diff --git a/Gazebo_Distributed_MPI/gazebo/physics/World.cc b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
index 51fcc5d..b4c8f0d 100644
--- a/Gazebo_Distributed_MPI/gazebo/physics/World.cc
+++ b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
@@ -1362,7 +1362,8 @@ ModelPtr World::LoadModel(sdf::ElementPtr _sdf, BasePtr _parent)
         {
           if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
           {
-            this->dataPtr->ownModels.push_back(model);
+            this->dataPtr->ownModels.push_back(model);                                        // add model to ownModels list
+            this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId()); // to maintain model ID list in GazeboID
           }
         }
       }
@@ -1373,7 +1374,8 @@ ModelPtr World::LoadModel(sdf::ElementPtr _sdf, BasePtr _parent)
         {
           if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
           {
-            model->SetStatic(true);
+            model->SetStatic(true);                                                           // model that not simulated in local gazebo is set to be static to reduce computation in UpdateCollision and UpdatePhysics
+            this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId()); // to maintain model ID list in GazeboID
           }
         }
       }
@@ -1914,58 +1916,24 @@ void World::LoadPlugins()
       ModelPtr model = boost::static_pointer_cast<Model>(
           this->dataPtr->rootElement->GetChild(i));
 
-      // Modified by zhangshuai 2019.04.02 ----Begin
+      // Modified by zhangshuai 2019.07.30 ----Begin
       if (this->flag == 1)
       {
         // Judge if the model to load is simulated in this gazebo
-
-        // for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
-        // {
-        //   if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
-        //   {
-        //     // Original part
-        //     model->LoadPlugins();
-        //     // Original part
-        //     this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
-        //   }
-        // }
-
-        int tmp_gazebo_count = this->distribution->GetGazeboCount();
-        for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
+        for (unsigned int i = 0; i < this->GetOwnModelCount(); i++)
         {
-          if (this->gazeboLocalID == tmp_gazebo_id)
-          {
-            unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-            for (unsigned int j = 0; j < tmp_model_count; j++)
-            {
-              if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
-              {
-                // Original part
-                model->LoadPlugins();
-                // Original part
-                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
-              }
-            }
-          }
-          else
-          {
-            unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-            for (unsigned int j = 0; j < tmp_model_count; j++)
-            {
-              if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
-              {
-                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
-              }
-            }
-          }
+          if (model->GetName() == this->GetOwnModel(i)->GetName())
+            model->LoadPlugins();
         }
       }
       else
       {
+        // Original part
         model->LoadPlugins();
+        // Original part
       }
+      // Modified by zhangshuai 2019.07.30 ----End
 
-      // Modified by zhangshuai 2019.04.02 ----End
       // model->LoadPlugins();
     }
   }
@@ -2479,58 +2447,23 @@ void World::ProcessFactoryMsgs()
       if (model != nullptr)
       {
         model->Init();
-        // Modified by zhangshuai 2019.04.02 ----Begin
+        // Modified by zhangshuai 2019.07.30 ----Begin
         if (this->flag == 1)
         {
           // Judge if the model to load is simulated in this gazebo
-
-          // for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
-          // {
-          //   if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
-          //   {
-          //     // Original part
-          //     model->LoadPlugins();
-          //     // Original part
-          //     this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
-          //   }
-          // }
-
-          int tmp_gazebo_count = this->distribution->GetGazeboCount();
-          for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
+          for (unsigned int i = 0; i < this->GetOwnModelCount(); i++)
           {
-            if (this->gazeboLocalID == tmp_gazebo_id)
-            {
-              unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-              for (unsigned int i = 0; i < tmp_model_count; i++)
-              {
-                if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
-                {
-                  // Original part
-                  model->LoadPlugins();
-                  // Original part
-                  this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
-                }
-              }
-            }
-            else
-            {
-              unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-              for (unsigned int i = 0; i < tmp_model_count; i++)
-              {
-                if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
-                {
-                  this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
-                }
-              }
-            }
+            if (model->GetName() == this->GetOwnModel(i)->GetName())
+              model->LoadPlugins();
           }
         }
         else
         {
+          // Original part
           model->LoadPlugins();
+          // Original part
         }
-
-        // Modified by zhangshuai 2019.04.02 ----End
+        // Modified by zhangshuai 2019.07.30 ----End
       }
     }
     catch (...)