diff --git a/http_server.py b/http_server.py
index 4dfb597..6d5ca39 100644
--- a/http_server.py
+++ b/http_server.py
@@ -1,8 +1,15 @@
 import dataclasses
+import importlib
+import os
 import socket
+import subprocess
+import threading
 
 import flask
 import werkzeug.serving
+from flask import jsonify, request
+
+import gazebo_ctrl
 
 
 @dataclasses.dataclass
@@ -15,9 +22,10 @@ class HttpHost():
 
     def __post_init__(self):
         if not self.hostname:
-            raise ValueError("Hostname cannot be empty")
+            raise ValueError('Hostname cannot be empty')
         if not (0 <= self.port <= 65535):
-            raise ValueError(f"Invalid port: {self.port}")
+            raise ValueError(f'Invalid port: {self.port}')
+
 
 class HttpRPCServer():
     """
@@ -35,15 +43,15 @@ class HttpRPCServer():
         添加HTTP路由，handler应符合Flask视图函数的规范。
         """
         if not callable(handler):
-            raise ValueError("Handler must be a callable function")
+            raise ValueError('Handler must be a callable function')
         self._app.add_url_rule(uri, view_func=handler, methods=methods)
 
-    def start(self, hostname: str = "0.0.0.0", port: int = None):
+    def start(self, hostname: str = '0.0.0.0', port: int = None):
         """
         启动并以阻塞方式提供服务。
         """
         if self._server:
-            raise RuntimeError("Server is already running")
+            raise RuntimeError('Server is already running')
         self.host = HttpHost(
             hostname=hostname, port=port if port else self.find_free_port())
         self._server = werkzeug.serving.make_server(
@@ -61,13 +69,142 @@ class HttpRPCServer():
 
     def find_free_port(self):
         with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-            s.bind(("127.0.0.1", 0))
+            s.bind(('127.0.0.1', 0))
             return s.getsockname()[1]
 
+
 class GazeboSimHttpServer(HttpRPCServer):
     """
     Gazebo仿真环境的HTTP服务器。
     """
 
     def __init__(self):
-        super().__init__()
\ No newline at end of file
+        super().__init__()
+
+        # Gazebo仿真/程序控制
+        self.add_route('/simulation/scene', self.get_simulation_scene, ['GET'])
+        self.add_route('/simulation/start', self.start_simulation, ['GET'])
+        self.add_route('/simulation/shutdown',
+                       self.shutdown_simulation, ['GET'])
+        self.add_route('/simulation/run-script', self.run_script, ['POST'])
+
+        # Gazebo仿真/仿真控制
+        self.add_route('/physics/continue', self.continue_physics, ['GET'])
+        self.add_route('/physics/pause', self.pause_physics, ['GET'])
+        self.add_route('/physics/reset', self.reset_physics, ['GET'])
+
+        # Gazebo仿真/模型控制
+        self.add_route('/model/state', self.get_model_state, ['GET'])
+        self.add_route('/model/state', self.set_model_state, ['POST'])
+        self.add_route('/model/spawn', self.spawn_model, ['POST'])
+        self.add_route('/model/delete', self.delete_model, ['POST'])
+
+        # Gazebo仿真/场景专有控制
+        self.add_route('/<scene>/model/state',
+                       self.get_scene_model_state, ['GET'])
+        self.add_route('/<scene>/model/state',
+                       self.set_scene_model_state, ['POST'])
+        self.add_route('/<scene>/model/spawn',
+                       self.spawn_scene_model, ['POST'])
+
+    # ===== 处理函数实现 =====
+    def get_simulation_scene(self):
+        scene_dir = os.path.join(os.path.dirname(__file__), 'scene')
+        if not os.path.exists(scene_dir):
+            return jsonify([])
+        scenes = [name for name in os.listdir(
+            scene_dir) if os.path.isdir(os.path.join(scene_dir, name))]
+        return jsonify(scenes)
+
+    def start_simulation(self):
+        scene = request.args.get('scene', 'grasp-box')
+        self.scene_name = scene
+        # 找到场景文件夹下的launch文件
+        launch_file = os.path.join('scene', scene, 'launch.sh')
+        if not os.path.exists(launch_file):
+            return jsonify({'error': 'Launch file not found'}), 404
+        # 加载场景插件
+        plugin_py = os.path.join('scene', scene, 'plugin.py')
+        if not os.path.exists(plugin_py):
+            return jsonify({'error': 'Plugin file not found'}), 404
+        self.scene_plugin_class = importlib.import_module(f'scene.{scene}.plugin')
+        self.scene_plugin = self.scene_plugin_class.Plugin(scene)
+        # 执行launch文件
+        def run_sim():
+            self.sim_process = subprocess.Popen(['bash', launch_file])
+
+        if hasattr(self, 'sim_thread') and self.sim_thread.is_alive():
+            return jsonify({'error': 'Simulation already running'}), 400
+
+        self.sim_thread = threading.Thread(target=run_sim, daemon=True)
+        self.sim_thread.start()
+        self.gazebo_controller = gazebo_ctrl.GazeboROSController()
+        return 'OK', 200
+
+    def shutdown_simulation(self):
+        if hasattr(self, 'sim_process') and self.sim_process:
+            self.sim_process.terminate()
+            self.sim_process = None
+            self.sim_thread.join(timeout=1)
+            self.sim_thread = None
+        self.scene_name = None
+        self.scene_plugin = None
+        self.scene_plugin_class = None
+        return jsonify({'status': 'stopped'})
+
+    def run_script(self):
+        name = request.args.get('name')
+        if not name:
+            return jsonify({'error': 'Missing name'}), 400
+        return jsonify({'status': 'script executed', 'name': name})
+
+    def continue_physics(self):
+        return jsonify({'status': 'physics continued'})
+
+    def pause_physics(self):
+        return jsonify({'status': 'physics paused'})
+
+    def reset_physics(self):
+        return jsonify({'status': 'physics reset'})
+
+    def get_model_state(self):
+        names = request.args.getlist('names') or []
+        return jsonify([{'name': n, 'pose': {}, 'twist': {}} for n in names])
+
+    def set_model_state(self):
+        data = request.get_json(silent=True)
+        if not data or 'name' not in data:
+            return jsonify({'error': 'Missing required field name'}), 400
+        return jsonify({'status': 'model state updated', 'data': data})
+
+    def spawn_model(self):
+        data = request.get_json(silent=True)
+        required = ['pose', 'name', 'xml']
+        if not data or not all(k in data for k in required):
+            return jsonify({'error': f'Missing required fields {required}'}), 400
+        return jsonify({'status': 'model spawned', 'data': data})
+
+    def delete_model(self):
+        data = request.get_json(silent=True)
+        if not data or 'name' not in data:
+            return jsonify({'error': 'Missing required field name'}), 400
+        return jsonify({'status': 'model deleted', 'name': data['name']})
+
+    def get_scene_model_state(self, scene):
+        if scene != self.scene_name:
+            return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
+        return self.scene_plugin.get_scene_model_state()
+
+    def set_scene_model_state(self, scene):
+        if scene != self.scene_name:
+            return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
+        return self.scene_plugin.post_scene_model_state()
+
+    def spawn_scene_model(self, scene):
+        if scene != self.scene_name:
+            return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
+        return self.scene_plugin.post_scene_model_spawn()
+
+if __name__ == '__main__':
+    server = GazeboSimHttpServer()
+    server.start(hostname='0.0.0.0', port=12300)
\ No newline at end of file
diff --git a/scene/grasp-box/plugin.py b/scene/grasp-box/plugin.py
index e69de29..dbe914a 100644
--- a/scene/grasp-box/plugin.py
+++ b/scene/grasp-box/plugin.py
@@ -0,0 +1,15 @@
+import scene_plugin
+
+
+class Plugin(scene_plugin.ScenePluginBase):
+    def __init__(self, scene_name):
+        super().__init__(scene_name)
+
+    def post_scene_model_spawn(self):
+        raise NotImplementedError()
+
+    def post_scene_model_state(self):
+        raise NotImplementedError()
+
+    def get_scene_model_state(self):
+        raise NotImplementedError()
\ No newline at end of file
diff --git a/scene_plugin.py b/scene_plugin.py
index d9c5f58..c97ff57 100644
--- a/scene_plugin.py
+++ b/scene_plugin.py
@@ -1,4 +1,4 @@
-class ScenePlugin:
+class ScenePluginBase:
     """
     场景自定义模型的处理。
     """