diff --git a/Assets/IRXRClient/Scripts/IRXRNetManager.cs b/Assets/IRXRClient/Scripts/IRXRNetManager.cs
index bf2a6ec..fda4468 100644
--- a/Assets/IRXRClient/Scripts/IRXRNetManager.cs
+++ b/Assets/IRXRClient/Scripts/IRXRNetManager.cs
@@ -19,11 +19,11 @@ public enum ServerPort {
 
 public enum ClientPort {
   Discovery = 7720,
-  Service = 7723,
-  Topic = 7724,
+  Service = 7730,
+  Topic = 7731,
 }
 
-class HostInfo {
+public class HostInfo {
   public string name;
   public string ip;
   public List<string> topics = new();
@@ -38,7 +38,7 @@ public class IRXRNetManager : Singleton<IRXRNetManager> {
   public Action ConnectionSpin;
   private UdpClient _discoveryClient;
   private string _conncetionID = null;
-  private HostInfo _serverInfo = null;
+  public HostInfo _serverInfo = null;
   private HostInfo _localInfo = new HostInfo();
 
   private List<NetMQSocket> _sockets;
@@ -81,16 +81,16 @@ void Awake() {
     // Default host name
     if (PlayerPrefs.HasKey("HostName"))
     {
-        // The key exists, proceed to get the value
-        string savedHostName = PlayerPrefs.GetString("HostName");
-        _localInfo.name = savedHostName;
-        Debug.Log($"Find Host Name: {_localInfo.name}");
+      // The key exists, proceed to get the value
+      string savedHostName = PlayerPrefs.GetString("HostName");
+      _localInfo.name = savedHostName;
+      Debug.Log($"Find Host Name: {_localInfo.name}");
     }
     else
     {
-        // The key does not exist, handle it accordingly
-        _localInfo.name = "UnityClient";
-        Debug.Log($"Host Name not found, using default name {_localInfo.name}");
+      // The key does not exist, handle it accordingly
+      _localInfo.name = "UnityClient";
+      Debug.Log($"Host Name not found, using default name {_localInfo.name}");
     }
   }
 
@@ -101,7 +101,8 @@ void Start() {
     OnConnectionStart += () => { isConnected = true; };
     ConnectionSpin += () => {};
     OnDisconnected += StopConnection;
-    RegisterServiceCallback("ChangeHostName", ChangeHoseName);
+    lastTimeStamp = -1.0f;
+    RegisterServiceCallback("ChangeHostName", ChangeHostName);
   }
 
   async void Update() {
@@ -231,6 +232,7 @@ public void ServiceRespondSpin() {
     if (!_resSocket.HasIn) return;
     string messageReceived = _resSocket.ReceiveFrameString();
     string[] messageSplit = messageReceived.Split(":", 2);
+    Debug.Log($"Received service request {messageSplit[0]}");
     if (_serviceCallbacks.ContainsKey(messageSplit[0])) {
       string response = _serviceCallbacks[messageSplit[0]](messageSplit[1]);
       _resSocket.SendFrame(response);
@@ -320,7 +322,7 @@ private static bool IsInSameSubnet(IPAddress ip1, IPAddress ip2, IPAddress subne
     return true;
   }
 
-  public string ChangeHoseName(string name) {
+  public string ChangeHostName(string name) {
     _localInfo.name = name;
     PlayerPrefs.SetString("HostName", name);
     Debug.Log($"Change Host Name to {_localInfo.name}");
@@ -335,4 +337,8 @@ public bool CheckServerService(string serviceName) {
     return false;
   }
 
+  public HostInfo GetServerInfo() {
+    return _serverInfo;
+  }
+
 }
\ No newline at end of file
diff --git a/Assets/SceneLoader/Scripts/SimData.cs b/Assets/SceneLoader/Scripts/SimData.cs
index bbbf316..736668f 100644
--- a/Assets/SceneLoader/Scripts/SimData.cs
+++ b/Assets/SceneLoader/Scripts/SimData.cs
@@ -22,12 +22,10 @@ public Vector3 GetScale() {
 }
 
 public class SimVisual {
-  // public string name;
   public string type;
-  public string mesh;
-  public string material;
+  public SimMesh mesh;
+  public SimMaterial material;
   public SimTransform trans;
-  public List<float> color;
 }
 
 
@@ -51,41 +49,28 @@ public class SimAsset {
 }
 
 public class SimMesh : SimAsset {
-  public string dataHash;
+  public string hash;
   public List<int> indicesLayout;
-
   public List<int> verticesLayout;
-
   public List<int> normalsLayout;
-
   public List<int> uvLayout;
 
-  [JsonIgnore]
-  public Mesh compiledMesh;
 }
 
 public class SimMaterial : SimAsset {
-  public string dataHash;
+  public string hash;
   public List<float> color;
   public List<float> emissionColor;
   public float specular;
   public float shininess;
   public float reflectance;
-  public string texture;
-  public List<float> textureSize;
-
-  [JsonIgnore]
-  public Material compiledMaterial;
+  public SimTexture texture;
 }
 
 public class SimTexture  : SimAsset { 
-  public string dataHash;
+  public string hash;
   public int width;
-
   public int height;
-
   public string texureType;
-
-  [JsonIgnore]
-  public Texture compiledTexture;
+  public List<float> textureSize;
 }
\ No newline at end of file
diff --git a/Assets/SceneLoader/Scripts/SimLoader.cs b/Assets/SceneLoader/Scripts/SimLoader.cs
index 795dd5e..28a118b 100644
--- a/Assets/SceneLoader/Scripts/SimLoader.cs
+++ b/Assets/SceneLoader/Scripts/SimLoader.cs
@@ -1,7 +1,8 @@
 using System;
+using System.Collections;
+using System.Collections.Generic;
 using UnityEngine;
 using System.Runtime.InteropServices;
-using System.Collections.Generic;
 using Newtonsoft.Json;
 using System.Threading.Tasks;
 using System.Linq;
@@ -12,7 +13,6 @@
 
 public class SceneLoader : MonoBehaviour {
 
-
   private object updateActionLock = new();
   private Action updateAction;
   public Action OnSceneLoaded;
@@ -20,101 +20,74 @@ public class SceneLoader : MonoBehaviour {
   private IRXRNetManager _netManager;
   private GameObject _simSceneObj;
   private SimScene _simScene;
-  private Dictionary<string, Transform> _simObjTrans = new Dictionary<string, Transform>();
-
-  private Dictionary<string, SimMesh> _simMeshes = new();
-  private Dictionary<string, SimMaterial> _simMaterials = new();
-  private Dictionary<string, SimTexture> _simTextures = new();
-  private Dictionary<string, Mesh> _cachedMeshes  = new();
-  private Dictionary<string, Texture> _cachedTextures = new();
+  private Dictionary<string, Transform> _simObjTrans = new ();
+  private Dictionary<string, List<Tuple<SimMesh, MeshFilter>>> _pendingMesh = new ();
+  private Dictionary<string, List<Tuple<SimTexture, Material>>> _pendingTexture = new ();
 
 
   void Start() {
     _netManager = IRXRNetManager.Instance;
     _netManager.OnDisconnected += ClearScene;
-    _netManager.OnConnectionStart += DownloadScene;
     updateAction = () => { };
     OnSceneLoaded += () => Debug.Log("Scene Loaded");
     OnSceneCleared += () => Debug.Log("Scene Cleared");
+    _netManager.RegisterServiceCallback("LoadSimScene", LoadSimScene);
+  }
+
+  private string LoadSimScene(string simSceneJsonStr) {
+    ClearScene();
+    _simScene = JsonConvert.DeserializeObject<SimScene>(simSceneJsonStr);
+    updateAction += BuildScene;
+    Debug.Log("Downloaded scene json and starting to build scene");
+    return "Received Scene";
   }
 
   void BuildScene() {
     // Don't include System.Diagnostics, Debug becomes disambiguous
+    // It is more accurate to use System.Diagnostics.Stopwatch, theoretically
     var local_watch = new System.Diagnostics.Stopwatch();
     local_watch.Start();
     Debug.Log("Building Scene");
     _simSceneObj = CreateObject(gameObject.transform, _simScene.root);
     local_watch.Stop();
     Debug.Log($"Building Scene in {local_watch.ElapsedMilliseconds} ms");
-    OnSceneLoaded.Invoke();
+    Task.Run(() => DownloadAssets());
   }
 
-  private void DownloadScene() {
-
+  public void DownloadAssets() {
     var local_watch = new System.Diagnostics.Stopwatch();
     local_watch.Start();
-
-    if (!_netManager.CheckServerService("Scene")) {
-      Debug.LogWarning("Scene Service is not found");
-      return;
+    int totalMeshSize = 0;
+    int totalTextureSize = 0;
+    foreach (string hash in _pendingMesh.Keys)
+    {
+      byte[] meshData = _netManager.RequestBytes("Asset", hash).ToArray();
+      foreach (Tuple<SimMesh, MeshFilter> pair in _pendingMesh[hash])
+      {
+        RunOnMainThread(() => BuildMesh(pair.Item1, pair.Item2, meshData));
+      }
+      totalMeshSize += meshData.Length;
     }
-    
-    string asset_info = _netManager.RequestString("Scene");
-    
-    if (asset_info == "Invalid Service") {
-      Debug.LogWarning("Invalid Service");
-      return;
+    foreach (string hash in _pendingTexture.Keys)
+    {
+      byte[] texData = _netManager.RequestBytes("Asset", hash).ToArray();
+      foreach (Tuple<SimTexture, Material> pair in _pendingTexture[hash])
+      {
+        RunOnMainThread(() => BuildTexture(pair.Item1, pair.Item2, texData));
+      }
+      totalTextureSize += texData.Length;
     }
-
-    _simScene = JsonConvert.DeserializeObject<SimScene>(asset_info);
-    DownloadAssets(_simScene);
+    double meshSizeMB = Math.Round(totalMeshSize / Math.Pow(2, 20), 2);
+    double textureSizeMB = Math.Round(totalTextureSize / Math.Pow(2, 20), 2);
     local_watch.Stop();
-    Debug.Log($"Downloaded Scene in {local_watch.ElapsedMilliseconds} ms");
-    updateAction += BuildScene;
+    _pendingMesh.Clear();
+    _pendingTexture.Clear();
+    // When debug run in the subthread, it will not send the log to the server
+    RunOnMainThread(() => Debug.Log($"Downloaded {meshSizeMB}MB meshes, {textureSizeMB}MB textures."));
+    RunOnMainThread(() => Debug.Log($"Downloading Asset in {local_watch.ElapsedMilliseconds} ms"));
+    RunOnMainThread(() => OnSceneLoaded.Invoke());
   }
 
-  public void DownloadAssets(SimScene scene) {
-    _simMeshes.Clear();
-    _simMaterials.Clear();
-    _simTextures.Clear();
-
-    int textureSizeAcc = 0;
-    int meshSizeAcc = 0;
-
-    scene.meshes.ForEach(mesh => {
-      meshSizeAcc += DownloadMesh(mesh);
-    });
-    scene.textures.ForEach(texture => {
-      textureSizeAcc += DownloadTexture(texture);
-    });  
-    scene.materials.ForEach(material => _simMaterials.Add(material.name, material));
-
-    print($"Downloaded {Math.Round(meshSizeAcc / Math.Pow(2, 20), 2)}MB meshes, {Math.Round(textureSizeAcc / Math.Pow(2, 20), 2)}MB textures, {scene.materials.Count} materials");
-  }
-
-  private int DownloadMesh(SimMesh mesh) {
-    int meshSize = 0;
-    if (!_cachedMeshes.TryGetValue(mesh.dataHash, out mesh.compiledMesh)) {
-      byte[] data = _netManager.RequestBytes("Asset", mesh.dataHash).ToArray();
-      meshSize += data.Length;
-      RunOnMainThread(() => ProcessMesh(mesh, data));
-    }
-    _simMeshes.TryAdd(mesh.name, mesh);
-    return meshSize;
-  }
-
-  private int DownloadTexture(SimTexture texture) {
-    int textureSize = 0;
-    if (!_cachedTextures.TryGetValue(texture.dataHash, out texture.compiledTexture)){
-      List<byte> data = _netManager.RequestBytes("Asset", texture.dataHash);
-      textureSize = data.Count;
-      RunOnMainThread(() => ProcessTexture(texture, data));
-    }
-    _simTextures.TryAdd(texture.name, texture);
-    return textureSize;
-  }
-
-
   void RunOnMainThread(Action action) {
     lock(updateActionLock) {
       updateAction += action;
@@ -128,75 +101,63 @@ void Update() {
     }
   }
 
-
   void ApplyTransform(Transform utransform, SimTransform trans) {
     utransform.localPosition = trans.GetPos();
     utransform.localRotation = trans.GetRot();
     utransform.localScale = trans.GetScale();
   }
 
-
   GameObject CreateObject(Transform root, SimBody body) {
     
     GameObject bodyRoot = new GameObject(body.name);
     bodyRoot.transform.SetParent(root, false);
     ApplyTransform(bodyRoot.transform, body.trans);
-
-    GameObject VisualContainer = new GameObject("Visuals");
-    VisualContainer.transform.SetParent(bodyRoot.transform, false);
-
-    foreach (SimVisual visual in body.visuals) { 
-      GameObject visualObj;
-      switch (visual.type) {
-        case "MESH": {
-          if (!_simMeshes.ContainsKey(visual.mesh)) {
-            Debug.LogWarning("Mesh not found, " + visual.mesh);
-            visualObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            visualObj.transform.localScale = new Vector3(0.01f, 0.01f, 0.01f);
+    if (body.visuals.Count != 0) {
+      GameObject VisualContainer = new GameObject($"{body.name}_Visuals");
+      VisualContainer.transform.SetParent(bodyRoot.transform, false);
+      foreach (SimVisual visual in body.visuals) { 
+        GameObject visualObj;
+        switch (visual.type) {
+          case "MESH": {
+            SimMesh simMesh = visual.mesh;
+            visualObj = new GameObject(simMesh.hash, typeof(MeshFilter), typeof(MeshRenderer));
+            if (!_pendingMesh.ContainsKey(simMesh.hash)) {
+              _pendingMesh[simMesh.hash] = new();
+            }
+            _pendingMesh[simMesh.hash].Add(new Tuple<SimMesh, MeshFilter>(simMesh, visualObj.GetComponent<MeshFilter>()));
             break;
           }
-          SimMesh asset = _simMeshes[visual.mesh];
-          visualObj = new GameObject(asset.name, typeof(MeshFilter), typeof(MeshRenderer));
-          visualObj.GetComponent<MeshFilter>().mesh = asset.compiledMesh; 
-          break;
+          case "CUBE":
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
+            break;
+          case "PLANE":
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Plane);    
+            break;
+          case "CYLINDER":
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
+            break;
+          case "CAPSULE":
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Capsule);
+            break;
+          case "SPHERE":
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            break;
+          default:
+            Debug.LogWarning("Invalid visual, " + visual.type + body.name);
+            visualObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            break;
         }
-        case "CUBE":
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
-          break;
-        case "PLANE":
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Plane);    
-          break;
-        case "CYLINDER":
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
-          break;
-        case "CAPSULE":
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Capsule);
-          break;
-        case "SPHERE":
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-          break;
-        default:
-          Debug.LogWarning("Invalid visual, " + visual.type + body.name);
-          visualObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-          break;
-      }
-
-      Renderer renderer = visualObj.GetComponent<Renderer>();
-      if (visual.material != null) {
-        var material = GetMaterial(visual.material);
-        if (material.compiledMaterial == null) {
-          ProcessMaterial(material);
+        Renderer renderer = visualObj.GetComponent<Renderer>();
+        if (visual.material != null) {
+          renderer.material = BuildMaterial(visual.material, body.name);
         }
-        renderer.material = material.compiledMaterial;
-      }
-      else {
-        renderer.material = CreateColorMaterial(visual.color);
+        else {
+          Debug.LogWarning($"Material of {body.name}_Visuals not found");
+        }
+        visualObj.transform.SetParent(VisualContainer.transform, false);
+        ApplyTransform(visualObj.transform, visual.trans);
       }
-
-      visualObj.transform.SetParent(VisualContainer.transform, false);
-      ApplyTransform(visualObj.transform, visual.trans);
     }
-    
     body.children.ForEach(body => CreateObject(bodyRoot.transform, body));
     _simObjTrans.Add(body.name, bodyRoot.transform);
     return bodyRoot;
@@ -205,88 +166,58 @@ GameObject CreateObject(Transform root, SimBody body) {
   void ClearScene() {
     OnSceneCleared.Invoke();
     if (_simSceneObj != null) Destroy(_simSceneObj);
-    _simSceneObj = null;
+    _pendingMesh.Clear();
+    _pendingTexture.Clear();
     _simObjTrans.Clear();
-    _simMeshes.Clear();
-    _simMaterials.Clear();
-    _simTextures.Clear();
   }
 
-  public SimMesh GetMesh(string id) => _simMeshes[id];
-  public SimTexture GetTexture(string id) => _simTextures[id];
-  public SimMaterial GetMaterial(string id) => _simMaterials[id];
-  
-  public Material CreateColorMaterial(List<float> color) {
-    var material = new Material(Shader.Find("Standard"));
-    if (color[3] < 1)
+  public Material BuildMaterial(SimMaterial simMat, string objName) {
+    Material mat = new Material(Shader.Find("Standard"));
+    // Transparency
+    if (simMat.color[3] < 1)
     {
-      material.SetFloat("_Mode", 2);
-      material.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha);
-      material.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
-      material.SetInt("_ZWrite", 0);
-      material.DisableKeyword("_ALPHATEST_ON");
-      material.EnableKeyword("_ALPHABLEND_ON");
-      material.DisableKeyword("_ALPHAPREMULTIPLY_ON");
-      material.renderQueue = 3000;
+      mat.SetFloat("_Mode", 2);
+      mat.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha);
+      mat.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
+      mat.SetInt("_ZWrite", 0);
+      mat.DisableKeyword("_ALPHATEST_ON");
+      mat.EnableKeyword("_ALPHABLEND_ON");
+      mat.DisableKeyword("_ALPHAPREMULTIPLY_ON");
+      mat.renderQueue = 3000;
+    }
+    mat.SetColor("_Color", new Color(simMat.color[0], simMat.color[1], simMat.color[2], simMat.color[3]));
+    if (simMat.emissionColor != null){
+      mat.SetColor("_emissionColor", new Color(simMat.emissionColor[0], simMat.emissionColor[1], simMat.emissionColor[2], simMat.emissionColor[3]));
+    }
+    mat.SetFloat("_specularHighlights", simMat.specular);
+    mat.SetFloat("_Smoothness", simMat.shininess);
+    mat.SetFloat("_GlossyReflections", simMat.reflectance);
+    if (simMat.texture != null) {
+      Debug.Log($"Texture found for {objName}");
+      SimTexture simTex = simMat.texture;
+      if (!_pendingTexture.ContainsKey(simTex.hash)) {
+        _pendingTexture[simTex.hash] = new ();
+      }
+      _pendingTexture[simTex.hash].Add(new Tuple<SimTexture, Material>(simTex, mat));
     }
-    material.SetColor("_Color", new Color(color[0], color[1], color[2], color[3]));
-    return material;
+    return mat;
   }
 
-  public void ProcessMesh(SimAsset asset, byte[] data) {
-    SimMesh mesh = (SimMesh)asset;
-
-
-    mesh.compiledMesh = new Mesh{
-      name = asset.name, 
-      vertices = MemoryMarshal.Cast<byte, Vector3>(new ReadOnlySpan<byte>(data, mesh.verticesLayout[0], mesh.verticesLayout[1] * sizeof(float))).ToArray(),
-      normals = MemoryMarshal.Cast<byte, Vector3>(new ReadOnlySpan<byte>(data, mesh.normalsLayout[0], mesh.normalsLayout[1] * sizeof(float))).ToArray(),
-      triangles = MemoryMarshal.Cast<byte, int>(new ReadOnlySpan<byte>(data, mesh.indicesLayout[0], mesh.indicesLayout[1] * sizeof(int))).ToArray(),
-      uv = MemoryMarshal.Cast<byte, Vector2>(new ReadOnlySpan<byte>(data, mesh.uvLayout[0], mesh.uvLayout[1] * sizeof(float))).ToArray()
+  public void BuildMesh(SimMesh simMesh, MeshFilter meshFilter, byte[] meshData) {
+    meshFilter.mesh = new Mesh{
+      vertices = MemoryMarshal.Cast<byte, Vector3>(new ReadOnlySpan<byte>(meshData, simMesh.verticesLayout[0], simMesh.verticesLayout[1] * sizeof(float))).ToArray(),
+      normals = MemoryMarshal.Cast<byte, Vector3>(new ReadOnlySpan<byte>(meshData, simMesh.normalsLayout[0], simMesh.normalsLayout[1] * sizeof(float))).ToArray(),
+      triangles = MemoryMarshal.Cast<byte, int>(new ReadOnlySpan<byte>(meshData, simMesh.indicesLayout[0], simMesh.indicesLayout[1] * sizeof(int))).ToArray(),
+      uv = MemoryMarshal.Cast<byte, Vector2>(new ReadOnlySpan<byte>(meshData, simMesh.uvLayout[0], simMesh.uvLayout[1] * sizeof(float))).ToArray()
     };
-
-    _cachedMeshes[mesh.dataHash] = mesh.compiledMesh;
-    _simMeshes[mesh.name] = mesh;
   }
 
-  public void ProcessMaterial(SimAsset asset) {
-    SimMaterial material = (SimMaterial)asset;
-
-    Material mat = new Material(Shader.Find("Standard"));
-
-    mat.SetColor("_Color", new Color(material.color[0], material.color[1], material.color[2], material.color[3]));
-    mat.SetColor("_emissionColor", new Color(material.emissionColor[0], material.emissionColor[1], material.emissionColor[2], material.emissionColor[3]));
-    mat.SetFloat("_specularHighlights", material.specular);
-    mat.SetFloat("_Smoothness", material.shininess);
-    mat.SetFloat("_GlossyReflections", material.reflectance);
-
-    if (material.texture != null) {
-      SimTexture texture = _simTextures[material.texture];
-
-      _simTextures[material.texture] = texture; // Just to be shure the texture is updated (investigate)
-
-      mat.mainTexture = texture.compiledTexture;
-      mat.mainTextureScale = new Vector2(material.textureSize[0], material.textureSize[1]);
-    }
-
-    material.compiledMaterial = mat;
-    _simMaterials[material.name] = material;
-  }
-
-  public SimAsset ProcessTexture(SimAsset asset, List<byte> data) {
-    SimTexture simTexture = (SimTexture)asset;
-
-    byte[] byteData = data.ToArray();
-    data.Clear();
-    data = null;
-
-    var tex = new Texture2D(simTexture.width, simTexture.height, TextureFormat.RGB24, false);
-    tex.LoadRawTextureData(byteData);
+  public void BuildTexture(SimTexture simTex, Material material, byte[] texData) {
+    Texture2D tex = new Texture2D(simTex.width, simTex.height, TextureFormat.RGB24, false);
+    tex.LoadRawTextureData(texData);
     tex.Apply();
-    
-    simTexture.compiledTexture = tex;
-    _cachedTextures[simTexture.dataHash] = simTexture.compiledTexture;
-    return asset;
+    material.mainTexture = tex;
+    material.mainTextureScale = new Vector2(simTex.textureSize[0], simTex.textureSize[1]);
   }
 
   public Dictionary<string, Transform> GetObjectsTrans() {