diff --git a/docs/conf.py b/docs/conf.py
index 809ec1c28..36367b4cc 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -22,8 +22,8 @@
 copyright = "2022, Artificial and Mechanical Intelligence"
 author = "Artificial and Mechanical Intelligence"
 
-release = "__version__"
-version = "main (" + __version__ + ")"
+release = f"{__version__}"
+version = f"main ({__version__})"
 
 # -- General configuration
 
@@ -33,11 +33,16 @@
     "sphinx.ext.autodoc",
     "sphinx.ext.autosummary",
     "sphinx.ext.intersphinx",
-    "sphinx_rtd_theme",
-    "sphinx_autodoc_typehints",
     "sphinx.ext.mathjax",
     "sphinx.ext.ifconfig",
     "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
+    "sphinx.ext.napoleon",
+    "sphinx_autodoc_typehints",
+    "sphinx_multiversion",
+    # "sphinx_fontawesome",
+    # "breathe",
+    # "sphinx_tabs.tabs",
 ]
 
 # -- Options for intersphinx extension
@@ -50,6 +55,27 @@
 
 exclude_patterns = ["_build"]
 
+autodoc_typehints = "signature"
+
+# autodoc_default_options = {
+#     "members": True,
+#     "undoc-members": True,
+#     "member-order": "bysource",
+# }
+
+# # Napoleon settings
+# napoleon_google_docstring = True
+# napoleon_numpy_docstring = True
+# napoleon_include_init_with_doc = False
+# napoleon_include_private_with_doc = False
+# napoleon_include_special_with_doc = False
+# napoleon_use_admonition_for_examples = False
+# napoleon_use_admonition_for_notes = False
+# napoleon_use_admonition_for_references = False
+# napoleon_use_ivar = True
+# napoleon_use_param = True
+# napoleon_use_rtype = True
+
 # -- Options for HTML output
 
 html_theme = "sphinx_rtd_theme"
diff --git a/docs/index.rst b/docs/index.rst
index 224124454..c90c99a21 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -47,6 +47,7 @@ Planned features:
     modules/parsers
     modules/simulation
     modules/utils
+    modules/typing
 
 
 Credits
diff --git a/docs/modules/parsers.rst b/docs/modules/parsers.rst
index 17dca62df..e1b159ac9 100644
--- a/docs/modules/parsers.rst
+++ b/docs/modules/parsers.rst
@@ -6,16 +6,12 @@ Parsers
 
 .. automodule:: jaxsim.parsers.descriptions.collision
     :members:
-    :inherited-members:
 
 .. automodule:: jaxsim.parsers.descriptions.joint
     :members:
-    :inherited-members:
 
 .. automodule:: jaxsim.parsers.descriptions.link
     :members:
-    :inherited-members:
 
 .. automodule:: jaxsim.parsers.descriptions.model
     :members:
-    :inherited-members:
diff --git a/docs/modules/physics.rst b/docs/modules/physics.rst
index d91e80fbb..1e06af149 100644
--- a/docs/modules/physics.rst
+++ b/docs/modules/physics.rst
@@ -14,7 +14,6 @@ Algos
 .. autofunction:: jaxsim.physics.algos.aba.aba
 
 .. autofunction:: jaxsim.physics.algos.crba.crba
-    
 
 .. autofunction:: jaxsim.physics.algos.forward_kinematics.forward_kinematics
 
@@ -34,6 +33,8 @@ Algos
     :members:
     :inherited-members:
 
+.. _model:
+
 Model
 -----
 
diff --git a/docs/modules/typing.rst b/docs/modules/typing.rst
new file mode 100644
index 000000000..fe42d8c3a
--- /dev/null
+++ b/docs/modules/typing.rst
@@ -0,0 +1,35 @@
+.. _typing:
+
+
+Typing 
+======
+
+.. autoclass:: jaxsim.typing.PyTree
+    :undoc-members:
+
+.. autoclass:: jaxsim.typing.Tensor
+    :undoc-members:
+
+.. autoclass:: jaxsim.typing.Matrix
+    :undoc-members:
+
+.. autoclass:: jaxsim.typing.Bool
+
+.. autoclass:: jaxsim.typing.Int
+
+.. autoclass:: jaxsim.typing.Float
+
+.. autoclass:: jaxsim.typing.Vector
+    :undoc-members:
+
+.. autoclass:: jaxsim.typing.FloatJax
+
+.. autoclass:: jaxsim.typing.IntJax
+
+.. autoclass:: jaxsim.typing.ArrayJax
+
+.. autoclass:: jaxsim.typing.TensorJax
+
+.. autoclass:: jaxsim.typing.VectorJax
+
+.. autoclass:: jaxsim.typing.MatrixJax
\ No newline at end of file
diff --git a/docs/modules/utils.rst b/docs/modules/utils.rst
index 269f5f53d..49470257e 100644
--- a/docs/modules/utils.rst
+++ b/docs/modules/utils.rst
@@ -6,4 +6,8 @@ Utils
 
 .. automodule:: jaxsim.utils
     :members:
-    :inherited-members:
\ No newline at end of file
+    :inherited-members:
+
+.. autoclass:: jaxsim.utils.JaxsimDataclass
+    :members:
+    :inherited-members:
diff --git a/src/jaxsim/math/skew.py b/src/jaxsim/math/skew.py
index 2d0c2d114..eb1163df4 100644
--- a/src/jaxsim/math/skew.py
+++ b/src/jaxsim/math/skew.py
@@ -6,14 +6,6 @@
 class Skew:
     """
     A utility class for skew-symmetric matrix operations.
-
-    Methods:
-        wedge(vector: jtp.Vector) -> jtp.Matrix:
-            Compute the skew-symmetric matrix (wedge operator) of a 3D vector.
-
-        vee(matrix: jtp.Matrix) -> jtp.Vector:
-            Extract the 3D vector from a skew-symmetric matrix (vee operator).
-
     """
 
     @staticmethod
diff --git a/src/jaxsim/parsers/descriptions/joint.py b/src/jaxsim/parsers/descriptions/joint.py
index 6244e9024..e9e85cb14 100644
--- a/src/jaxsim/parsers/descriptions/joint.py
+++ b/src/jaxsim/parsers/descriptions/joint.py
@@ -12,7 +12,7 @@ class JointType(enum.IntEnum):
     """
     Enumeration of joint types for robot joints.
 
-    Attributes:
+    Args:
         F: Fixed joint (no movement).
         R: Revolute joint (rotation).
         P: Prismatic joint (translation).
@@ -44,7 +44,7 @@ class JointDescriptor:
     """
     Description of a joint type with a specific code.
 
-    Attributes:
+    Args:
         code (JointType): The code representing the joint type.
 
     """
diff --git a/src/jaxsim/parsers/descriptions/link.py b/src/jaxsim/parsers/descriptions/link.py
index e6a86897f..2f8a561de 100644
--- a/src/jaxsim/parsers/descriptions/link.py
+++ b/src/jaxsim/parsers/descriptions/link.py
@@ -24,11 +24,6 @@ class LinkDescription(JaxsimDataclass):
         parent (Optional[LinkDescription]): The parent link of this link.
         pose (jtp.Matrix): The pose transformation matrix of the link.
         children (List[LinkDescription]): List of child links.
-
-    Methods:
-        lump_with(link: LinkDescription, lumped_H_removed: jtp.Matrix) -> LinkDescription:
-            Combine the current link with another link, preserving mass and inertia.
-
     """
 
     name: Static[str]
diff --git a/src/jaxsim/parsers/descriptions/model.py b/src/jaxsim/parsers/descriptions/model.py
index 3421e4131..7e226022f 100644
--- a/src/jaxsim/parsers/descriptions/model.py
+++ b/src/jaxsim/parsers/descriptions/model.py
@@ -26,13 +26,6 @@ class ModelDescription(KinematicGraph):
         name (str): The name of the model.
         fixed_base (bool): Indicates whether the model has a fixed base.
         collision_shapes (List[CollisionShape]): List of collision shapes associated with the model.
-
-    Methods:
-        build_model_from(...): Build a model description from provided components.
-        reduce(...): Reduce the model by removing specified joints.
-        update_collision_shape_of_link(...): Enable or disable collision shapes associated with a link.
-        collision_shape_of_link(...): Get the collision shape associated with a specific link.
-        all_enabled_collidable_points(...): Get all enabled collidable points in the model.
     """
 
     name: str = None
diff --git a/src/jaxsim/physics/algos/aba.py b/src/jaxsim/physics/algos/aba.py
index bede3f7c5..c3e9449e2 100644
--- a/src/jaxsim/physics/algos/aba.py
+++ b/src/jaxsim/physics/algos/aba.py
@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 from typing import Tuple
 
 import jax
@@ -24,15 +26,15 @@ def aba(
     Articulated Body Algorithm (ABA) algorithm for forward dynamics.
 
     Args:
-        model (PhysicsModel): The physics model of the articulated body or robot.
-        xfb (jtp.Vector): The floating base state vector containing quaternion (4D) and position (3D).
-        q (jtp.Vector): Joint positions (Generalized coordinates).
-        qd (jtp.Vector): Joint velocities.
-        tau (jtp.Vector): Joint torques or forces.
-        f_ext (jtp.Matrix, optional): External forces and torques acting on each link. Defaults to None.
+        model: The physics model of the articulated body or robot.
+        xfb: The floating base state vector containing quaternion (4D) and position (3D).
+        q: Joint positions (Generalized coordinates).
+        qd: Joint velocities.
+        tau: Joint torques or forces.
+        f_ext: External forces and torques acting on each link. Defaults to None.
 
     Returns:
-        Tuple[jtp.Vector, jtp.Vector]: A tuple containing the resulting base acceleration (in inertial-fixed representation)
+        A tuple containing the resulting base acceleration (in inertial-fixed representation)
         and joint accelerations.
 
     Note:
diff --git a/src/jaxsim/physics/algos/soft_contacts.py b/src/jaxsim/physics/algos/soft_contacts.py
index 434692d93..c33d169c5 100644
--- a/src/jaxsim/physics/algos/soft_contacts.py
+++ b/src/jaxsim/physics/algos/soft_contacts.py
@@ -25,16 +25,6 @@ class SoftContactsState:
 
     Attributes:
         tangential_deformation (jtp.Matrix): The tangential deformation of the material at each collidable point.
-
-    Methods:
-        zero(physics_model: "jaxsim.physics.model.physics_model.PhysicsModel") -> SoftContactsState:
-            Modify the SoftContactsState instance imposing zero tangential deformation.
-
-        valid(physics_model: "jaxsim.physics.model.physics_model.PhysicsModel") -> bool:
-            Check if the soft contacts state has valid shape.
-
-        replace(validate: bool = True, kwargs) -> SoftContactsState:
-            Replace attributes of the soft contacts state.
     """
 
     tangential_deformation: jtp.Matrix
diff --git a/src/jaxsim/physics/model/ground_contact.py b/src/jaxsim/physics/model/ground_contact.py
index 7e30cef63..4776cac71 100644
--- a/src/jaxsim/physics/model/ground_contact.py
+++ b/src/jaxsim/physics/model/ground_contact.py
@@ -20,11 +20,6 @@ class GroundContact:
     Attributes:
         point (npt.NDArray): An array of shape (3, N) representing the 3D positions of collidable points.
         body (Static[npt.NDArray]): An array of integers representing the indices of the bodies (links) associated with each collidable point.
-
-    Methods:
-        build_from(model_description: ModelDescription) -> GroundContact:
-            A static method to build a GroundContact object from a ModelDescription instance.
-            It extracts collidable points' positions and their associated bodies from the model description.
     """
 
     point: npt.NDArray = dataclasses.field(default_factory=lambda: jnp.array([]))
diff --git a/src/jaxsim/physics/model/physics_model.py b/src/jaxsim/physics/model/physics_model.py
index 17faf4376..f932a1785 100644
--- a/src/jaxsim/physics/model/physics_model.py
+++ b/src/jaxsim/physics/model/physics_model.py
@@ -34,40 +34,6 @@ class PhysicsModel(JaxsimDataclass):
         is_floating_base (Static[bool]): A flag indicating whether the model has a floating base (default: False).
         gc (GroundContact): The ground contact points of the model (default: empty GroundContact instance).
         description (Static[jaxsim.parsers.descriptions.model.ModelDescription]): A description of the model (default: None).
-
-    Methods:
-        build_from(
-            model_description: jaxsim.parsers.descriptions.model.ModelDescription,
-            gravity: jtp.Vector = default_gravity()
-        ) -> PhysicsModel:
-            Create a PhysicsModel instance from a model description and gravity vector.
-
-        dofs() -> int:
-            Get the number of degrees of freedom (DOFs) in the model.
-
-        set_gravity(gravity: jtp.Vector) -> None:
-            Set the gravity vector for the model.
-
-        parent_array() -> jtp.Vector:
-            Get the parent array (λ(i)) for the model.
-
-        support_body_array(body_index: jtp.Int) -> jtp.Vector:
-            Get an array of body indices (κ(i)) that support the specified body.
-
-        tree_transforms() -> jtp.Array:
-            Get an array of tree transforms (pre(i)_X_λ(i)) for all bodies.
-
-        spatial_inertias() -> jtp.Array:
-            Get an array of spatial inertias (M_links) for all bodies.
-
-        jtype(joint_index: int) -> JointType:
-            Get the joint type for the specified joint index.
-
-        joint_transforms(q: jtp.Vector) -> jtp.Array:
-            Compute joint transforms (Xj) for the given joint positions (q).
-
-        motion_subspaces(q: jtp.Vector) -> jtp.Array:
-            Compute motion subspaces (SS) for the given joint positions (q).
     """
 
     NB: Static[int]
diff --git a/src/jaxsim/physics/model/physics_model_state.py b/src/jaxsim/physics/model/physics_model_state.py
index eae4a6072..81d49c777 100644
--- a/src/jaxsim/physics/model/physics_model_state.py
+++ b/src/jaxsim/physics/model/physics_model_state.py
@@ -21,23 +21,6 @@ class PhysicsModelState(JaxsimDataclass):
         base_quaternion (jtp.Vector): An array representing the base quaternion (default: [1.0, 0, 0, 0]).
         base_linear_velocity (jtp.Vector): An array representing the base linear velocity (default: zeros).
         base_angular_velocity (jtp.Vector): An array representing the base angular velocity (default: zeros).
-
-    Methods:
-        zero(physics_model: "jaxsim.physics.model.physics_model.PhysicsModel") -> PhysicsModelState:
-            Create a zero-initialized PhysicsModelState for the given physics model.
-
-        position() -> jtp.Vector:
-            Get the full state vector, including joint positions, joint velocities, base position, and base quaternion.
-
-        velocity() -> jtp.Vector:
-            Get the full velocity vector, including base linear velocity, base angular velocity, and joint velocities.
-
-        xfb() -> jtp.Vector:
-            Get the full state vector in the "xfb" format, which includes base quaternion, base position, base angular
-            velocity, and base linear velocity.
-
-        valid(physics_model: "jaxsim.physics.model.physics_model.PhysicsModel") -> bool:
-            Check if the state has valid shapes for the given physics model.
     """
 
     # Joint state
diff --git a/src/jaxsim/simulation/simulator.py b/src/jaxsim/simulation/simulator.py
index df412ac76..93adc6cb6 100644
--- a/src/jaxsim/simulation/simulator.py
+++ b/src/jaxsim/simulation/simulator.py
@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import dataclasses
 import functools
 import pathlib
@@ -389,9 +391,9 @@ def step(self, clear_inputs: bool = False) -> Dict[str, StepData]:
     def step_over_horizon(
         self,
         horizon_steps: jtp.Int,
-        callback_handler: Union["scb.SimulatorCallback", "scb.CallbackHandler"] = None,
+        callback_handler: Union[scb.SimulatorCallback, scb.CallbackHandler] = None,
         clear_inputs: jtp.Bool = False,
-    ) -> Union["JaxSim", Tuple["JaxSim", Tuple["scb.SimulatorCallback", jtp.PyTree]]]:
+    ) -> Union[JaxSim, Tuple[JaxSim, Tuple[scb.SimulatorCallback, jtp.PyTree]]]:
         """
         Advance the simulation by a given number of steps.
 
diff --git a/src/jaxsim/typing.py b/src/jaxsim/typing.py
index 82355cf33..905c0f954 100644
--- a/src/jaxsim/typing.py
+++ b/src/jaxsim/typing.py
@@ -1,5 +1,4 @@
 from typing import Any, Dict, Hashable, List, NamedTuple, Tuple, Union
-
 import jax.numpy as jnp
 import numpy as np
 import numpy.typing as npt