diff --git a/app/package.json b/app/package.json
index a552114..ce24e3c 100644
--- a/app/package.json
+++ b/app/package.json
@@ -13,6 +13,7 @@
   "devDependencies": {
     "@sveltejs/vite-plugin-svelte": "^2.0.3",
     "@tsconfig/svelte": "^4.0.1",
+    "@types/three": "^0.154.0",
     "@typescript-eslint/eslint-plugin": "^5.45.0",
     "@typescript-eslint/parser": "^5.45.0",
     "autoprefixer": "^10.4.14",
@@ -29,8 +30,14 @@
     "vite-plugin-singlefile": "^0.13.5"
   },
   "dependencies": {
+    "mathjs": "^11.8.2",
     "nipplejs": "^0.10.1",
-    "svelte-hero-icons": "^5.0.0"
+    "svelte-hero-icons": "^5.0.0",
+    "svelte-routing": "^1.11.0",
+    "three": "^0.154.0",
+    "urdf-loader": "^0.12.0",
+    "uzip": "^0.20201231.0",
+    "xacro-parser": "^0.3.9"
   },
   "lint-staged": {
     "*.js": "eslint --cache --fix",
diff --git a/app/tsconfig.json b/app/tsconfig.json
index 3941f55..319ff21 100644
--- a/app/tsconfig.json
+++ b/app/tsconfig.json
@@ -5,6 +5,7 @@
 		"useDefineForClassFields": true,
 		"module": "ESNext",
 		"resolveJsonModule": true,
+        "moduleResolution": "Node",
 		/**
 		 * Typecheck JS in `.svelte` and `.js` files by default.
 		 * Disable checkJs if you'd like to use dynamic types in JS.