diff --git a/README.md b/README.md
index 1dc3420..7fd507e 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,26 @@
+```sh
+sudo apt install liborocos-kdl-dev
+# follow instructions here to install pykdl: https://github.com/orocos/orocos_kinematics_dynamics/blob/master/python_orocos_kdl/INSTALL.md
+# or
+
+mkdir -p ws/src && cd ws/src
+git clone https://github.com/0nhc/active_grasp.git
+conda create -n active_grasp python=3.8
+cd active_grasp && conda activate active_grasp
+pip install -r requirements.txt
+conda install libffi==3.3
+conda install conda-forge::python-orocos-kdl
+cd ..
+git clone https://github.com/ethz-asl/vgn.git -b devel
+cd vgn
+pip install -r requirements.txt
+cd ..
+git clone https://github.com/mbreyer/robot_helpers.git
+cd ..
+rosdep install --from-paths src --ignore-src -r -y
+catkin build
+```
+
 # Closed-Loop Next-Best-View Planning for Target-Driven Grasping
 
 This repository contains the implementation of our IROS 2022 submission, _"Closed-Loop Next-Best-View Planning for Target-Driven Grasping"_. [[Paper](http://arxiv.org/abs/2207.10543)][[Video](https://youtu.be/67W_VbSsAMQ)]
diff --git a/package.xml b/package.xml
index e52b805..3800d71 100644
--- a/package.xml
+++ b/package.xml
@@ -20,4 +20,12 @@
     <depend>std_msgs</depend>
     <depend>trac_ik</depend>
     <depend>vgn</depend>
+    <depend>chomp_motion_planner</depend>
+    <depend>moveit_planners_chomp</depend>
+    <depend>pilz_industrial_motion</depend>
+    <depend>franka_msgs</depend>
+    <depend>franka_gripper</depend>
+    <depend>kdl_parser</depend>
+    <depend>kdl_parser_py</depend>
+    <depend>ros_numpy</depend>
 </package>
diff --git a/requirements.txt b/requirements.txt
index 57b33af..8da1092 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,10 @@
 numba
 pybullet==2.7.9
 trimesh
+empy==3.3.4
+jupyter-client==7.4.4
+rospkg
+scikit-image
+opencv-python
+numpy==1.22.0
+pyassimp
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