diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc
index b61344e5..56ea6cb9 100644
--- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc
@@ -24,70 +24,68 @@
 
 namespace gazebo
 {
-  class Obstacle1: public ModelPlugin
-  {
+class Obstacle1: public ModelPlugin
+{
 public:
-    void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-    {
-      // Store the pointer to the model
-      this->model = _parent;
-
-      // create the animation
-      gazebo::common::PoseAnimationPtr anim(
-        // name the animation "move_1",
-        // make it last 260 seconds,
-        // and set it on a repeat loop
-        new gazebo::common::PoseAnimation("move1", 160.0, true));
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+  {
+    // Store the pointer to the model
+    this->model = _parent;
 
-      gazebo::common::PoseKeyFrame * key;
+    // create the animation
+    gazebo::common::PoseAnimationPtr anim(
+      // name the animation "move_1",
+      // make it last 260 seconds,
+      // and set it on a repeat loop
+      new gazebo::common::PoseAnimation("move1", 160.0, true));
 
-      // set starting location of the box
-      key = anim->CreateKeyFrame(0);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    gazebo::common::PoseKeyFrame * key;
 
-      key = anim->CreateKeyFrame(10);
-      key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    // set starting location of the box
+    key = anim->CreateKeyFrame(0);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(50);
-      key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(10);
+    key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(70);
-      key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(50);
+    key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(90);
-      key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(70);
+    key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(130);
-      key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(90);
+    key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(140);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(130);
+    key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(160);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(140);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      // set the animation
-      _parent->SetAnimation(anim);
-    }
+    key = anim->CreateKeyFrame(160);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-    // Pointer to the model
+    // set the animation
+    _parent->SetAnimation(anim);
+  }
 
+// Pointer to the model
 private:
-    physics::ModelPtr model;
+  physics::ModelPtr model;
 
 // Pointer to the update event connection
-
 private:
-    event::ConnectionPtr updateConnection;
-  };
-  // Register this plugin with the simulator
-  GZ_REGISTER_MODEL_PLUGIN(Obstacle1)
-}  // namespace gazebo
+  event::ConnectionPtr updateConnection;
+};
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(Obstacle1)
+}// namespace gazebo
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc
index 301ccbcf..84050abc 100644
--- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc
@@ -24,85 +24,84 @@
 
 namespace gazebo
 {
-  class Obstacle2: public ModelPlugin
-  {
+class Obstacle2: public ModelPlugin
+{
 public:
-    void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-    {
-      // Store the pointer to the model
-      this->model = _parent;
-
-      // create the animation
-      gazebo::common::PoseAnimationPtr anim(
-        // name the animation "move_2",
-        // make it last 260 seconds,
-        // and set it on a repeat loop
-        new gazebo::common::PoseAnimation("move2", 140.0, true));
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+  {
+    // Store the pointer to the model
+    this->model = _parent;
 
-      gazebo::common::PoseKeyFrame * key;
+    // create the animation
+    gazebo::common::PoseAnimationPtr anim(
+      // name the animation "move_2",
+      // make it last 260 seconds,
+      // and set it on a repeat loop
+      new gazebo::common::PoseAnimation("move2", 140.0, true));
 
-      // set starting location of the box
-      key = anim->CreateKeyFrame(0);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    gazebo::common::PoseKeyFrame * key;
 
-      key = anim->CreateKeyFrame(10);
-      key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    // set starting location of the box
+    key = anim->CreateKeyFrame(0);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(40);
-      key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(10);
+    key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(55);
-      key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(40);
+    key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(85);
-      key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(55);
+    key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(100);
-      key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(85);
+    key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(110);
-      key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(100);
+    key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(115);
-      key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(110);
+    key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(120);
-      key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(115);
+    key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(125);
-      key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(120);
+    key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(130);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(125);
+    key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(140);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    key = anim->CreateKeyFrame(130);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      // set the animation
-      _parent->SetAnimation(anim);
-    }
+    key = anim->CreateKeyFrame(140);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-    // Pointer to the model
+    // set the animation
+    _parent->SetAnimation(anim);
+  }
 
+// Pointer to the model
 private:
-    physics::ModelPtr model;
-    // Pointer to the update event connection
+  physics::ModelPtr model;
 
+// Pointer to the update event connection
 private:
-    event::ConnectionPtr updateConnection;
-  };
-  // Register this plugin with the simulator
-  GZ_REGISTER_MODEL_PLUGIN(Obstacle2)
-}  // namespace gazebo
+  event::ConnectionPtr updateConnection;
+};
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(Obstacle2)
+}// namespace gazebo
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc
index 389a1c65..185766e6 100644
--- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc
@@ -26,49 +26,48 @@
 
 namespace gazebo
 {
-  class Obstacles: public ModelPlugin
-  {
+class Obstacles: public ModelPlugin
+{
 public:
-    void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-    {
-      // Store the pointer to the model
-      this->model = _parent;
-
-      // create the animation
-      gazebo::common::PoseAnimationPtr anim(
-        // name the animation "move",
-        // make it last 40 seconds,
-        // and set it on a repeat loop
-        new gazebo::common::PoseAnimation("move", 40.0, true));
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+  {
+    // Store the pointer to the model
+    this->model = _parent;
 
-      gazebo::common::PoseKeyFrame * key;
+    // create the animation
+    gazebo::common::PoseAnimationPtr anim(
+      // name the animation "move",
+      // make it last 40 seconds,
+      // and set it on a repeat loop
+      new gazebo::common::PoseAnimation("move", 40.0, true));
 
-      // set starting location of the box
-      key = anim->CreateKeyFrame(0);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+    gazebo::common::PoseKeyFrame * key;
 
-      key = anim->CreateKeyFrame(20);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, PI));
+    // set starting location of the box
+    key = anim->CreateKeyFrame(0);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
-      key = anim->CreateKeyFrame(40);
-      key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-      key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI));
+    key = anim->CreateKeyFrame(20);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, PI));
 
-      // set the animation
-      _parent->SetAnimation(anim);
-    }
+    key = anim->CreateKeyFrame(40);
+    key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+    key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI));
 
-    // Pointer to the model
+    // set the animation
+    _parent->SetAnimation(anim);
+  }
 
+// Pointer to the model
 private:
-    physics::ModelPtr model;
-    // Pointer to the update event connection
+  physics::ModelPtr model;
 
+// Pointer to the update event connection
 private:
-    event::ConnectionPtr updateConnection;
-  };
+  event::ConnectionPtr updateConnection;
+};
 // Register this plugin with the simulator
-  GZ_REGISTER_MODEL_PLUGIN(Obstacles)
-}  // namespace gazebo
+GZ_REGISTER_MODEL_PLUGIN(Obstacles)
+}// namespace gazebo