diff --git a/README.md b/README.md
index 508934e..4699645 100644
--- a/README.md
+++ b/README.md
@@ -3,3 +3,77 @@
 The robot interface is a high-level API for controlling the robot. It implements the API as designed: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication.
 
 This is an implementation for the Pepper robot, using the Pepper SDK and Python 2.7 as required by the SDK.
+
+## Installation
+
+### Linux (or WSL)
+
+Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
+
+```bash
+pyenv install 2.7
+pyenv shell 2.7
+```
+
+You can check that this worked by typing
+
+```bash
+python -V
+```
+
+Which should return `Python 2.7.18`.
+
+Next, `cd` into this repository and create (and activate) a virtual environment:
+
+```bash
+cd <path to project>/
+python -m pip install virtualenv
+python -m virtualenv .venv
+source .venv/bin/activate
+```
+
+Install the required packages with
+
+```bash
+pip install -r requirements.txt
+```
+
+Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
+
+```bash
+wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Next, move into the `site-packages` directory and extract the file you just downloaded:
+
+```bash
+cd .venv/lib/python2.7/site-packages/
+tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Lastly, we need to inform our virtual environment where to find our newly installed package:
+
+```bash
+echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
+```
+
+That's it! Verify that it works with
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+You should now be able to run this project.
+
+### macOS
+
+Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
+
+Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:
+
+```shell
+curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
+```
+
+Then resume the steps from above.
diff --git a/src/robot_interface/main.py b/src/robot_interface/main.py
index a295484..a203357 100644
--- a/src/robot_interface/main.py
+++ b/src/robot_interface/main.py
@@ -16,7 +16,7 @@ def main_loop(context):
     """
     # When creating sockets, remember to add them to the `sockets` list of the state to ensure they're deinitialized
     main_receiver = MainReceiver(context)
-    state.endpoints.append(main_receiver)
+    state.sockets.append(main_receiver)
 
     # Sockets that can run on the main thread. These sockets' endpoints should not block for long (say 50 ms at most).
     receivers = [main_receiver]