diff --git a/Quadruped.Driver/dynamixel_sdk/dynamixel.cs b/Quadruped.Driver/dynamixel_sdk/dynamixel.cs
index 7049f2c..3493b6f 100644
--- a/Quadruped.Driver/dynamixel_sdk/dynamixel.cs
+++ b/Quadruped.Driver/dynamixel_sdk/dynamixel.cs
@@ -31,6 +31,7 @@
 /* Author: Ryu Woon Jung (Leon) */
 
 using System;
+using System.IO;
 using System.Runtime.InteropServices;
 
 namespace Quadruped.Driver.dynamixel_sdk
@@ -39,6 +40,39 @@ class dynamixel
     {
         const string dll_path = "dxl_lib.ds";
 
+        static dynamixel()
+        {
+            var assemblyPath = AppDomain.CurrentDomain.BaseDirectory;
+            var architecture = RuntimeInformation.OSArchitecture;
+            if (architecture == Architecture.Arm || architecture == Architecture.Arm64)
+            {
+                const string newFileName = "libdxl_sbc_c.so";
+                File.Copy(Path.Combine(assemblyPath, newFileName), Path.Combine(assemblyPath, dll_path), true);
+            }
+            else if (architecture == Architecture.X64)
+            {
+                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+                {
+                    const string newFileName = "dxl_x64_c.dll";
+                    File.Copy(Path.Combine(assemblyPath, newFileName), Path.Combine(assemblyPath, dll_path), true);
+                }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    const string newFileName = "libdxl_x64_c.so";
+                    File.Copy(Path.Combine(assemblyPath, newFileName), Path.Combine(assemblyPath, dll_path), true);
+                }
+                else
+                {
+                    throw new NotSupportedException("This OS is not supported!");
+                }
+            }
+            else
+            {
+                throw new NotSupportedException("This architecture is not supported!");
+            }
+        }
+
+
         #region PortHandler
         [DllImport(dll_path)]
         public static extern int portHandler(string port_name);
diff --git a/Quadruped.NetCore.TestConsole/Program.cs b/Quadruped.NetCore.TestConsole/Program.cs
index f1a1a4f..5342437 100644
--- a/Quadruped.NetCore.TestConsole/Program.cs
+++ b/Quadruped.NetCore.TestConsole/Program.cs
@@ -3,7 +3,6 @@
 using System.IO;
 using System.Numerics;
 using System.Reflection;
-using System.Runtime.InteropServices;
 using Newtonsoft.Json;
 using Quadruped.Driver;
 
@@ -11,62 +10,9 @@ namespace Quadruped.NetCore.TestConsole
 {
     class Program
     {
-        private const string DxlLib = "dxl_lib.ds";
-
-        private static void SaveCorrectDxlLibrary()
-        {
-            // This is an extremly ugly way to load the correct library for dynamixel
-            // TODO: figure out a better way
-            Console.ForegroundColor = ConsoleColor.Yellow;
-            var architecture = RuntimeInformation.OSArchitecture;
-            Console.WriteLine($"Current architecture {architecture}");
-            if (architecture == Architecture.Arm || architecture == Architecture.Arm64)
-            {
-                const string newFileName = "libdxl_sbc_c.so";
-                Console.WriteLine($"Saving library as {newFileName}");
-                File.Copy(newFileName, DxlLib, true);
-            }
-            else if (architecture == Architecture.X64)
-            {
-                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
-                {
-                    Console.WriteLine($"Current OS is {OSPlatform.Windows}");
-                    const string newFileName = "dxl_x64_c.dll";
-                    Console.WriteLine($"Saving library as {newFileName}");
-                    File.Copy(newFileName, DxlLib, true);
-                }
-                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
-                {
-                    Console.WriteLine($"Current OS is {OSPlatform.Linux}");
-                    const string newFileName = "libdxl_x64_c.so";
-                    Console.WriteLine($"Saving library as {newFileName}");
-                    File.Copy(newFileName, DxlLib, true);
-                }
-                else
-                {
-                    throw new NotSupportedException("This OS is not supported!");
-                }
-            }
-            else
-            {
-                throw new NotSupportedException("This architecture is not supported!");
-            }
-            Console.ResetColor();
-        }
-        private static void DeleteDxlLibrary()
-        {
-            // This is an extremly ugly way to load the correct library for dynamixel
-            // TODO: figure out a better way
-            Console.ForegroundColor = ConsoleColor.Yellow;
-            Console.WriteLine($"Deleting {DxlLib}");
-            File.Delete(DxlLib);
-            Console.ResetColor();
-        }
-
         static void Main(string[] args)
         {
             Directory.SetCurrentDirectory(Path.GetDirectoryName(Assembly.GetEntryAssembly().Location));
-            SaveCorrectDxlLibrary();
             Console.WriteLine("Starting");
             using (var driver = new DynamixelDriver(args.Length > 0 ? args[0] : "COM4"))
             using (var quadruped = new QuadrupedIkDriver(driver))
@@ -132,7 +78,6 @@ static void Main(string[] args)
                     quadruped.DisableMotors();
                 }
             }
-            DeleteDxlLibrary();
             Console.WriteLine("Done");
         }
 
diff --git a/Quadruped.WebInterface/Program.cs b/Quadruped.WebInterface/Program.cs
index aae70d0..ae9a10e 100644
--- a/Quadruped.WebInterface/Program.cs
+++ b/Quadruped.WebInterface/Program.cs
@@ -11,16 +11,6 @@ public class Program
     {
         public static void Main(string[] args)
         {
-            try
-            {
-                SaveCorrectDxlLibrary();
-            }
-            catch (Exception )
-            {
-                Console.ForegroundColor = ConsoleColor.Red;
-                Console.WriteLine("Failed to load library!!!");
-                Console.ResetColor();
-            }
             BuildWebHost(args).Run();
         }
 
@@ -36,47 +26,5 @@ public static IWebHost BuildWebHost(string[] args) =>
                 .UseUrls("http://0.0.0.0:50093/")
                 .Build();
 
-        private const string DxlLib = "dxl_lib.ds";
-
-        private static void SaveCorrectDxlLibrary()
-        {
-            // This is an extremly ugly way to load the correct library for dynamixel
-            // TODO: figure out a better way
-            Console.ForegroundColor = ConsoleColor.Yellow;
-            var architecture = RuntimeInformation.OSArchitecture;
-            Console.WriteLine($"Current architecture {architecture}");
-            if (architecture == Architecture.Arm || architecture == Architecture.Arm64)
-            {
-                const string newFileName = "libdxl_sbc_c.so";
-                Console.WriteLine($"Saving library as {newFileName}");
-                File.Copy(newFileName, DxlLib, true);
-            }
-            else if (architecture == Architecture.X64)
-            {
-                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
-                {
-                    Console.WriteLine($"Current OS is {OSPlatform.Windows}");
-                    const string newFileName = "dxl_x64_c.dll";
-                    Console.WriteLine($"Saving library as {newFileName}");
-                    File.Copy(newFileName, DxlLib, true);
-                }
-                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
-                {
-                    Console.WriteLine($"Current OS is {OSPlatform.Linux}");
-                    const string newFileName = "libdxl_x64_c.so";
-                    Console.WriteLine($"Saving library as {newFileName}");
-                    File.Copy(newFileName, DxlLib, true);
-                }
-                else
-                {
-                    throw new NotSupportedException("This OS is not supported!");
-                }
-            }
-            else
-            {
-                throw new NotSupportedException("This architecture is not supported!");
-            }
-            Console.ResetColor();
-        }
     }
 }