diff --git a/http_server.py b/http_server.py
index 6e0971e..71b0a6e 100644
--- a/http_server.py
+++ b/http_server.py
@@ -12,6 +12,7 @@ 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
 from scene_mgr.manager import SceneManager
 
 
@@ -86,8 +87,12 @@ class GazeboSimHttpServer(HttpRPCServer):
         # 模块与数据
         self.rlock = threading.RLock()
         self.scene_mgr = SceneManager()
-        self.model_mgr = ModelManager()
-        self.heartbeat_server = HeartbeatServer()
+        self.model_mgr = None
+
+        def llost():
+            self.shut_scene()
+        self.heartbeat_server = HeartbeatServer(close_func=llost)
+        self.heartbeat_server.start()
         # 启动roscore
         self.roscore_proc = subprocess.Popen(
             ['roscore'], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
@@ -95,47 +100,160 @@ class GazeboSimHttpServer(HttpRPCServer):
         rospy.init_node('gazebo_world_manager', anonymous=True)
 
         # 添加接口
-        self._app.add_url_rule('/api/v1/scenes', view_func=self.query_scenes, methods=['GET'])
-        self._app.add_url_rule('/api/v1/scene/load', view_func=self.load_scene, methods=['GET'])
-        self._app.add_url_rule('/api/v1/scene/objects', view_func=self.get_scene_objects, methods=['GET'])
-        self._app.add_url_rule('/api/v1/scene/object', view_func=self.modify_scene_object, methods=['POST'])
-        self._app.add_url_rule('/api/v1/scene/object', view_func=self.add_scene_object, methods=['PUT'])
-        self._app.add_url_rule('/api/v1/scene/object', view_func=self.remove_scene_object, methods=['DELETE'])
+        self._app.add_url_rule(
+            '/api/v1/scenes', view_func=self.query_scenes, methods=['GET'])
+        self._app.add_url_rule('/api/v1/scene/load',
+                               view_func=self.start_scene, methods=['GET'])
+        self._app.add_url_rule('/api/v1/scene/objects',
+                               view_func=self.get_all_models, methods=['GET'])
+        self._app.add_url_rule(
+            '/api/v1/scene/object', view_func=self.modify_model, methods=['POST'])
+        self._app.add_url_rule('/api/v1/scene/object',
+                               view_func=self.add_model, methods=['PUT'])
+        self._app.add_url_rule(
+            '/api/v1/scene/object', view_func=self.remove_model, methods=['DELETE'])
+
+        print('Sever init done.')
 
     def query_scenes(self):
         # 查询场景
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                scs = self.scene_mgr.get_scenes()
+                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.')
+            return jsonify(ret)
 
     def start_scene(self):
         # 启动场景
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                # 检查参数
+                id = request.args.get('id', type=int, default=None)
+                if not id:
+                    raise ValueError('Scene ID is required')
+                # 关闭现有场景
+                if self.scene_mgr.running_scene:
+                    self.shut_scene()
+                    time.sleep(25)
+                # 启动场景
+                self.scene_mgr.start_scene(id)
+                self.model_mgr = ModelManager()
+                time.sleep(30)
+                self.model_mgr.load_models(
+                    self.scene_mgr.scene_id_dict[id].preload_models)
+            except Exception as e:
+                ret['code'] = 400
+                ret['message'] = str(e)
+            print('Server start scene done.')
+            return jsonify(ret)
 
     def shut_scene(self):
         # 关闭场景，仅供start_scene、心跳线程使用
         with self.rlock:
-            pass
+            try:
+                if not self.scene_mgr.running_scene:
+                    raise RuntimeError('No scene is running')
+
+                def shutt():
+                    self.scene_mgr.shut_scene_truly()
+
+                threading.Thread(target=shutt, daemon=True).start()
+                self.model_mgr = None
+            except Exception as e:
+                print(str(e))
+            print('Server shut scene done.')
 
     def get_all_models(self):
         # 获取所有模型
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                mods = self.model_mgr.get_all_models()
+                cnt = len(mods)
+                data = {}
+                data['total_count'] = cnt
+                data['list'] = [m.to_dict() for m in mods]
+            except Exception as e:
+                ret['code'] = 400
+                ret['message'] = str(e)
+            print('Server get all models done.')
+            return jsonify(ret)
 
     def modify_model(self):
         # 修改模型
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                # 解析参数
+                info = request.get_json()
+                scene_id = info.get('scene_id', type=int, default=None)
+                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)
+                if not object_id:
+                    raise ValueError('Object ID is required')
+                # 制作Model
+                info['id'] = object_id
+                model = self.model_mgr.get_model(object_id)
+                model.overwrite_from_dict(info)
+                # 添加模型
+                self.model_mgr.modify_model(model)
+            except Exception as e:
+                ret['code'] = 400
+                ret['message'] = str(e)
+            print('Server modify model done.')
+            return jsonify(ret)
 
     def add_model(self):
         # 添加模型
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                # 解析参数
+                info = request.get_json()
+                scene_id = info.get('scene_id', type=int, default=None)
+                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}')
+                # 制作Model，和modify的区别在于没有id
+                info['id'] = -1
+                model = Model.from_dict(info)
+                # 添加模型
+                self.model_mgr.add_model(model)
+            except Exception as e:
+                ret['code'] = 400
+                ret['message'] = str(e)
+            print('Server add model done.')
+            return jsonify(ret)
 
     def remove_model(self):
         # 删除模型
         with self.rlock:
-            pass
+            ret = {'code': 200, 'message': ''}
+            try:
+                # 解析参数
+                info = request.get_json()
+                scene_id = info.get('scene_id', type=int, default=None)
+                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)
+                # 删除模型
+                self.model_mgr.remove_model(object_id)
+            except Exception as e:
+                ret['code'] = 400
+                ret['message'] = str(e)
+            print('Server remove model done.')
+            return jsonify(ret)
+
 
 if __name__ == '__main__':
     server = GazeboSimHttpServer()
diff --git a/model_mgr/model_types.py b/model_mgr/model_types.py
index 31e8970..b77a668 100644
--- a/model_mgr/model_types.py
+++ b/model_mgr/model_types.py
@@ -13,6 +13,11 @@ class Position:
 
     def to_dict(self):
         return {"x": self.x, "y": self.y, "z": self.z}
+    
+    def overwrite_from_dict(self, data):
+        self.x = data.get("x", self.x)
+        self.y = data.get("y", self.y)
+        self.z = data.get("z", self.z)
 
     @classmethod
     def from_dict(cls, data):
@@ -32,6 +37,11 @@ class Orientation:
     def to_dict(self):
         return {"roll": self.roll, "pitch": self.pitch, "yaw": self.yaw}
 
+    def overwrite_from_dict(self, data):
+        self.roll = data.get("roll", self.roll)
+        self.pitch = data.get("pitch", self.pitch)
+        self.yaw = data.get("yaw", self.yaw)
+
     @classmethod
     def from_dict(cls, data):
         return cls(
@@ -52,6 +62,10 @@ class Pose:
     position: Position = dataclasses.field(default_factory=Position)
     orientation: Orientation = dataclasses.field(default_factory=Orientation)
 
+    def overwrite_from_dict(self, data):
+        self.position.overwrite_from_dict(data.get("position", {}))
+        self.orientation.overwrite_from_dict(data.get("orientation", {}))
+
     def to_dict(self):
         return {
             "position": self.position.to_dict(),
@@ -79,6 +93,11 @@ class Size:
             "height": self.height,
         }
 
+    def overwrite_from_dict(self, data):
+        self.length = data.get("length", self.length)
+        self.width = data.get("width", self.width)
+        self.height = data.get("height", self.height)
+
     @classmethod
     def from_dict(cls, data):
         return cls(
@@ -113,12 +132,17 @@ class Model:
     mass: int = 1
     size: Size = dataclasses.field(default_factory=Size)
 
-    def __post_init__(self):
+    @classmethod
+    def gen_id(cls):
         global _nr_model_id
+        global _nr_model_id_lock
+        with _nr_model_id_lock:
+            _nr_model_id += 1
+            return _nr_model_id
+
+    def __post_init__(self):
         if self.id == -1:
-            with _nr_model_id_lock:
-                self.id = _nr_model_id
-                _nr_model_id += 1
+            self.id = self.gen_id()
 
     def to_dict(self):
         return {
@@ -133,12 +157,23 @@ class Model:
             "size": self.size.to_dict(),
         }
 
+    def overwrite_from_dict(self, data):
+        self.name = data.get("name", self.name)
+        self.obj_type = ModelType(data.get("obj_type", self.obj_type))
+        self.id = data.get("id", self.id)
+        self.pose.overwrite_from_dict(data.get("pose", {}))
+        self.description = data.get("description", self.description)
+        self.ability_code = data.get("ability_code", self.ability_code)
+        self.tag_id = data.get("tag_id", self.tag_id)
+        self.mass = data.get("mass", self.mass)
+        self.size.overwrite_from_dict(data.get("size", {}))
+
     @classmethod
     def from_dict(cls, data):
         return cls(
             name=data.get("name", ""),
             obj_type=ModelType(data.get("obj_type", 0)),
-            id=data.get("id", -1),
+            id=data.get("id", cls.gen_id()), # 添加模型用
             pose=Pose.from_dict(data.get("pose", {})),
             description=data.get("description", ""),
             ability_code=data.get("ability_code", []),
diff --git a/scene_mgr/manager.py b/scene_mgr/manager.py
index 9a4736d..22f892d 100644
--- a/scene_mgr/manager.py
+++ b/scene_mgr/manager.py
@@ -52,7 +52,7 @@ class SceneManager:
             self.scene_name_dict[name] = scene
             self.scene_id_dict[scene.id] = scene
 
-    def get_scene(self):
+    def get_scenes(self):
         return list(self.scene_name_dict.values())
 
     def get_scripts(self, name):