diff --git a/app/src/App.svelte b/app/src/App.svelte
index 38c2ec3..ef8ca4d 100644
--- a/app/src/App.svelte
+++ b/app/src/App.svelte
@@ -9,11 +9,16 @@
     import FileCache from './lib/cache';
 	import { socketLocation } from './lib/location';
     import Settings from './routes/Settings.svelte';
+	import { jointNames, model } from './lib/store';
+	import { loadModelAsync } from './lib/modelLoader';
 
 	export let url = window.location.pathname 
-	onMount(() => {
+	onMount(async () => {
 		connect(socketLocation);
         registerFetchIntercept()
+        const [urdf, JOINT_NAME] = await loadModelAsync('/spot_micro.urdf.xacro') 
+        jointNames.set(JOINT_NAME)
+        model.set(urdf)
 	});
 
     const registerFetchIntercept = () => {
diff --git a/app/src/components/Model/ModelView.svelte b/app/src/components/Model/ModelView.svelte
index fe0bade..3f91d4e 100644
--- a/app/src/components/Model/ModelView.svelte
+++ b/app/src/components/Model/ModelView.svelte
@@ -4,7 +4,7 @@ import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial} from 'three';
 import {socket, angles, mpu } from '../../lib/socket'
 import { lerp } from '../../lib/utils';
 import uzip from 'uzip';
-import { outControllerData } from '../../lib/store';
+import { model, outControllerData } from '../../lib/store';
 import { ForwardKinematics } from '../../lib/kinematic';
 import location from '../../lib/location';
 import FileCache from '../../lib/cache';
@@ -37,23 +37,11 @@ interface EulerAngle {
     psi: number;
 }
 
-interface Point {
-    x: number;
-    y: number;
-    z: number;
-}
-
-interface BodyState {
-    euler: EulerAngle;
-    position: Point;
-    legPositions:[number, number, number, number];
-}
-
 const degToRad = (val:number) => val * (Math.PI / 180)
 
 onMount(async () => {
     await cacheModelFiles()
-    createScene()
+    await createScene()
 
     outControllerData.subscribe(data => {        
         $socket.send(JSON.stringify({
@@ -84,7 +72,7 @@ const updateAngles = (name:string, angle:number) => {
     $socket.send(JSON.stringify({type:"kinematic/angle", angle:angle * (180/Math.PI), id:servoNames.indexOf(name)}))
 }
 
-const createScene = () => {
+const createScene = async () => {
     sceneManager = new SceneBuilder()
         .addRenderer({ antialias: true, canvas: canvas, alpha: true})
         .addPerspectiveCamera({x:-0.5, y:0.5, z:1})
@@ -96,7 +84,7 @@ const createScene = () => {
         .addDirectionalLight({x:10, y:100, z:10, color:0xffffff, intensity:1})
         .addArrowHelper({origin:{x:0, y:0, z:0}, direction:{x:0, y:-2, z:0}})
         .addFogExp2(0xcccccc, 0.015)
-        .loadModel('/spot_micro.urdf.xacro')
+        .addModel($model)
         .addDragControl(updateAngles) 
         .handleResize()
         .addRenderCb(render)
diff --git a/app/src/components/Model/sceneBuilder.ts b/app/src/components/Model/sceneBuilder.ts
index eb8edc9..b21dfe5 100644
--- a/app/src/components/Model/sceneBuilder.ts
+++ b/app/src/components/Model/sceneBuilder.ts
@@ -214,7 +214,7 @@ export default class SceneBuilder {
 
     isJoint = j => j.isURDFJoint && j.jointType !== 'fixed';
 
-    highlightLinkGeometry = (m, revert:boolean, material) => {
+    highlightLinkGeometry = (m: URDFMimicJoint, revert:boolean, material: MeshPhongMaterial) => {
         const traverse = c => {
             if (c.type === 'Mesh') {
                 if (revert) {
@@ -238,26 +238,13 @@ export default class SceneBuilder {
         traverse(m);
     };
 
-    public loadModel = (urlXacro:string) => {
-        const xacroLoader = new XacroLoader();
-        xacroLoader.load(urlXacro, xml => {
-            const urdfLoader = new URDFLoader();
-            urdfLoader.workingPath = LoaderUtils.extractUrlBase(urlXacro);
-
-            this.model = urdfLoader.parse(xml);
-            this.model.rotation.x = -Math.PI / 2;
-            this.model.rotation.z = Math.PI / 2;
-            this.model.traverse(c => c.castShadow = true);
-            this.model.updateMatrixWorld(true);
-            this.model.scale.setScalar(10);      
-
-            this.scene.add(this.model);
-
-        }, (error) => console.log(error));
+    public addModel = (model: any) => {
+        this.model = model
+        this.scene.add(model)
         return this 
     }
 
-    public addDragControl = (updateAngle) => {
+    public addDragControl = (updateAngle:any) => {
         const highlightColor = '#FFFFFF'
         const highlightMaterial =
             new MeshPhongMaterial({
diff --git a/app/src/lib/modelLoader.ts b/app/src/lib/modelLoader.ts
new file mode 100644
index 0000000..e892ef3
--- /dev/null
+++ b/app/src/lib/modelLoader.ts
@@ -0,0 +1,31 @@
+import { LoaderUtils } from "three";
+import URDFLoader, { type URDFRobot } from "urdf-loader"
+import { XacroLoader } from "xacro-parser"
+
+export const loadModelAsync = async (url:string):Promise<[URDFRobot, string[]]> => {
+  return new Promise((resolve, reject) => {
+    const xacroLoader = new XacroLoader();
+    
+    xacroLoader.load(url, async (xml) => {
+      const urdfLoader = new URDFLoader();
+      
+      urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
+      
+      try {
+        const model = urdfLoader.parse(xml);
+        model.rotation.x = -Math.PI / 2;
+        model.rotation.z = Math.PI / 2;
+        model.traverse(c => c.castShadow = true);
+        model.updateMatrixWorld(true);
+        model.scale.setScalar(10);
+        const joints = Object.entries(model.joints)
+            .filter(joint => joint[1]._jointType !== 'fixed')
+            .map(joint => joint[0])
+
+        resolve([model, joints]); 
+      } catch (error) {
+        reject(error); 
+      }
+    }, (error) => reject(error)); 
+  });
+}
\ No newline at end of file
diff --git a/app/src/lib/store.ts b/app/src/lib/store.ts
index 49c54fb..26ed9ff 100644
--- a/app/src/lib/store.ts
+++ b/app/src/lib/store.ts
@@ -1,7 +1,12 @@
 import { writable } from 'svelte/store';
+import { persistentStore } from './utils';
 
 export const emulateModel = writable(true);
 
 export const input = writable({left:{x:0, y:0}, right:{x:0, y:0}, height:70, speed:0});
 
 export const outControllerData = writable(new Uint8Array([0, 128, 128, 128, 128, 70, 0]));
+
+export const jointNames = persistentStore("joint_names", [])
+
+export const model = writable()
\ No newline at end of file