diff --git a/docs/source/setup.rst b/docs/source/setup.rst
index 8c2ad89e..7bc73595 100644
--- a/docs/source/setup.rst
+++ b/docs/source/setup.rst
@@ -6,6 +6,16 @@ This package is being tested with:
 * Python 3.10 in Ubuntu 22.04
 * Optionally with ROS 2 Humble and Iron
 
+pip install (Limited)
+---------------------
+
+You can quickly install ``pyrobosim`` through PyPi.
+However, note that this will not include any of the ROS 2 or Task and Motion Planning functionality.
+
+::
+
+  pip install pyrobosim
+
 Local Setup
 -----------
 
diff --git a/pyrobosim/.gitignore b/pyrobosim/.gitignore
index c12fbea5..3efae642 100644
--- a/pyrobosim/.gitignore
+++ b/pyrobosim/.gitignore
@@ -1,2 +1,6 @@
-*build/
+# Build artifacts
+build/
+dist/
+
+# Autogenerated worlds
 data/worlds/
diff --git a/pyrobosim/README.md b/pyrobosim/README.md
new file mode 100644
index 00000000..efcdc488
--- /dev/null
+++ b/pyrobosim/README.md
@@ -0,0 +1,3 @@
+ROS 2 enabled 2D mobile robot simulator for behavior prototyping.
+
+Refer to the [GitHub repo](https://github.com/sea-bass/pyrobosim) or [full documentation](https://pyrobosim.readthedocs.io/) for more information.
diff --git a/pyrobosim/setup.cfg b/pyrobosim/setup.cfg
new file mode 100644
index 00000000..b88034e4
--- /dev/null
+++ b/pyrobosim/setup.cfg
@@ -0,0 +1,2 @@
+[metadata]
+description-file = README.md
diff --git a/pyrobosim/setup.py b/pyrobosim/setup.py
index fc3e3ac2..112b8fcd 100644
--- a/pyrobosim/setup.py
+++ b/pyrobosim/setup.py
@@ -1,5 +1,4 @@
 import os
-from os.path import join
 from setuptools import setup, find_packages
 
 # This is for standalone (non-ROS) use.
@@ -10,10 +9,13 @@ def get_files_in_folder(directory):
     file_list = []
     for path, _, fnames in os.walk(directory):
         for filename in fnames:
-            file_list.append(join("..", path, filename))
+            file_list.append(os.path.join("..", path, filename))
     return file_list
 
 
+project_name = "pyrobosim"
+
+data_dir = os.path.join(project_name, "data")
 install_requires = [
     "adjustText",
     "astar",
@@ -28,10 +30,9 @@ def get_files_in_folder(directory):
     "trimesh",
 ]
 
-project_name = "pyrobosim"
 setup(
     name=project_name,
-    version="0.0.0",
+    version="1.0.0",
     url="https://github.com/sea-bass/pyrobosim",
     author="Sebastian Castro",
     author_email="sebas.a.castro@gmail.com",
@@ -39,6 +40,6 @@ def get_files_in_folder(directory):
     license="MIT",
     install_requires=install_requires,
     packages=find_packages(),
-    package_data={project_name: get_files_in_folder(join(project_name, "data"))},
+    package_data={project_name: get_files_in_folder(data_dir)},
     zip_safe=True,
 )
diff --git a/pyrobosim_msgs/package.xml b/pyrobosim_msgs/package.xml
index 661b6155..123fcd1a 100644
--- a/pyrobosim_msgs/package.xml
+++ b/pyrobosim_msgs/package.xml
@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pyrobosim_msgs</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>Message definitions for pyrobosim package.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
-  <license>BSD</license>
+  <license>MIT</license>
 
   <!-- Build dependencies -->
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/pyrobosim_ros/package.xml b/pyrobosim_ros/package.xml
index c6a046ea..d2e139e9 100644
--- a/pyrobosim_ros/package.xml
+++ b/pyrobosim_ros/package.xml
@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pyrobosim_ros</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>ROS 2 wrapper around pyrobosim.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
-  <license>BSD</license>
+  <license>MIT</license>
 
   <!-- Build dependencies -->
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/pyrobosim_ros/setup.py b/pyrobosim_ros/setup.py
index 3523e986..4808c161 100644
--- a/pyrobosim_ros/setup.py
+++ b/pyrobosim_ros/setup.py
@@ -1,14 +1,15 @@
 from setuptools import setup, find_packages
 
 
+project_name = "pyrobosim_ros"
+
 install_requires = [
     "pyrobosim",
 ]
 
-project_name = "pyrobosim_ros"
 setup(
     name=project_name,
-    version="0.0.0",
+    version="1.0.0",
     url="https://github.com/sea-bass/pyrobosim",
     author="Sebastian Castro",
     author_email="sebas.a.castro@gmail.com",
diff --git a/test/test_pyrobosim.py b/test/test_pyrobosim.py
index 6345b953..c79776c8 100644
--- a/test/test_pyrobosim.py
+++ b/test/test_pyrobosim.py
@@ -14,4 +14,4 @@ def test_import():
 
 def test_version():
     ver = version("pyrobosim")
-    assert ver == "0.0.0", "Incorrect pyrobosim version"
+    assert ver == "1.0.0", "Incorrect pyrobosim version"