diff --git a/gazebo_ctrl.py b/gazebo_ctrl.py
index 3e8a02a..e194a4b 100644
--- a/gazebo_ctrl.py
+++ b/gazebo_ctrl.py
@@ -145,7 +145,7 @@ class GazeboROSController:
         """
         if not model_names or len(model_names) == 0:
             model_names = self.get_model_names()
-        print(f"Getting info for models: {model_names}")
+        # print(f"Getting info for models: {model_names}")
         model_info = []
         states = self.get_model_state(model_names)
         for name in model_names:
diff --git a/http_server.py b/http_server.py
index 71b0a6e..4f5cbc3 100644
--- a/http_server.py
+++ b/http_server.py
@@ -9,7 +9,6 @@ import rospy
 import werkzeug.serving
 from flask import jsonify, request
 
-import gazebo_ctrl
 from heartbeat import HeartbeatServer
 from model_mgr.manager import ModelManager
 from model_mgr.model_types import Model
@@ -113,6 +112,9 @@ class GazeboSimHttpServer(HttpRPCServer):
         self._app.add_url_rule(
             '/api/v1/scene/object', view_func=self.remove_model, methods=['DELETE'])
 
+        self._app.add_url_rule('/api/v1/scene/shut',
+                               view_func=self.shut_scene, methods=['GET'])
+
         print('Sever init done.')
 
     def query_scenes(self):
@@ -121,12 +123,12 @@ class GazeboSimHttpServer(HttpRPCServer):
             ret = {'code': 200, 'message': ''}
             try:
                 scs = self.scene_mgr.get_scenes()
-                data = [sc.to_dict for sc in scs]
+                data = [sc.to_dict() for sc in scs]
                 ret['data'] = data
             except Exception as e:
                 ret['code'] = 400
                 ret['message'] = str(e)
-            print('Server query scenes done.')
+            print(f'Server query scenes done. {ret}')
             return jsonify(ret)
 
     def start_scene(self):
@@ -155,8 +157,9 @@ class GazeboSimHttpServer(HttpRPCServer):
             return jsonify(ret)
 
     def shut_scene(self):
-        # 关闭场景，仅供start_scene、心跳线程使用
+        # 关闭场景
         with self.rlock:
+            ret = {'code': 200, 'message': ''}
             try:
                 if not self.scene_mgr.running_scene:
                     raise RuntimeError('No scene is running')
@@ -167,8 +170,10 @@ class GazeboSimHttpServer(HttpRPCServer):
                 threading.Thread(target=shutt, daemon=True).start()
                 self.model_mgr = None
             except Exception as e:
-                print(str(e))
+                ret['code'] = 400
+                ret['message'] = str(e)
             print('Server shut scene done.')
+            return ret
 
     def get_all_models(self):
         # 获取所有模型
@@ -180,10 +185,11 @@ class GazeboSimHttpServer(HttpRPCServer):
                 data = {}
                 data['total_count'] = cnt
                 data['list'] = [m.to_dict() for m in mods]
+                ret['data'] = data
             except Exception as e:
                 ret['code'] = 400
                 ret['message'] = str(e)
-            print('Server get all models done.')
+            print(f'Server get all models done. {ret}')
             return jsonify(ret)
 
     def modify_model(self):
@@ -193,11 +199,12 @@ class GazeboSimHttpServer(HttpRPCServer):
             try:
                 # 解析参数
                 info = request.get_json()
-                scene_id = info.get('scene_id', type=int, default=None)
+                print(f'get mod req {info}')
+                scene_id = info.get('id')
                 if not scene_id or scene_id != self.scene_mgr.running_scene:
                     raise ValueError(
                         f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
-                object_id = info.get('object_id', type=int, default=None)
+                object_id = info.get('object_id')
                 if not object_id:
                     raise ValueError('Object ID is required')
                 # 制作Model
@@ -219,7 +226,8 @@ class GazeboSimHttpServer(HttpRPCServer):
             try:
                 # 解析参数
                 info = request.get_json()
-                scene_id = info.get('scene_id', type=int, default=None)
+                print(f'get add req {info}')
+                scene_id = info.get('id')
                 if not scene_id or scene_id != self.scene_mgr.running_scene:
                     raise ValueError(
                         f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
@@ -241,11 +249,12 @@ class GazeboSimHttpServer(HttpRPCServer):
             try:
                 # 解析参数
                 info = request.get_json()
-                scene_id = info.get('scene_id', type=int, default=None)
+                print(f'get del req {info}')
+                scene_id = info.get('id')
                 if not scene_id or scene_id != self.scene_mgr.running_scene:
                     raise ValueError(
                         f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
-                object_id = info.get('object_id', type=int, default=None)
+                object_id = info.get('object_id')
                 # 删除模型
                 self.model_mgr.remove_model(object_id)
             except Exception as e:
diff --git a/model_mgr/manager.py b/model_mgr/manager.py
index a864533..8fed963 100644
--- a/model_mgr/manager.py
+++ b/model_mgr/manager.py
@@ -37,21 +37,25 @@ class ModelManager:
             if not add_sim:
                 return
             # TODO: （谁爱做谁做）场景决定id-类型定义
+            if model.obj_type == ModelType.ROBOT:
+                raise ValueError(f'Cannot add robot model {model.id} {model.name}')
             if model.obj_type == ModelType.TABLE:
                 self.generator.generate_table(name=model.name, x=model.pose.position.x, y=model.pose.position.y, height=model.pose.position.z,
                                               roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
             elif model.obj_type == ModelType.TAG:
-                self.generator.generate_apriltag(name=model.name, tag_id=model.id, x=model.pose.position.x, y=model.pose.position.y,
+                self.generator.generate_apriltag(name=model.name, tag_id=model.tag_id, x=model.pose.position.x, y=model.pose.position.y,
                                                  z=model.pose.position.z, roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
             elif model.obj_type == ModelType.BOX:
                 self.generator.generate_box_with_apriltag(name=model.name, l=model.size.length, w=model.size.width, h=model.size.height,
-                                                          tag_id=model.id, x=model.pose.position.x, y=model.pose.position.y, z=model.pose.position.z,
+                                                          tag_id=model.tag_id, x=model.pose.position.x, y=model.pose.position.y, z=model.pose.position.z,
                                                           roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
 
     def remove_model(self, model_id: int):
         with self.rlock:
             # 信息删除
             model = self.model_id_dict.get(model_id)
+            if model.obj_type == ModelType.ROBOT:
+                raise ValueError(f'Cannot remove robot model {model_id} {model.name}')
             name = model.name
             del self.model_id_dict[model_id]
             del self.model_name_dict[name]
@@ -76,6 +80,8 @@ class ModelManager:
     def modify_model(self, model: Model):
         with self.rlock:
             # 视觉元素tag.id、box.size、table.height无法动态修改，于是我们选择先删除再添加
+            if model.obj_type == ModelType.ROBOT:
+                raise ValueError(f'Cannot remove robot model {model.id} {model.name}')
             self.remove_model(model.id)
             self.add_model(model)
 
diff --git a/model_mgr/model_types.py b/model_mgr/model_types.py
index b77a668..8025485 100644
--- a/model_mgr/model_types.py
+++ b/model_mgr/model_types.py
@@ -150,7 +150,7 @@ class Model:
             "obj_type": int(self.obj_type),
             "id": self.id,
             "pose": self.pose.to_dict(),
-            "description": self.description,
+            "describe": self.description, # 输出为dict/json时名为describe
             "ability_code": self.ability_code,
             "tag_id": self.tag_id,
             "mass": self.mass,
diff --git a/scene/grasp_box/config.json b/scene/grasp_box/config.json
index 47ddac1..ce05973 100644
--- a/scene/grasp_box/config.json
+++ b/scene/grasp_box/config.json
@@ -15,7 +15,7 @@
             "description": "a table model",
             "pose": {
                 "position": {
-                    "x": 1,
+                    "x": 0,
                     "y": 2,
                     "z": 0.8
                 },
@@ -34,7 +34,7 @@
             "description": "a table model",
             "pose": {
                 "position": {
-                    "x": 1,
+                    "x": 0,
                     "y": -2,
                     "z": 0.8
                 },
@@ -53,7 +53,7 @@
             "description": "a box model",
             "pose": {
                 "position": {
-                    "x": 1,
+                    "x": 0,
                     "y": 2,
                     "z": 1.0
                 },
@@ -79,7 +79,7 @@
             "description": "a tag model",
             "pose": {
                 "position": {
-                    "x": 1,
+                    "x": 0,
                     "y": -1.8,
                     "z": 1.6
                 },
diff --git a/scene/grasp_box/pids.txt b/scene/grasp_box/pids.txt
deleted file mode 100644
index 3d4e63e..0000000
--- a/scene/grasp_box/pids.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-513161
-513368
-514751
diff --git a/scene_mgr/manager.py b/scene_mgr/manager.py
index 22f892d..dd47f84 100644
--- a/scene_mgr/manager.py
+++ b/scene_mgr/manager.py
@@ -1,10 +1,8 @@
-import dataclasses
-import importlib
 import json
 import os
 import signal
 import subprocess
-import threading
+import time
 
 from .scene_types import PreloadModel, Scene
 
@@ -66,7 +64,7 @@ class SceneManager:
         if name not in self.scene_name_dict:
             raise ValueError(f'scene {name} not found')
         self.pid_file = os.path.join(
-            os.path.dirname(__file__), 'scene', name, 'pids.txt')
+            os.path.dirname(__file__), '..', 'scene', name, 'pids.txt')
         if os.path.exists(self.pid_file):
             os.remove(self.pid_file)
         self.sim_process = subprocess.Popen(