Basics
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In the new actions, costumes can hold crests. An easy way to grasp this idea is by thinking of it as sockets. Transcendent costumes have 6 'sockets' which can hold 1 crest each. It can hold 2 green crests, 2 blue crests, 1 purple crest, and 1 orange crest.
How to get your costume / crests
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The best way to get your transcendence costume is via D-shop. This is because it also acts as a cosmetic, which you can change appearance if you want.
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Transcendence costumes can also be bought via Seed of Dreams in the Rising Helion NPC.
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Costume crests drop from various dungeons, however, they are not calibrated to be farmed efficiently. The only real way to get crests are via the boxes in D-shop.
How to apply / remove crests
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These are done via any of the Blacksmith NPCs. Applying crests will do not require any extra material but a small amount of dil. To extract crests, you need to use pliers. A regular plier extracts one specified crest from a costume. A hot plier extracts all 6 crests of the costume. You may use a hot plier to extract fewer than 6, however, this is inefficient.