diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index ec3352357..badb33a28 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -45,7 +45,6 @@ import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
-import ConfigureRobotBrainPanel from "./ui/panels/configuring/ConfigureRobotBrainPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
@@ -225,12 +224,6 @@ const initialPanels: ReactElement[] = [
     <ScoreboardPanel key="scoreboard" panelId="scoreboard" openLocation="top" sidePadding={8} />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
-    <ConfigureRobotBrainPanel
-        key="config-robot-brain"
-        panelId="config-robot-brain"
-        openLocation="right"
-        sidePadding={8}
-    />,
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
diff --git a/fission/src/mirabuf/MirabufLoader.ts b/fission/src/mirabuf/MirabufLoader.ts
index 1355d9e38..89b61c82e 100644
--- a/fission/src/mirabuf/MirabufLoader.ts
+++ b/fission/src/mirabuf/MirabufLoader.ts
@@ -10,8 +10,9 @@ export type MirabufCacheID = string
 
 export interface MirabufCacheInfo {
     id: MirabufCacheID
-    cacheKey: string
     miraType: MiraType
+    cacheKey: string
+    buffer?: ArrayBuffer
     name?: string
     thumbnailStorageID?: string
 }
@@ -29,10 +30,10 @@ const root = await navigator.storage.getDirectory()
 const robotFolderHandle = await root.getDirectoryHandle(robotsDirName, { create: true })
 const fieldFolderHandle = await root.getDirectoryHandle(fieldsDirName, { create: true })
 
-export const backUpRobots: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
-export const backUpFields: Map<MirabufCacheID, ArrayBuffer> = new Map<MirabufCacheID, ArrayBuffer>()
+export let backUpRobots: MapCache = {}
+export let backUpFields: MapCache = {}
 
-const canOPFS = await (async () => {
+export const canOPFS = await (async () => {
     try {
         if (robotFolderHandle.name == robotsDirName) {
             robotFolderHandle.entries
@@ -52,6 +53,21 @@ const canOPFS = await (async () => {
         }
     } catch (e) {
         console.log(`No access to OPFS`)
+
+        // Copy-pasted from RemoveAll()
+        for await (const key of robotFolderHandle.keys()) {
+            robotFolderHandle.removeEntry(key)
+        }
+        for await (const key of fieldFolderHandle.keys()) {
+            fieldFolderHandle.removeEntry(key)
+        }
+
+        window.localStorage.setItem(robotsDirName, "{}")
+        window.localStorage.setItem(fieldsDirName, "{}")
+
+        backUpRobots = {}
+        backUpFields = {}
+
         return false
     }
 })()
@@ -75,11 +91,10 @@ class MirabufCachingService {
      */
     public static GetCacheMap(miraType: MiraType): MapCache {
         if (
-            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") == MIRABUF_LOCALSTORAGE_GENERATION
+            (window.localStorage.getItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY) ?? "") != MIRABUF_LOCALSTORAGE_GENERATION
         ) {
             window.localStorage.setItem(MIRABUF_LOCALSTORAGE_GENERATION_KEY, MIRABUF_LOCALSTORAGE_GENERATION)
-            window.localStorage.setItem(robotsDirName, "{}")
-            window.localStorage.setItem(fieldsDirName, "{}")
+            this.RemoveAll()
             return {}
         }
 
@@ -188,16 +203,19 @@ class MirabufCachingService {
         try {
             const map: MapCache = this.GetCacheMap(miraType)
             const id = map[key].id
+            const _buffer = miraType == MiraType.ROBOT ? backUpRobots[id].buffer : backUpFields[id].buffer
             const _name = map[key].name
             const _thumbnailStorageID = map[key].thumbnailStorageID
             const info: MirabufCacheInfo = {
                 id: id,
                 cacheKey: key,
                 miraType: miraType,
+                buffer: _buffer,
                 name: name ?? _name,
                 thumbnailStorageID: thumbnailStorageID ?? _thumbnailStorageID,
             }
             map[key] = info
+            miraType == MiraType.ROBOT ? (backUpRobots[id] = info) : (backUpFields[id] = info)
             window.localStorage.setItem(miraType == MiraType.ROBOT ? robotsDirName : fieldsDirName, JSON.stringify(map))
             return true
         } catch (e) {
@@ -243,7 +261,7 @@ class MirabufCachingService {
             // Get buffer from hashMap. If not in hashMap, check OPFS. Otherwise, buff is undefined
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
             const buff =
-                cache.get(id) ??
+                cache[id]?.buffer ??
                 (await (async () => {
                     const fileHandle = canOPFS
                         ? await (miraType == MiraType.ROBOT ? robotFolderHandle : fieldFolderHandle).getFileHandle(id, {
@@ -299,7 +317,7 @@ class MirabufCachingService {
 
             const backUpCache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
             if (backUpCache) {
-                backUpCache.delete(id)
+                delete backUpCache[id]
             }
 
             World.AnalyticsSystem?.Event("Cache Remove", {
@@ -318,18 +336,20 @@ class MirabufCachingService {
      * Removes all Mirabuf files from the caching services. Mostly for debugging purposes.
      */
     public static async RemoveAll() {
-        for await (const key of robotFolderHandle.keys()) {
-            robotFolderHandle.removeEntry(key)
-        }
-        for await (const key of fieldFolderHandle.keys()) {
-            fieldFolderHandle.removeEntry(key)
+        if (canOPFS) {
+            for await (const key of robotFolderHandle.keys()) {
+                robotFolderHandle.removeEntry(key)
+            }
+            for await (const key of fieldFolderHandle.keys()) {
+                fieldFolderHandle.removeEntry(key)
+            }
         }
 
-        window.localStorage.removeItem(robotsDirName)
-        window.localStorage.removeItem(fieldsDirName)
+        window.localStorage.setItem(robotsDirName, "{}")
+        window.localStorage.setItem(fieldsDirName, "{}")
 
-        backUpRobots.clear()
-        backUpFields.clear()
+        backUpRobots = {}
+        backUpFields = {}
     }
 
     // Optional name for when assembly is being decoded anyway like in CacheAndGetLocal()
@@ -339,10 +359,10 @@ class MirabufCachingService {
         miraType?: MiraType,
         name?: string
     ): Promise<MirabufCacheInfo | undefined> {
-        const backupID = Date.now().toString()
         try {
+            const backupID = Date.now().toString()
             if (!miraType) {
-                console.log("Double loading")
+                console.debug("Double loading")
                 miraType = this.AssemblyFromBuffer(miraBuff).dynamic ? MiraType.ROBOT : MiraType.FIELD
             }
 
@@ -350,8 +370,8 @@ class MirabufCachingService {
             const map: MapCache = this.GetCacheMap(miraType)
             const info: MirabufCacheInfo = {
                 id: backupID,
-                cacheKey: key,
                 miraType: miraType,
+                cacheKey: key,
                 name: name,
             }
             map[key] = info
@@ -377,7 +397,14 @@ class MirabufCachingService {
 
             // Store in hash
             const cache = miraType == MiraType.ROBOT ? backUpRobots : backUpFields
-            cache.set(backupID, miraBuff)
+            const mapInfo: MirabufCacheInfo = {
+                id: backupID,
+                miraType: miraType,
+                cacheKey: key,
+                buffer: miraBuff,
+                name: name,
+            }
+            cache[backupID] = mapInfo
 
             return info
         } catch (e) {
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
deleted file mode 100644
index ffbd9b937..000000000
--- a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
+++ /dev/null
@@ -1,247 +0,0 @@
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
-import World from "@/systems/World"
-import Label, { LabelSize } from "@/ui/components/Label"
-import Button from "@/ui/components/Button"
-import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
-import { useMemo, useState } from "react"
-import { FaGear } from "react-icons/fa6"
-import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
-import { Divider, styled } from "@mui/material"
-import GenericElevatorBehavior from "@/systems/simulation/behavior/synthesis/GenericElevatorBehavior"
-import Stack, { StackDirection } from "@/ui/components/Stack"
-import { JSX } from "react/jsx-runtime"
-import ArcadeDriveBehavior from "@/systems/simulation/behavior/synthesis/ArcadeDriveBehavior"
-import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
-import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
-
-// eslint-disable-next-line react-refresh/only-export-components
-export enum ConfigureRobotBrainTypes {
-    SYNTHESIS = 0,
-    WIPLIB = 1,
-}
-
-const LabelStyled = styled(Label)({
-    fontWeight: 700,
-    margin: "0pt",
-})
-
-const DividerStyled = styled(Divider)({
-    borderColor: "white",
-})
-
-/**
- * Retrieves the joints of a robot and generates JSX elements for each joint.
- * @param robot The MirabufSceneObject representing the robot.
- * @returns An array of JSX elements representing the joints of the robot.
- */
-function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
-    const output: JSX.Element[] = []
-    let elementKey = 0
-
-    /* Iterate through each behavior of the robot */
-    const brain = robot.brain as SynthesisBrain
-    brain.behaviors.forEach(behavior => {
-        /* Adds the joints that the wheels are associated with */
-        if (behavior instanceof ArcadeDriveBehavior) {
-            behavior.wheels.forEach(wheel => {
-                const assoc = World.PhysicsSystem.GetBodyAssociation(
-                    wheel.constraint.GetVehicleBody().GetID()
-                ) as RigidNodeAssociate
-
-                if (!assoc || assoc.sceneObject !== robot) {
-                    return
-                }
-
-                output.push(
-                    <Stack
-                        key={`Behavior ${elementKey}`}
-                        direction={StackDirection.Horizontal}
-                        className="items-center"
-                    >
-                        <LabelStyled
-                            key={`wheel-node-notation ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            Wheel Node {elementKey}
-                        </LabelStyled>
-                        <LabelStyled
-                            key={`wheel-node-number ${elementKey}`}
-                            size={LabelSize.Small}
-                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                        >
-                            {assoc.rigidNodeId}
-                        </LabelStyled>
-                    </Stack>
-                )
-                elementKey++
-            })
-            output.push(<DividerStyled key={`divider-${elementKey}`} />)
-        } else if (behavior instanceof GenericArmBehavior) {
-            /* Adds the joints that the arm is associated with */
-            // Get the rigid node associates for the two bodies
-            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.hingeDriver.constraint.GetBody1().GetID()
-            ) as RigidNodeAssociate
-            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.hingeDriver.constraint.GetBody2().GetID()
-            ) as RigidNodeAssociate
-
-            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
-                return
-            }
-
-            output.push(
-                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
-                    <LabelStyled
-                        key={`arm-nodes-notation ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        Arm Nodes
-                    </LabelStyled>
-                    <LabelStyled
-                        key={`arm-nodes ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
-                    </LabelStyled>
-                </Stack>
-            )
-            elementKey++
-        } else if (behavior instanceof GenericElevatorBehavior) {
-            /* Adds the joints that the elevator is associated with */
-            // Get the rigid node associates for the two bodies
-            const assoc1 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.sliderDriver.constraint.GetBody1().GetID()
-            ) as RigidNodeAssociate
-            const assoc2 = World.PhysicsSystem.GetBodyAssociation(
-                behavior.sliderDriver.constraint.GetBody2().GetID()
-            ) as RigidNodeAssociate
-
-            if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
-                return
-            }
-
-            output.push(
-                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
-                    <LabelStyled
-                        key={`elevator-nodes-notation ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        Elevator Nodes
-                    </LabelStyled>
-                    <LabelStyled
-                        key={`elevator-nodes ${elementKey}`}
-                        size={LabelSize.Small}
-                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
-                    >
-                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
-                    </LabelStyled>
-                </Stack>
-            )
-            elementKey++
-        }
-    })
-
-    return output
-}
-
-const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
-    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
-    const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(ConfigureRobotBrainTypes.SYNTHESIS)
-    const robots = useMemo(() => {
-        const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
-            if (x instanceof MirabufSceneObject) {
-                return x.miraType === MiraType.ROBOT
-            }
-            return false
-        }) as MirabufSceneObject[]
-        return assemblies
-    }, [])
-
-    return (
-        <Panel
-            name="Configure Robot Brain"
-            icon={<FaGear />}
-            panelId={panelId}
-            openLocation={openLocation}
-            sidePadding={sidePadding}
-            onAccept={() => {}}
-            onCancel={() => {}}
-        >
-            {selectedRobot?.ejectorPreferences == undefined ? (
-                <>
-                    <Label>Select a robot</Label>
-                    {/** Scroll view for selecting a robot to configure */}
-                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
-                        {robots.map(mirabufSceneObject => {
-                            return (
-                                <Button
-                                    value={mirabufSceneObject.assemblyName}
-                                    onClick={() => {
-                                        setSelectedRobot(mirabufSceneObject)
-                                    }}
-                                    key={mirabufSceneObject.id}
-                                ></Button>
-                            )
-                        })}
-                    </div>
-                    {/* TODO: remove the accept button on this version */}
-                </>
-            ) : (
-                <>
-                    <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
-                        <ToggleButtonGroup
-                            value={viewType}
-                            exclusive
-                            onChange={(_, v) => v != null && setViewType(v)}
-                            sx={{
-                                alignSelf: "center",
-                            }}
-                        >
-                            <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
-                            <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
-                        </ToggleButtonGroup>
-                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
-                            <>
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Behaviors
-                                </LabelStyled>
-                                <DividerStyled />
-                                {GetJoints(selectedRobot)}
-                            </>
-                        ) : (
-                            <>
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example WIPLIB Brain
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 2
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 3
-                                </LabelStyled>
-                                <DividerStyled />
-
-                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
-                                    Example 4
-                                </LabelStyled>
-                                <DividerStyled />
-                            </>
-                        )}
-                    </div>
-                </>
-            )}
-        </Panel>
-    )
-}
-
-export default ConfigureRobotBrainPanel
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 351b5085f..6ef68f4d7 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -8,7 +8,14 @@ import {
     MirabufFilesUpdateEvent,
     RequestMirabufFiles,
 } from "@/aps/APSDataManagement"
-import MirabufCachingService, { MirabufCacheInfo, MirabufRemoteInfo, MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufCachingService, {
+    backUpFields,
+    backUpRobots,
+    canOPFS,
+    MirabufCacheInfo,
+    MirabufRemoteInfo,
+    MiraType,
+} from "@/mirabuf/MirabufLoader"
 import World from "@/systems/World"
 import { useTooltipControlContext } from "@/ui/TooltipContext"
 import { CreateMirabuf } from "@/mirabuf/MirabufSceneObject"
@@ -72,7 +79,9 @@ export type MiraManifest = {
 }
 
 function GetCacheInfo(miraType: MiraType): MirabufCacheInfo[] {
-    return Object.values(MirabufCachingService.GetCacheMap(miraType))
+    return Object.values(
+        canOPFS ? MirabufCachingService.GetCacheMap(miraType) : miraType == MiraType.ROBOT ? backUpRobots : backUpFields
+    )
 }
 
 function SpawnCachedMira(info: MirabufCacheInfo, type: MiraType, progressHandle?: ProgressHandle) {