diff --git a/docs/Makefile b/docs/Makefile
index d0c3cbf10..d4bb2cbb9 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -5,8 +5,8 @@
 # from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
-SOURCEDIR     = source
-BUILDDIR      = build
+SOURCEDIR     = .
+BUILDDIR      = _build
 
 # Put it first so that "make" without argument is like "make help".
 help:
diff --git a/docs/guide/install.rst b/docs/guide/install.rst
new file mode 100644
index 000000000..b39c51904
--- /dev/null
+++ b/docs/guide/install.rst
@@ -0,0 +1,29 @@
+Installation
+============
+
+.. _installation:
+
+Prerequisites
+-------------
+
+JAXsim requires Python 3.10 or later. 
+
+Basic Installation
+------------
+
+You can install the project with `pypa/pip`, preferably in a `virtual environment`_:
+
+.. code-block:: bash
+
+   pip install jaxsim
+
+Have a look to `setup.cfg` for a complete list of optional dependencies.
+You can install all of them by specifying ``jaxsim[all]``.
+
+.. note::
+
+    If you need GPU support, please follow the official `installation instruction`_ of JAX.
+
+.. _pypa/pip: https://github.com/pypa/pip/
+.. _virtual environment: https://docs.python.org/3.8/tutorial/venv.html
+.. _installation instruction: https://github.com/google/jax/#installation
diff --git a/docs/modules/high_level.rst b/docs/modules/high_level.rst
new file mode 100644
index 000000000..16c8bd202
--- /dev/null
+++ b/docs/modules/high_level.rst
@@ -0,0 +1,8 @@
+.. _high_level:
+
+
+High Level 
+==========
+
+.. automodule:: jaxsim.high_level
+    :members:
diff --git a/docs/modules/math.rst b/docs/modules/math.rst
new file mode 100644
index 000000000..f4cc2dadd
--- /dev/null
+++ b/docs/modules/math.rst
@@ -0,0 +1,9 @@
+.. _math:
+
+
+Math 
+====
+
+.. automodule:: jaxsim.math
+    :members:
+    
\ No newline at end of file
diff --git a/docs/modules/parsers.rst b/docs/modules/parsers.rst
new file mode 100644
index 000000000..d98dc4141
--- /dev/null
+++ b/docs/modules/parsers.rst
@@ -0,0 +1,9 @@
+.. _parsers:
+
+
+Parsers 
+=======
+
+.. automodule:: jaxsim.parsers
+    :members:
+    
\ No newline at end of file
diff --git a/docs/modules/physics.rst b/docs/modules/physics.rst
new file mode 100644
index 000000000..ed44c4e46
--- /dev/null
+++ b/docs/modules/physics.rst
@@ -0,0 +1,9 @@
+.. _physics:
+
+
+Physics 
+=======
+
+.. automodule:: jaxsim.physics
+    :members:
+    
\ No newline at end of file
diff --git a/docs/modules/simulation.rst b/docs/modules/simulation.rst
new file mode 100644
index 000000000..e69de29bb
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 7606fb45d..a73292e94 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -15,8 +15,8 @@
 # -- Project information
 
 project = "JAXsim"
-copyright = "2022, Artifical and Mechanical Intelligence"
-author = "Artifical and Mechanical Intelligence"
+copyright = "2022, Artificial and Mechanical Intelligence"
+author = "Artificial and Mechanical Intelligence"
 
 release = "__version__"
 version = "main (" + __version__ + ")"
@@ -36,7 +36,11 @@
     "sphinx.ext.viewcode",
 ]
 
+# -- Options for intersphinx extension
+
+language = "en"
 templates_path = ["_templates"]
+master_doc = "index"
 
 # -- Options for HTML output
 
diff --git a/docs/source/index.rst b/docs/source/index.rst
index a0a791dfd..535d2fd84 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -4,10 +4,10 @@ JAXsim
 A scalable physics engine implemented with JAX. With JIT batteries 🔋
 
 .. warning::
-   This project is still experimental, APIs could change without notice. ️⚠
+   This project is still experimental, APIs could change without notice. 
 
 .. warning::
-   This simulator currently focuses on locomotion applications. Only contacts with ground are supported. ️⚠
+   This simulator currently focuses on locomotion applications. Only contacts with ground are supported.
 
 Features
 --------
@@ -33,23 +33,6 @@ Planned features:
 
 .. _JAX: https://github.com/google/jax/
 
-Installation
-------------
-
-You can install the project with `pypa/pip`_, preferably in a `virtual environment`_:
-
-.. code-block:: bash
-
-   pip install jaxsim
-
-Have a look to `setup.cfg`_ for a complete list of optional dependencies.
-You can install all of them by specifying ``jaxsim[all]``.
-
-**Note:** if you need GPU support, please follow the official `installation instruction`_ of JAX.
-
-.. _pypa/pip: https://github.com/pypa/pip/
-.. _virtual environment: https://docs.python.org/3.8/tutorial/venv.html
-.. _installation instruction: https://github.com/google/jax/#installation
 
 Credits
 -------
diff --git a/docs/source/usage.rst b/docs/source/usage.rst
deleted file mode 100644
index 205d2dcb1..000000000
--- a/docs/source/usage.rst
+++ /dev/null
@@ -1,34 +0,0 @@
-Usage
-=====
-
-.. _installation:
-
-Installation
-------------
-
-To use JAXsim, first install it using pip:
-
-.. code-block:: console
-
-   (.venv) $ pip install JAXsim
-
-.. Creating recipes
-.. ----------------
-
-.. To retrieve a list of random ingredients,
-.. you can use the ``lumache.get_random_ingredients()`` function:
-
-.. .. autofunction:: lumache.get_random_ingredients
-
-.. The ``kind`` parameter should be either ``"meat"``, ``"fish"``,
-.. or ``"veggies"``. Otherwise, :py:func:`lumache.get_random_ingredients`
-.. will raise an exception.
-
-.. .. autoexception:: lumache.InvalidKindError
-
-.. For example:
-
-.. >>> import lumache
-.. >>> lumache.get_random_ingredients()
-.. ['shells', 'gorgonzola', 'parsley']
-