diff --git a/README.md b/README.md
index 182f2df..e7cf504 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,55 @@
 # active_grasp
+
+## Setup
+
+### Hardware
+
+While the policies are hardware-agnostic, the experiments are designed to work with a Franka Emika Panda and an Intel Realsense D435 attached to the wrist of the robot.
+
+### Software
+
+The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
+
+- [MoveIt](https://github.com/ros-planning/panda_moveit_config.git)
+- [TRAC-IK](http://wiki.ros.org/trac_ik)
+- [VGN](https://github.com/ethz-asl/vgn)
+- `franka_ros` and `realsense2_camera` (only required for hardware experiments)
+
+Additional Python dependencies can be installed with
+
+```
+pip install -r requirements.txt
+```
+
+Finally, run `catkin build active_grasp` to build the package.
+
+## Experiments
+
+Start a roscore.
+
+```
+roscore
+```
+
+To run simulated grasping experiments.
+
+```
+# Start the simulated environment
+mon launch active_grasp env.launch sim:=true
+
+# Run the grasping experiment
+python3 scripts/run.py nbv
+```
+
+To run real-robot grasping experiments.
+
+```
+# Start the hardware drivers
+mon launch active_grasp hw.launch
+
+# Launch the hw environment
+mon launch active_grasp env.launch sim:=false
+
+# Run the grasping experiment
+python3 scripts/run.py nbv --wait-for-input
+```