diff --git a/docs/requirements.txt b/docs/requirements.txt
index 2d25286..4163d3c 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,2 +1,3 @@
 myst-parser
 sphinx-rtd-theme
+sphinx-copybutton
diff --git a/docs/source/index.rst b/docs/source/index.rst
index bc2c589..e0bc714 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -29,9 +29,9 @@ API Reference
 -------------
 
 .. toctree::
-   :maxdepth: 1
+   :maxdepth: 2
 
-   mplib.pymp
+   pymp/index
 
 Indices and tables
 ==================
diff --git a/docs/source/mplib.pymp.rst b/docs/source/mplib.pymp.rst
deleted file mode 100644
index 0fc5f17..0000000
--- a/docs/source/mplib.pymp.rst
+++ /dev/null
@@ -1,42 +0,0 @@
-API Doc
-========
-
-articulation
-------------------------------------------
-
-.. automodule:: mplib.pymp.articulation
-   :members:
-   :undoc-members:
-   :show-inheritance:
-
-fcl
--------------------------------------------
-
-.. automodule:: mplib.pymp.fcl
-   :members:
-   :undoc-members:
-   :show-inheritance:
-
-ompl
---------------------------
-
-.. automodule:: mplib.pymp.ompl
-   :members:
-   :undoc-members:
-   :show-inheritance:
-
-pinocchio
----------------------------------
-
-.. automodule:: mplib.pymp.pinocchio
-   :members:
-   :undoc-members:
-   :show-inheritance:
-
-planning\_world
----------------------------------------
-
-.. automodule:: mplib.pymp.planning_world
-   :members:
-   :undoc-members:
-   :show-inheritance:
diff --git a/docs/source/mplib.rst b/docs/source/mplib.rst
index c0309c7..43ddb50 100644
--- a/docs/source/mplib.rst
+++ b/docs/source/mplib.rst
@@ -7,4 +7,4 @@ mplib.planner
 .. automodule:: mplib.planner
    :members:
    :undoc-members:
-   :show-inheritance:
\ No newline at end of file
+   :show-inheritance:
diff --git a/docs/source/pymp/collision_detection/fcl.rst b/docs/source/pymp/collision_detection/fcl.rst
new file mode 100644
index 0000000..66d01fb
--- /dev/null
+++ b/docs/source/pymp/collision_detection/fcl.rst
@@ -0,0 +1,7 @@
+fcl
+----------
+
+.. automodule:: mplib.pymp.collision_detection.fcl
+  :members:
+  :undoc-members:
+  :show-inheritance:
diff --git a/docs/source/pymp/collision_detection/index.rst b/docs/source/pymp/collision_detection/index.rst
new file mode 100644
index 0000000..f8760e7
--- /dev/null
+++ b/docs/source/pymp/collision_detection/index.rst
@@ -0,0 +1,4 @@
+.. automodule:: mplib.pymp.collision_detection
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/pymp/index.rst b/docs/source/pymp/index.rst
new file mode 100644
index 0000000..9133ebc
--- /dev/null
+++ b/docs/source/pymp/index.rst
@@ -0,0 +1,44 @@
+mplib API Reference
+======================
+
+.. toctree::
+   :maxdepth: 1
+
+   ../mplib
+   pymp
+
+collision_detection
+------------------------------------------
+
+Collision detection submodule
+
+.. toctree::
+   :maxdepth: 1
+
+   collision_detection/index
+
+.. toctree::
+   :maxdepth: 2
+
+   collision_detection/fcl
+
+kinematics
+-------------------------------------------
+
+Kinematics submodule
+
+.. toctree::
+   :maxdepth: 2
+
+   kinematics/pinocchio
+   kinematics/kdl
+
+planning
+--------------------------
+
+Planning submodule
+
+.. toctree::
+   :maxdepth: 2
+
+   planning/ompl
diff --git a/docs/source/pymp/kinematics/kdl.rst b/docs/source/pymp/kinematics/kdl.rst
new file mode 100644
index 0000000..a1b0c8c
--- /dev/null
+++ b/docs/source/pymp/kinematics/kdl.rst
@@ -0,0 +1,7 @@
+kdl
+-------
+
+.. automodule:: mplib.pymp.kinematics.kdl
+  :members:
+  :undoc-members:
+  :show-inheritance:
diff --git a/docs/source/pymp/kinematics/pinocchio.rst b/docs/source/pymp/kinematics/pinocchio.rst
new file mode 100644
index 0000000..46c7531
--- /dev/null
+++ b/docs/source/pymp/kinematics/pinocchio.rst
@@ -0,0 +1,7 @@
+pinocchio
+--------------
+
+.. automodule:: mplib.pymp.kinematics.pinocchio
+  :members:
+  :undoc-members:
+  :show-inheritance:
diff --git a/docs/source/pymp/planning/ompl.rst b/docs/source/pymp/planning/ompl.rst
new file mode 100644
index 0000000..00de58c
--- /dev/null
+++ b/docs/source/pymp/planning/ompl.rst
@@ -0,0 +1,7 @@
+ompl
+------------
+
+.. automodule:: mplib.pymp.planning.ompl
+  :members:
+  :undoc-members:
+  :show-inheritance:
diff --git a/docs/source/pymp/pymp.rst b/docs/source/pymp/pymp.rst
new file mode 100644
index 0000000..61fea63
--- /dev/null
+++ b/docs/source/pymp/pymp.rst
@@ -0,0 +1,4 @@
+.. automodule:: mplib.pymp
+   :members:
+   :undoc-members:
+   :show-inheritance: