diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md b/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md
new file mode 100644
index 0000000..7811c82
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md
@@ -0,0 +1,28 @@
+# Gazebo_exercise优化控制SDF标签使用说明
+2019-05-20 by tjpu_zenglei@sina.com
+## 优化控制SDF标签设计总体思路
+为方便用户使用，集中管理自主实现的优化SDF标签，统一设计并实现了基于SDFormat包的优化控制标签。
+
+针对目前Gazebo_exercise已经优化的模型预处理模块、UpdatePhysics模块、dxHashSpace::collide模块等分别添加标签<event_signal>（用于设置模型预处理模块并行参数）、<updatephysics_dxprocessislands>（用于设置UpdatePhysics模块并行参数）、<dxhashspace_collide>（用于设置collide模块并行参数）、<collide_space>（用于选择碰撞空间数据结构类型）。
+
+## SDF标签使用说明
+所有优化控制标签均为标签<exercise_opt>子标签，<exercise_opt>为标签<world>子标签，如下所示。
+```
+<world>
+...
+    <exercise_opt>
+      <event_signal parallel_type=1 threads=7 />
+	  <collide_space>1</collide_space>
+      <dxhashspace_collide threads=7 />
+      <updatephysics_dxprocessislands parallel_type=1 threads=4 />
+    </exercise_opt>
+	...
+</world>
+```
+
+标签释义如下：
+- <exercise_opt>标签：优化总开关。
+- <event_signal>标签：用于设置模型预处理模块并行优化参数，parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。
+- <collide_space>标签：用于设置碰撞更新模块中碰撞空间的类型，值为1时表示SAP空间类型，其他数字表示默认的Hash空间类型。
+- <dxhashspace_collide>标签：用于设置碰撞更新模块中dxHashSpace::collide模块并行参数，当<collide_space>标签设置为1时，该参数没有意义；其他情况下，threads大于1，表示采用OpenMP并行优化，threads为开启的线程数，否则不开启优化。
+- <updatephysics_dxprocessislands>标签：用于设置物理更新模块中dxProcessIslands模块并行参数；parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt
index fb1b5fb..16cbb79 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt
@@ -25,6 +25,9 @@ set (sdfs
   surface.sdf 
   visual.sdf 
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.0/)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt
index e4a15b3..88f5c1c 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt
@@ -26,6 +26,9 @@ set (sdfs
   surface.sdf 
   visual.sdf 
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.2)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt
index 6eecf92..82cc240 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt
@@ -27,6 +27,9 @@ set (sdfs
   surface.sdf 
   visual.sdf 
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.3)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt
index b617d80..03e5933 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt
@@ -42,6 +42,9 @@ set (sdfs
   transceiver.sdf
   visual.sdf
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.4)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt
index 581b9c6..ac5d84a 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt
@@ -53,6 +53,9 @@ set (sdfs
   transceiver.sdf
   visual.sdf
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 set (SDF_SCHEMA)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt
index 5e1884e..d3910de 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt
@@ -54,6 +54,9 @@ set (sdfs
   transceiver.sdf
   visual.sdf
   world.sdf
+  exercise_opt.sdf
+  server.sdf
+  event.sdf
 )
 
 set (SDF_SCHEMA)
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf
new file mode 100644
index 0000000..1fa4944
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf	
@@ -0,0 +1,60 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+    <attribute name="tbb_type" type="int" default="25" required="0">
+      <description>the size of block to tbb thread</description>
+    </attribute>
+  
+    <attribute name="tbb_block_size" type="int" default="0" required="0">
+      <description>the type to block partion</description>
+    </attribute>
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+    <attribute name="tbb_type" type="int" default="25" required="0">
+      <description>the size of block to tbb thread</description>
+    </attribute>
+  
+    <attribute name="tbb_block_size" type="int" default="0" required="0">
+      <description>the type to block partion</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf
new file mode 100644
index 0000000..3488c7a
--- /dev/null
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf
@@ -0,0 +1,45 @@
+<!-- Exercise_opt -->
+<!--
+***********************************************************
+**Description: the gazebo_exercise labels to optimize     *
+**Author: zenglei                                         *
+**Date: 2019-05-15                                        *
+**Version: V1.0                                           *
+***********************************************************
+-->
+<element name="exercise_opt" required="0">
+  <description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
+  <element name="process_messages_switch" type="bool" default="1" required="0">
+    <description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
+  </element>
+  <element name="collide_space" type="int" default="0" required="0">
+    <description>target the type of the collide space</description>
+  </element>
+  <element name="event_signal" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+
+  </element>
+  <element name="updatephysics_dxprocessislands" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="parallel_type" type="int" default="0" required="0">
+      <description>The type of parallel.</description>
+    </attribute>
+
+    <attribute name="threads" type="int" default="8" required="0">
+      <description>The numbers of the threads.</description>
+    </attribute>
+  </element>
+  <element name="dxhashspace_collide" required="0">
+    <description>target the number of the thread that used by parallel.</description>
+    <attribute name="threads" type="int" default="0" required="0">
+      <description>The number of  thread to parallel.</description>
+    </attribute>
+  </element>
+</element> <!-- exercise_opt -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf
index d2f3cb3..9e46e21 100644
--- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf
+++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf
@@ -63,4 +63,5 @@
   <include filename="population.sdf" required="*"/>
   <include filename="event.sdf" required="0"/>
   <include filename="server.sdf" required="0"/>
+  <include filename="exercise_opt.sdf" required="0"/>
 </element> <!-- End World -->
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py
old mode 100755
new mode 100644
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh
old mode 100755
new mode 100644
diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb
old mode 100755
new mode 100644