bioloid_description/urdf/qrcodes/E75.dae
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index 9e49c915f07f1166d4460f193e7129b30e389a73..c20164fa84f9f6d58a5668481f78bfcd0fcdd46f 100644
--- a/bioloid_description/urdf/qrcodes/N1.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N125.dae b/bioloid_description/urdf/qrcodes/N125.dae
index 42de20cb4bcf95697708625c0701d88155e427c2..22be9e98105b261612c60a6eaba5d328259259f7 100644
--- a/bioloid_description/urdf/qrcodes/N125.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N175.dae b/bioloid_description/urdf/qrcodes/N175.dae
index ff1f964ee3c3632d8a59e6bb509d8ad6c535a295..1650afad2608f321bd442735a7842fa2c6588048 100644
--- a/bioloid_description/urdf/qrcodes/N175.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N2.dae b/bioloid_description/urdf/qrcodes/N2.dae
index 77b161d9cb09f3afa6ef2bd4c41760ea3ac0caaf..56f7f2a8609a5109d260dfb6d1407663b0260d18 100644
--- a/bioloid_description/urdf/qrcodes/N2.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N25.dae b/bioloid_description/urdf/qrcodes/N25.dae
index b3c244281314b069e585d46a17aa1e9949c7ee2b..34739b699981694108a9aec8a317d82ff38360a5 100644
--- a/bioloid_description/urdf/qrcodes/N25.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N3.dae b/bioloid_description/urdf/qrcodes/N3.dae
index b8aa06a6f992c20b38c10888903b431c042c67a6..651ce76de4a34c4b037a607671eaec02f0da9795 100644
--- a/bioloid_description/urdf/qrcodes/N3.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N4.dae b/bioloid_description/urdf/qrcodes/N4.dae
index ffe9c3e3479168f6128acb3d2a2479c9c7f274dd..7ceae71912134302239a7ee63f87f2da3cb9e625 100644
--- a/bioloid_description/urdf/qrcodes/N4.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N5.dae b/bioloid_description/urdf/qrcodes/N5.dae
index b6def76a39bb45dfb9b7360fa19a7f19a1691b55..888808e72a559a2278a1aa04e92495a48f808e2d 100644
--- a/bioloid_description/urdf/qrcodes/N5.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N6.dae b/bioloid_description/urdf/qrcodes/N6.dae
index 08f2c1f28512354a8fd762950bf7e64daa5184ac..2c1e76ac31f26879901698f844012e9929196e43 100644
--- a/bioloid_description/urdf/qrcodes/N6.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/N75.dae b/bioloid_description/urdf/qrcodes/N75.dae
index 71a04e54895e788e54a02a62aa87ba2169ba76c2..f15681f5be1f955a6fc555df58330bbe19389ff0 100644
--- a/bioloid_description/urdf/qrcodes/N75.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/S1.dae b/bioloid_description/urdf/qrcodes/S1.dae
index c302ba7ff98485ecb0f34682b587acd91e18f86c..0a0d32c75fa3ad8559db2eb3a956bab9ec02708a 100644
--- a/bioloid_description/urdf/qrcodes/S1.dae
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@@ -18,7 +18,7 @@
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diff --git a/bioloid_description/urdf/qrcodes/S125.dae b/bioloid_description/urdf/qrcodes/S125.dae
index ff82d13134ae2c0d3a905136c3855b03a25766a3..75ce92d24a5ed7e848309e0554d4b236bdf890df 100644
--- a/bioloid_description/urdf/qrcodes/S125.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/S175.dae b/bioloid_description/urdf/qrcodes/S175.dae
index 99cc4b18b8983610a9c5bc5365607875b3a1eb18..b094708b36519285081b5861239c3fa873fec8af 100644
--- a/bioloid_description/urdf/qrcodes/S175.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/S2.dae b/bioloid_description/urdf/qrcodes/S2.dae
index eaed35504324c249bbbe4023171e7cecf52f32f9..aeed006b274c8079bd3b1117557c10602f23ac05 100644
--- a/bioloid_description/urdf/qrcodes/S2.dae
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/S25.dae b/bioloid_description/urdf/qrcodes/S25.dae
index 6381289bf6b824ce3e0f59223fd7e56985d1a032..6b9c31ce11d4711be7236170c238cf7da4582e8b 100644
--- a/bioloid_description/urdf/qrcodes/S25.dae
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diff --git a/bioloid_description/urdf/qrcodes/S3.dae b/bioloid_description/urdf/qrcodes/S3.dae
index 473a6755a9c61bb34eaba5e10632c89681830b1b..1bb68ca9e5f825123b548e9bac0ab4ff31c69cc9 100644
--- a/bioloid_description/urdf/qrcodes/S3.dae
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diff --git a/bioloid_description/urdf/qrcodes/S4.dae b/bioloid_description/urdf/qrcodes/S4.dae
index 252b8318982b382e7590d6e212b3a272c7cd3418..dbd904038649571edf63c7e7b3c9ef3ff39d8b91 100644
--- a/bioloid_description/urdf/qrcodes/S4.dae
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diff --git a/bioloid_description/urdf/qrcodes/S5.dae b/bioloid_description/urdf/qrcodes/S5.dae
index d3cd3f73692637fe2b4f4feaf59ed5f74c8cbdf3..0861779c399a5750224b2a72f3a7d2be9c0df32a 100644
--- a/bioloid_description/urdf/qrcodes/S5.dae
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diff --git a/bioloid_description/urdf/qrcodes/S6.dae b/bioloid_description/urdf/qrcodes/S6.dae
index 38c187d7fcc11bbe4445503796aa08538f3756d2..83154f1a2239fd4fabe15de686c5ebed1a095bd7 100644
--- a/bioloid_description/urdf/qrcodes/S6.dae
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index c41a890f1914d5b17d76b3863a5e6cdc8ee9e3a2..113616160a441aa3ad9223991d0f218960b1880c 100644
--- a/bioloid_description/urdf/qrcodes/S75.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W1.dae b/bioloid_description/urdf/qrcodes/W1.dae
index 78b73709fad25465e2bc0afb53523222bbedc60d..261bf720b504161fd6e380ca78499f93d6c0e3be 100644
--- a/bioloid_description/urdf/qrcodes/W1.dae
+++ b/bioloid_description/urdf/qrcodes/W1.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W125.dae b/bioloid_description/urdf/qrcodes/W125.dae
index ff82127f201866c1f1f4cc77be2623f42014e53c..a97dc0de16928763d8a6e7120e325ac306857cff 100644
--- a/bioloid_description/urdf/qrcodes/W125.dae
+++ b/bioloid_description/urdf/qrcodes/W125.dae
@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W175.dae b/bioloid_description/urdf/qrcodes/W175.dae
index 0f5523a29afe4a3c11782db52fb5e15761ce9fa4..8e67a4c03b45411a8205265c34b45bfbb37b9702 100644
--- a/bioloid_description/urdf/qrcodes/W175.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W2.dae b/bioloid_description/urdf/qrcodes/W2.dae
index d6d89780161b8b57721bd2112e811eefadc788c9..d2f642bb30d01b750e1c4f70c77343b7c4f6d8ca 100644
--- a/bioloid_description/urdf/qrcodes/W2.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W225.dae b/bioloid_description/urdf/qrcodes/W225.dae
index 0c872bf50f9d78178112c6d1795c5018e5f0b2ab..d6ad8088a160ef6c2041dfcd342d45e2297a4f9d 100644
--- a/bioloid_description/urdf/qrcodes/W225.dae
+++ b/bioloid_description/urdf/qrcodes/W225.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W25.dae b/bioloid_description/urdf/qrcodes/W25.dae
index 24b072aac370f3bbae56132e5b6253b0ba03091f..e281e4fbee44fee1dc899f8996155c4318f02484 100644
--- a/bioloid_description/urdf/qrcodes/W25.dae
+++ b/bioloid_description/urdf/qrcodes/W25.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W3.dae b/bioloid_description/urdf/qrcodes/W3.dae
index 477699eb11718d341e7f2043785308cdc2f7641a..dd4253fa32012f4f700fb21834e507218d6a9138 100644
--- a/bioloid_description/urdf/qrcodes/W3.dae
+++ b/bioloid_description/urdf/qrcodes/W3.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W4.dae b/bioloid_description/urdf/qrcodes/W4.dae
index 9aef40b7322e33915f95b31fa650e285e928f4bc..d36f9365b2a7d5e828520ebcd2904223a8f33d5e 100644
--- a/bioloid_description/urdf/qrcodes/W4.dae
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@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W5.dae b/bioloid_description/urdf/qrcodes/W5.dae
index 5942f6dd3c19f2292b03e516dd602299cc603284..c694bb20c41ad356e1316293cf1befdeea473699 100644
--- a/bioloid_description/urdf/qrcodes/W5.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W6.dae b/bioloid_description/urdf/qrcodes/W6.dae
index 2939ae392409d971129a173da3fd7d8f04096aef..5a0da702e6cbcfcae96fe375bbb2128c9321b28c 100644
--- a/bioloid_description/urdf/qrcodes/W6.dae
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@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/W75.dae b/bioloid_description/urdf/qrcodes/W75.dae
index bbfd39b427ae6bef8ec36c1a6b1c691ab3d80bc4..96f61b77d3f402ed71a28ba76d9fd84d82cde414 100644
--- a/bioloid_description/urdf/qrcodes/W75.dae
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@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/none.dae b/bioloid_description/urdf/qrcodes/none.dae
index 90f594f9218ee768c64bd99502cc25c60ccca246..9772d129d9e8de6cb07122f7ea6c0b0134d9eb40 100644
--- a/bioloid_description/urdf/qrcodes/none.dae
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@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_left_135.dae b/bioloid_description/urdf/qrcodes/turn_left_135.dae
index ee2afefd3d02090787595fb58c697230e2fdb8f5..637be73bb989c600a9e318d57a2c31cc6154263a 100644
--- a/bioloid_description/urdf/qrcodes/turn_left_135.dae
+++ b/bioloid_description/urdf/qrcodes/turn_left_135.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_left_180.dae b/bioloid_description/urdf/qrcodes/turn_left_180.dae
index 379d0586ee7e76ea23275ef002d88442f2f3f1e8..ac8b1b219cf720ac3817376071e70ff370e27254 100644
--- a/bioloid_description/urdf/qrcodes/turn_left_180.dae
+++ b/bioloid_description/urdf/qrcodes/turn_left_180.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_left_45.dae b/bioloid_description/urdf/qrcodes/turn_left_45.dae
index 890955ba20bb59c7c8498a292d946146695efa06..48a45b63b39a6f11e71ae6755b827d834a719947 100644
--- a/bioloid_description/urdf/qrcodes/turn_left_45.dae
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@@ -18,7 +18,7 @@
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+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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<texture texture="Map #1-image" texcoord="CHANNEL0">
diff --git a/bioloid_description/urdf/qrcodes/turn_left_90.dae b/bioloid_description/urdf/qrcodes/turn_left_90.dae
index 39d6f6faadea1ee027a5959a156c0ed79d4df3db..275d6d52fdc7a0b34bf81ce574d41f3ddddd69b0 100644
--- a/bioloid_description/urdf/qrcodes/turn_left_90.dae
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@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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<texture texture="Map #1-image" texcoord="CHANNEL0">
diff --git a/bioloid_description/urdf/qrcodes/turn_right_135.dae b/bioloid_description/urdf/qrcodes/turn_right_135.dae
index b002e9887e80e038e680b411169a4dcf0c955691..83496bbda59e5777d4368fd7d3629ac4ee0cdd77 100644
--- a/bioloid_description/urdf/qrcodes/turn_right_135.dae
+++ b/bioloid_description/urdf/qrcodes/turn_right_135.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_right_180.dae b/bioloid_description/urdf/qrcodes/turn_right_180.dae
index 82e4440247f3a85e4aaec8b90d1699f8abfda2ff..ac8ecd00d28182354f7ab95c02a2d3bd6c981750 100644
--- a/bioloid_description/urdf/qrcodes/turn_right_180.dae
+++ b/bioloid_description/urdf/qrcodes/turn_right_180.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_right_45.dae b/bioloid_description/urdf/qrcodes/turn_right_45.dae
index 3ad60e9254ac7e5b57d8447cb5acb29ac117e795..1a1644ace10ef4172c780b8af00ece26fe3497a9 100644
--- a/bioloid_description/urdf/qrcodes/turn_right_45.dae
+++ b/bioloid_description/urdf/qrcodes/turn_right_45.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.00000 1.00000 1.00000 1.000000</color>
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diff --git a/bioloid_description/urdf/qrcodes/turn_right_90.dae b/bioloid_description/urdf/qrcodes/turn_right_90.dae
index 5cb87506d5714ab41ac948143472801ba65748a1..5ee7f7a40202ca0a0f229ae3ac23209083e39993 100644
--- a/bioloid_description/urdf/qrcodes/turn_right_90.dae
+++ b/bioloid_description/urdf/qrcodes/turn_right_90.dae
@@ -18,7 +18,7 @@
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- <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
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