diff --git a/.gitignore b/.gitignore
index 1b85453..efc6e98 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,4 @@
 *.gitignore~
 saved_experiments/
 *.ipynb_checkpoints/
+maddux.egg-info/
diff --git a/README.md b/README.md
index 385a2fc..79f285d 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,13 @@ Created to use in a project for [Robert Platt's Robotics Course](http://www.ccs.
 - End Effector Position, Velocity
 
 
+### Installation
+
+```bash
+pip3 install -e .
+```
+
+
 ### Arm Visualization and Animations
 ```python
 import numpy as np
diff --git a/maddux/__init__.py b/maddux/__init__.py
index 9d8fe43..90f9962 100644
--- a/maddux/__init__.py
+++ b/maddux/__init__.py
@@ -1,6 +1,6 @@
-import robots
-import objects
-import plot
-import utils
-import examples
-from environment import Environment
+from maddux import robots
+from maddux import objects
+from maddux import plot
+from maddux import utils
+from maddux import examples
+from maddux.environment import Environment
diff --git a/maddux/environment.py b/maddux/environment.py
index 777d970..875c968 100644
--- a/maddux/environment.py
+++ b/maddux/environment.py
@@ -49,7 +49,7 @@ def run(self, duration):
         """
         duration_ms = int(duration * 1000)
 
-        for _ in xrange(duration_ms):
+        for _ in range(duration_ms):
             map(lambda obj: obj.step(), self.dynamic_objects)
             if self.collision():
                 break
@@ -79,7 +79,7 @@ def animate(self, duration=None, save_path=None):
 
         def update(i):
             ax.clear()
-            for _ in xrange(dynamic_iter_per_frame):
+            for _ in range(dynamic_iter_per_frame):
                 map(lambda obj: obj.step(), self.dynamic_objects)
                 # Check for collisions
                 self.collision()
diff --git a/maddux/objects/__init__.py b/maddux/objects/__init__.py
index fa8a063..fb29af0 100644
--- a/maddux/objects/__init__.py
+++ b/maddux/objects/__init__.py
@@ -1,3 +1,3 @@
-from ball import Ball
-from target import Target
-from obstacle import Obstacle
+from maddux.objects.ball import Ball
+from maddux.objects.target import Target
+from maddux.objects.obstacle import Obstacle
diff --git a/maddux/objects/ball.py b/maddux/objects/ball.py
index fb1551a..b6196fb 100644
--- a/maddux/objects/ball.py
+++ b/maddux/objects/ball.py
@@ -2,7 +2,7 @@
 A ball object to throw.
 """
 import numpy as np
-from throwable import ThrowableObject
+from maddux.objects.throwable import ThrowableObject
 from maddux.plot import plot_sphere
 
 
diff --git a/maddux/objects/obstacle.py b/maddux/objects/obstacle.py
index abce276..15d713d 100644
--- a/maddux/objects/obstacle.py
+++ b/maddux/objects/obstacle.py
@@ -3,7 +3,7 @@
 """
 import numpy as np
 from mpl_toolkits.mplot3d.art3d import Poly3DCollection
-from static import StaticObject
+from maddux.objects.static import StaticObject
 
 
 class Obstacle(StaticObject):
@@ -116,10 +116,10 @@ def display(self):
 
         :rtype: None
         """
-        print "Center: {}".format(self.center)
-        print "Width: {}".format(self.width)
-        print "Height: {}".format(self.height)
-        print "Depth: {}".format(self.depth)
+        print("Center: {}".format(self.center))
+        print("Width: {}".format(self.width))
+        print("Height: {}".format(self.height))
+        print("Depth: {}".format(self.depth))
 
     def plot(self, ax):
         """Plots the obstacle at its location
diff --git a/maddux/objects/target.py b/maddux/objects/target.py
index af68081..b9f32eb 100644
--- a/maddux/objects/target.py
+++ b/maddux/objects/target.py
@@ -1,7 +1,7 @@
 """
 A stationary object that something may collide with.
 """
-from static import StaticObject
+from maddux.objects.static import StaticObject
 import numpy as np
 
 HIT_ERROR = 0.01
@@ -45,8 +45,8 @@ def display(self):
         Display target properties
         :rtpye: None
         """
-        print "Position: {}".format(self.position)
-        print "Radius: {}".format(self.radius)
+        print("Position: {}".format(self.position))
+        print("Radius: {}".format(self.radius))
 
     def plot_data(self):
         """
diff --git a/maddux/objects/throwable.py b/maddux/objects/throwable.py
index 557b03a..3cf0aa5 100644
--- a/maddux/objects/throwable.py
+++ b/maddux/objects/throwable.py
@@ -3,7 +3,7 @@
 velocity, etc.
 """
 import numpy as np
-from dynamic import DynamicObject
+from maddux.objects.dynamic import DynamicObject
 
 GRAVITY = -9.81
 TIME = 0.001
@@ -44,6 +44,6 @@ def attach(self):
 
     def display(self):
         """Display information about object"""
-        print "Positon: {}".format(self.position)
-        print "Velocity: {}".format(self.velocity)
-        print "Attached: {}".format(self.attached)
+        print("Positon: {}".format(self.position))
+        print("Velocity: {}".format(self.velocity))
+        print("Attached: {}".format(self.attached))
diff --git a/maddux/robots/__init__.py b/maddux/robots/__init__.py
index 87daeff..614d969 100644
--- a/maddux/robots/__init__.py
+++ b/maddux/robots/__init__.py
@@ -1,3 +1,3 @@
-from link import Link
-from arm import Arm
-from predefined_robots import simple_human_arm, noodle_arm
+from maddux.robots.link import Link
+from maddux.robots.arm import Arm
+from maddux.robots.predefined_robots import simple_human_arm, noodle_arm
diff --git a/maddux/robots/arm.py b/maddux/robots/arm.py
index 361b1a9..811d11a 100644
--- a/maddux/robots/arm.py
+++ b/maddux/robots/arm.py
@@ -2,7 +2,7 @@
 A robot arm defined by a sequence of DH links
 """
 import numpy as np
-import utils
+from maddux.robots import utils
 
 
 class Arm:
@@ -252,14 +252,14 @@ def ikine(self, p, num_iterations=1000, alpha=0.1):
         """
         # Check to make sure alpha is between 0 and 1
         if not (0.0 <= alpha <= 1.0):
-            print "Invalid alpha. Defaulting to 0.1"
+            print("Invalid alpha. Defaulting to 0.1")
             alpha = 0.1
 
         q = self.get_current_joint_config()
         self.qs = np.array([q.copy()])
 
         goal = utils.create_homogeneous_transform_from_point(p)
-        for i in xrange(num_iterations):
+        for i in range(num_iterations):
             # Calculate position error of the end effector
             curr = self.fkine(q)
             err = goal - curr
@@ -394,5 +394,5 @@ def save_path(self, filename):
         :type filename: str
         """
         if len(self.qs) == 0:
-            print "No path to save"
+            print("No path to save")
         np.save(filename, self.qs)
diff --git a/maddux/robots/link.py b/maddux/robots/link.py
index cb85c53..03b96bb 100644
--- a/maddux/robots/link.py
+++ b/maddux/robots/link.py
@@ -145,10 +145,10 @@ def display(self):
 
         :rtype: None
         """
-        print 'Link angle: {}'.format(self.theta)
-        print 'Link offset: {}'.format(self.offset)
-        print 'Link length: {}'.format(self.length)
-        print 'Link twist: {}'.format(self.twist)
+        print('Link angle: {}'.format(self.theta))
+        print('Link offset: {}'.format(self.offset))
+        print('Link length: {}'.format(self.length))
+        print('Link twist: {}'.format(self.twist))
 
     def plot(self, ax):
         """Plots the link on the given matplotlib figure
diff --git a/maddux/robots/predefined_robots.py b/maddux/robots/predefined_robots.py
index f9f7ee1..122e698 100644
--- a/maddux/robots/predefined_robots.py
+++ b/maddux/robots/predefined_robots.py
@@ -1,5 +1,5 @@
-from link import Link
-from arm import Arm
+from maddux.robots.link import Link
+from maddux.robots.arm import Arm
 import numpy as np
 
 
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index d28519b..0000000
--- a/requirements.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-numpy
-matplotlib
-mplot3d
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..f583cf0
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,7 @@
+from setuptools import setup
+
+setup(name='maddux',
+      version='1.0.0',
+      install_requires=['numpy', 'matplotlib']  # And any other dependencies foo needs
+
+)