diff --git a/.github/workflows/publish-doc.yml b/.github/workflows/publish-doc.yml
new file mode 100644
index 0000000..47be1e6
--- /dev/null
+++ b/.github/workflows/publish-doc.yml
@@ -0,0 +1,159 @@
+# action.yml
+name: 'Build Docs'
+
+on:
+  push:
+    branches:
+      - main
+      # - develop
+  release:
+    types: [published]
+
+jobs:
+  build_docs:
+    runs-on: ubuntu-latest
+    name: 'Build Sphinx documentation'
+    steps:
+      - name: 'Checkout the repo'
+        uses: actions/checkout@v4
+
+      - name: 'Run the buildscript'
+        # Workaround to keep tty working
+        # https://github.com/gfx/example-github-actions-with-tty
+        shell: 'script -q -e -c "bash {0}"'
+        run: ./docs/build-docs.sh ${{ fromJSON('{"tag":"html","branch":"html-dev"}')[github.ref_type] }}
+      
+      # Cache the build so we can deploy it
+      - name: 'cache built docs'
+        id: cache-build
+        uses: actions/cache/save@v4
+        with:
+          path: ${{ github.workspace }}/docs/build/html
+          key: ${{ github.sha }}-docs
+
+      # Cache version generation script if we are on a tag
+      - name: 'cache version generation script'
+        id: cache-version-script
+        uses: actions/cache/save@v4
+        if: github.ref_type == 'tag'
+        with:
+          path: ${{ github.workspace }}/docs/generate_versions.sh
+          key: ${{ github.sha }}-docs
+
+  deploy_main_docs:
+    permissions:
+      contents: write
+      pages: write
+    runs-on: ubuntu-latest
+    name: 'Publish latest docs to github pages'
+    needs: build_docs
+    if: github.ref_type == 'branch' && github.ref == 'refs/heads/main'
+    steps:
+      - name: 'Restore built docs cache'
+        uses: actions/cache/restore@v4
+        id: restore-build
+        with:
+          path: ${{ github.workspace }}/docs/build/html
+          key: ${{ github.sha }}-docs
+      
+      - name: 'Deploy to gh-pages'
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/build/html
+          publish_branch: gh-pages
+          destination_dir: dev
+
+  deploy_version_docs:
+    permissions:
+      contents: write
+      pages: write
+    runs-on: ubuntu-latest
+    name: 'Publish versioned documentation to github pages'
+    needs: build_docs
+    if: github.ref_type == 'tag'
+    steps:
+      - name: 'Checkout the repo'
+        uses: actions/checkout@v4
+        with:
+          ref: gh-pages
+          path: ./public
+
+      - name: 'Get cached version script'
+        uses: actions/cache/restore@v4
+        with:
+          path: ${{ github.workspace }}/docs/generate_versions.sh
+          key: ${{ github.sha }}-docs
+
+      - name: 'Get cached version build'
+        uses: actions/cache/restore@v4
+        with:
+          path: ${{ github.workspace }}/docs/build/html
+          key: ${{ github.sha }}-docs
+
+      - name: 'Move file & directories & run version update script'
+        shell: 'script -q -e -c "bash {0}"'
+        run: >
+          mv ./docs/generate_versions.sh ./public/generate_versions.sh
+          && mv ./docs/build/html ./public/${{ github.ref_name }}
+          && rm -rf ./docs/
+          && ./public/generate_versions.sh
+          && rm -f ./public/generate_versions.sh
+      
+      - name: 'Update latest symlink and kill git'
+        shell: 'script -q -e -c "bash {0}"'
+        run: cd ./public/ && ln -sfn ./${{ github.ref_name }} ./latest && ls -la
+
+      # - name: 'Deploy to gh-pages'
+      #   uses: peaceiris/actions-gh-pages@v3
+      #   with:
+      #     github_token: ${{ secrets.GITHUB_TOKEN }}
+      #     publish_dir: ./public
+      #     publish_branch: gh-pages
+      - name: 'Manually deploy to gh-pages'
+        run: |
+          git config --global user.email "${{github.actor}}@users.noreply.github.com"
+          git config --global user.name "${{github.actor}}"
+          cd ./public
+          git add .
+          git commit -m "deploy: ${{ github.sha }}" && git push origin gh-pages
+
+  # deploy_develop_docs:
+  #   permissions:
+  #     contents: write
+  #     pages: write
+  #   runs-on: ubuntu-latest
+  #   name: 'Publish development documentation to github pages'
+  #   needs: build_docs
+  #   if: endsWith(github.ref, '/develop')
+  #   steps:
+  #     - name: 'Restore built docs cache'
+  #       uses: actions/cache/restore@v3
+  #       id: restore-build
+  #       with:
+  #         path: ${{ github.workspace }}/docs/build/html
+  #         key: ${{ github.sha }}-docs
+
+  #     - name: 'Deploy to gh-pages'
+  #       uses: peaceiris/actions-gh-pages@v3
+  #       with:
+  #         github_token: ${{ secrets.GITHUB_TOKEN }}
+  #         publish_dir: ./docs/build/html
+  #         publish_branch: gh-pages
+  #         destination_dir: develop
+  
+
+  # Probably not necesary with cache
+  # cleanup:
+  #   runs-on: ubuntu-latest
+  #   needs: ['build_docs', 'deploy_main_docs', 'deploy_develop_docs']
+  #   name: 'cache cleanup'
+  #   if: always() && needs.build_docs.result == 'success'
+  #   # Fun trick to say we need the above to all finish but only care about the first success
+  #   steps:
+  #     - uses: adapttive/cache-delete-action@v1.1
+  #       with:
+  #         github-token: ${{ secrets.GITHUB_TOKEN }}
+  #         cache-key: ${{ github.sha }}-docs
+
+# TODO Versioned docs (look into the release event)
diff --git a/.gitignore b/.gitignore
index b4f2480..9f607ca 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,15 @@ video_test/
 .vscode/
 trace.json
 pyprof.out
-/render/
\ No newline at end of file
+/render/
+
+# Generated documentation
+docs/source/generated/
+docs/_site
+_site
+docs/dev
+
+# MACOS
+.ds_store
+.DS_Store
+.DS_STORE
diff --git a/README.md b/README.md
index 8eaf5e3..6a0bbb9 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,96 @@
-# Zono-Py
-Implementation of various set representations in Python
+# zonopy-robots
 
+Zonopy-robots is a Python package that extends the capabilities of the [zonopy](https://github.com/roahmlab/zonopy) library to facilitate robotics research.
+Where zonopy introduces continuous set types such as zonotopes into Python, this package provides additional tools for kinematics, dynamics, and loading of URDF's.
+For now, this package is particularly focused on the manipulation of arm robots.
+It integrates with [urchin](https://github.com/fishbotics/urchin) for loading and working with URDF (Unified Robot Description Format) models of articulated robots.
 
+## Features
 
+- **Continuous Set Types**: Support for zonotopes and other continuous set representations for geometric operations.
+- **Robot Kinematics and Dynamics**: Functions for calculating the kinematics and dynamics of robotic mechanisms.
+- **URDF Loader**: Integration with `urchin` to load and manipulate URDF models of articulated arm robots.
 
+## Requirements
+
+- zonopy: The base library for continuous set operations.
+- urchin: Required for URDF model loading and manipulation.
+
+## Installation
+
+Either clone the latest version or a specific tag of this repo and inside of the repo path run:
+
+```
+pip install -e .
+```
+
+## Quick Start
+
+Here's a simple example to get started with `zonopy-robots`:
+
+```python
+# Example: Load a robot model and build the forward kinematics of the robot joints following the ARMTD piecewise trajectory
+import numpy as np
+import zonopyrobots as zpr
+
+# There is an example URDF in this repo - kinova from kinova robotics' ros_kortex
+import os
+basedirname = os.path.dirname(zpr.__file__)
+urdfpath = os.path.join(basedirname, 'robots/assets/robots/kinova_arm/gen3.urdf')
+
+# Load the robot with zonopy-robots. we can access the underlying urchin representation with
+# `robot_model.urdf`, and we visualize it with urchin here.
+robot_model = zpr.ZonoArmRobot.load(urdfpath, device="cpu")
+robot_model.urdf.show()
+# Note that this line sometimes stops the script for some reason
+
+# Prepare the JRS generator
+traj_class = zpr.trajectory.PiecewiseArmTrajectory
+jrs_gen = zpr.JrsGenerator(robot_model, traj_class=traj_class, param_range=np.pi/6, batched=True)
+
+# Initial configuration for the online JRS
+q = np.zeros(robot_model.dof)
+qd = q
+qdd = q
+
+# Generate the JRS for that configuration
+rotatotopes = jrs_gen.gen_JRS(q, qd, qdd, only_R=True)
+
+# Get the position PZ's and rotation MPZ's
+fk = zpr.kinematics.forward_kinematics(rotatotopes, robot_model)
+# The result is a dictionary of link names and their position and rotation PZ's.
+```
+
+<!-- ## Contributing
+
+Contributions to `zonopy-robots` are welcome! Whether it's adding new features, improving existing ones, or reporting bugs, your input helps make this tool better for the research community.
+
+## License
+
+`zonopy-robots` is released under the MIT License. See the LICENSE file for more details. #still need to figure this out -->
+
+## How to Cite
+
+If you use zonopy or zonopy-robots in your research, please cite one or more of the following papers:
+
+Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres. J. Michaux, A. Li, Q. Chen, C. Chen, B. Zhang, and R. Vasudevan. ArXiv, 2024. (https://arxiv.org/abs/2402.08857)
+```bibtex
+@article{michaux2024sparrows,
+  title={Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres},
+  author={Jonathan Michaux and Adam Li and Qingyi Chen and Che Chen and Bohao Zhang and Ram Vasudevan},
+  journal={ArXiv},
+  year={2024},
+  volume={abs/2402.08857},
+  url={https://arxiv.org/abs/2402.08857}}
+```
+
+Reachability-based Trajectory Design with Neural Implicit Safety Constraints. J. B. Michaux, Y. S. Kwon, Q. Chen, and R. Vasudevan. Robotics: Science and Systems, 2023. (https://www.roboticsproceedings.org/rss19/p062.pdf)
+```bibtex
+@inproceedings{michaux2023rdf,
+  title={{Reachability-based Trajectory Design with Neural Implicit Safety Constraints}},
+  author={Jonathan B Michaux AND Yong Seok Kwon AND Qingyi Chen AND Ram Vasudevan},
+  booktitle={Proceedings of Robotics: Science and Systems},
+  year={2023},
+  address={Daegu, Republic of Korea},
+  doi={10.15607/RSS.2023.XIX.062}}
+```
diff --git a/docs/Dockerfile b/docs/Dockerfile
new file mode 100644
index 0000000..a36cec4
--- /dev/null
+++ b/docs/Dockerfile
@@ -0,0 +1,11 @@
+FROM sphinxdoc/sphinx:7.1.2
+
+ENV DEBIAN_FROTNEND="noninteractive" TZ="Etc/UTC"
+RUN apt-get update \
+    && apt-get install --no-install-recommends -y nodejs \
+    && apt-get clean \
+    && apt-get -y autoremove \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /tmp/requirements.txt
+RUN pip install -r /tmp/requirements.txt && rm /tmp/requirements.txt
diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 0000000..3fdcce4
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,24 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+# Inspired by pytorch, but opposite
+html-dev:
+	DEVELOP=1 make html
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/build-docs.sh b/docs/build-docs.sh
new file mode 100755
index 0000000..f01c13c
--- /dev/null
+++ b/docs/build-docs.sh
@@ -0,0 +1,62 @@
+#!/usr/bin/env bash
+
+# Some general conf
+NAME="zonopy-sphinx"
+IMAGE="roahmlab/zonopy-sphinx:latest"
+
+# Identify the script directory
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )/.." &> /dev/null && pwd )"
+
+## First build the docs container
+tar -cf - -C "$SCRIPT_DIR/docs" Dockerfile requirements.txt | docker build -t $IMAGE -
+
+## Configuration for script vars
+MOUNT_DIR="$SCRIPT_DIR"
+STARTING_DIR="$SCRIPT_DIR"
+USE_UNIQUE=true
+ADD_UNAME=true
+if $USE_UNIQUE;then
+    NAME+="-$(uuidgen)"
+fi
+if $ADD_UNAME;then
+    NAME="$(id -un)-$NAME"
+fi
+
+## Setup uid requirements and workdir for temporaries
+if [ -z "$HOME" ];then
+    HOME=/tmp
+fi
+if [ -z "$ID" ];then
+    ID=$(id -u)
+fi
+WORKDIR="$HOME/.docker"
+mkdir -p "$WORKDIR"
+DOCKER_HOME="$WORKDIR/$NAME"
+mkdir -p "$DOCKER_HOME"
+
+## Build out the Docker options
+DOCKER_OPTIONS=""
+DOCKER_OPTIONS+="-it "
+DOCKER_OPTIONS+="--rm "
+
+## USER ACCOUNT STUFF
+DOCKER_OPTIONS+="--user $(id -u):$(id -g) "
+DOCKER_OPTIONS+="$(id -G | sed -E "s/([[:blank:]]|^)([[:alnum:]_]+)/--group-add \2 /g") "
+DOCKER_OPTIONS+="-e HOME=$HOME "
+
+## PROJECT
+DOCKER_OPTIONS+="-v $MOUNT_DIR:/zonopy "
+DOCKER_OPTIONS+="-v $DOCKER_HOME:$HOME "
+DOCKER_OPTIONS+="--name $NAME "
+DOCKER_OPTIONS+="--workdir=/zonopy/docs "
+DOCKER_OPTIONS+="--entrypoint make "
+DOCKER_OPTIONS+="--net=host "
+
+## CLEANUP
+function cleanup {      
+  rm -rf "$DOCKER_HOME"
+}
+trap cleanup EXIT
+
+## RUN
+docker run $DOCKER_OPTIONS $IMAGE $1
diff --git a/docs/generate_versions.sh b/docs/generate_versions.sh
new file mode 100755
index 0000000..408869d
--- /dev/null
+++ b/docs/generate_versions.sh
@@ -0,0 +1,45 @@
+#!/bin/bash
+
+# This is a helper script to generate a JSON file listing all versions of zonopy's documentation
+# to be used by github actions during a release to update the version dropdown in the documentation.
+
+# Directory to scan for versions
+DIRECTORY="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+# Base URL for your site
+BASE_URL="https://roahmlab.github.io/zonopy-robots/"
+
+# Initialize the JSON array with special versions manually if they exist
+json_array="["
+
+# Add special versions if they exist
+if [ -d "$DIRECTORY/dev" ]; then
+  json_array+="{\"name\": \"devel\", \"version\": \"dev\", \"url\": \"${BASE_URL}dev/\"},"
+fi
+
+# Collect all version directories excluding special ones
+versions=()
+for dir in $(find $DIRECTORY -maxdepth 1 -mindepth 1 -type d ! -name 'dev' ! -name '.git' -exec basename {} \; | sort -Vr); do
+  versions+=("$dir")
+done
+
+# Determine the latest version for naming
+latest_version=${versions[0]}
+
+# Loop through the versions array to build JSON objects
+for version in "${versions[@]}"; do
+    if [ "$version" == "$latest_version" ]; then
+        # Mark the latest version with a special name
+        json_array+="{\"name\": \"latest ($version)\", \"version\": \"$version\", \"url\": \"${BASE_URL}${version}/\", \"preferred\": true},"
+    else
+        json_array+="{\"version\": \"$version\", \"url\": \"${BASE_URL}${version}/\"},"
+    fi
+done
+
+# Remove the last comma to properly close the JSON array
+json_array=${json_array%,}
+
+# Close the JSON array
+json_array+="]"
+
+# Output the JSON array
+echo $json_array | python3 -m json.tool > "$DIRECTORY/versions.json"
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 0000000..32bb245
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/requirements.txt b/docs/requirements.txt
new file mode 100644
index 0000000..62d6250
--- /dev/null
+++ b/docs/requirements.txt
@@ -0,0 +1,16 @@
+sphinx==7.1.2
+# Theme
+# furo==2024.1.29
+# pydata-sphinx-theme==0.15.2
+sphinx-book-theme==1.1.1
+# Extensions
+sphinxcontrib.katex==0.9.9
+matplotlib==3.8.2
+sphinx-copybutton==0.5.2
+sphinx_design==0.5.0
+myst-parser==2.0.0
+
+# External packages
+# torch==2.0.0
+numpy==1.24
+# scipy==1.9.0
diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css
new file mode 100644
index 0000000..5363ea8
--- /dev/null
+++ b/docs/source/_static/css/custom.css
@@ -0,0 +1,25 @@
+/* force a centered display math */
+span.katex-display {
+    width: 100%;
+}
+
+/* fix the version dropdown button */
+.version-switcher__button {
+    margin-bottom: unset !important;
+}
+
+/* fix dropdown menu position */
+.bd-header-article .dropdown-menu {
+    position: absolute;
+    inset: 0px auto auto 0px;
+    margin: 0px;
+    transform: translate3d(0px, 28px, 0px);
+}
+
+/* fix dropdown menu hover */
+.bd-header-article .dropdown-source-buttons:hover + .btn + .dropdown-menu {
+    display: block;
+}
+.bd-header-article .btn {
+    display: block;
+}
diff --git a/docs/source/_templates/autosummary/class.rst b/docs/source/_templates/autosummary/class.rst
new file mode 100644
index 0000000..e9bd0c7
--- /dev/null
+++ b/docs/source/_templates/autosummary/class.rst
@@ -0,0 +1,33 @@
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+   :members:
+   :show-inheritance:
+   :inherited-members:
+   :undoc-members:
+
+   {% block methods %}
+   .. automethod:: __init__
+
+   {% if methods %}
+   .. rubric:: {{ _('Methods') }}
+
+   .. autosummary::
+   {% for item in methods %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: {{ _('Attributes') }}
+
+   .. autosummary::
+   {% for item in attributes %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
diff --git a/docs/source/conf.py b/docs/source/conf.py
new file mode 100644
index 0000000..95bc815
--- /dev/null
+++ b/docs/source/conf.py
@@ -0,0 +1,100 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.viewcode",
+    "sphinxcontrib.katex",
+    "sphinx.ext.autosectionlabel",
+    "sphinx_copybutton",
+    "myst_parser",
+    "sphinx_design",
+]
+myst_enable_extensions = [
+    "colon_fence",
+    "deflist",
+    "substitution",
+    "html_image",
+]
+
+sd_fontawesome_latex = True
+
+katex_prerender = True
+
+templates_path = ['_templates']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+autodoc_mock_imports = ["torch", "scipy", "zonopy", "urchin", "trimesh", "networkx"]
+autosummary_generate = True  # Turn on sphinx.ext.autosummary
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = 'sphinx_book_theme'
+html_static_path = ['_static']
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+import os, sys
+sys.path.insert(0, os.path.abspath('../..'))
+main_ns = {}
+ver_path = os.path.join(os.path.abspath('../..'), ('zonopyrobots/properties.py'))
+with open(ver_path) as ver_file:
+    exec(ver_file.read(), main_ns)
+
+DEVELOP = os.environ.get("DEVELOP", False)
+if DEVELOP:
+    project = 'zonopy-robots (development)'
+    version = f"{main_ns['__version__']}-dev"
+    version_match = "dev"
+else:
+    project = 'zonopy-robots'
+    version = main_ns['__version__']
+    version_match = f"v{version}"
+
+
+copyright = '2024, ROAHM Lab'
+author = 'ROAHM Lab'
+release = version
+html_title = f"{project} v{version}"
+
+# Version switcher code
+json_url = "https://roahmlab.github.io/zonopy/versions.json"
+
+html_theme_options = {
+    "path_to_docs": version_match,
+    "repository_url": "https://github.com/roahmlab/zonopy-robots",
+    "repository_branch": "gh-pages",
+    "use_repository_button": True,
+    "switcher": {
+        "json_url": json_url,
+        "version_match": version_match,
+    },
+    "article_header_end": ["version-switcher", "article-header-buttons"],
+}
+
+html_css_files = [
+    "css/custom.css",
+]
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/3", None),
+    "numpy": ("https://numpy.org/doc/stable", None),
+    "torch": ('https://pytorch.org/docs/master/', None),
+    "zonopy": ('https://roahmlab.github.io/zonopy/latest/', None),
+    "trimesh": ('https://trimesh.org/', None),
+}
+
diff --git a/docs/source/dynamics.rst b/docs/source/dynamics.rst
new file mode 100644
index 0000000..a18c988
--- /dev/null
+++ b/docs/source/dynamics.rst
@@ -0,0 +1,13 @@
+Dynamics Module
+===============
+.. automodule:: zonopyrobots.dynamics
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopyrobots.dynamics
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    pzrnea
diff --git a/docs/source/index.rst b/docs/source/index.rst
new file mode 100644
index 0000000..f06460b
--- /dev/null
+++ b/docs/source/index.rst
@@ -0,0 +1,25 @@
+Zonopy Robots - Extensions to Zonopy for Robotics
+=================================================
+
+Zonopy-robots extends the Zonopy library to include functionality for robotics.
+This includes kinematics, dynamics, and trajectory planning for robotic systems.
+At the current moment, focus is on serial-link manipulators, but there are plans to support other types of robots.
+This project is still early in development, so much of the API is subject to change.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   robots
+   trajectories
+   kinematics
+   dynamics
+   utils
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/docs/source/kinematics.rst b/docs/source/kinematics.rst
new file mode 100644
index 0000000..63bb504
--- /dev/null
+++ b/docs/source/kinematics.rst
@@ -0,0 +1,13 @@
+Kinematics Module
+=================
+.. automodule:: zonopyrobots.kinematics
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopyrobots.kinematics
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    forward_kinematics
diff --git a/docs/source/robots.rst b/docs/source/robots.rst
new file mode 100644
index 0000000..8a1a144
--- /dev/null
+++ b/docs/source/robots.rst
@@ -0,0 +1,19 @@
+Robots Module
+=============
+.. automodule:: zonopyrobots
+    :members:
+    :show-inheritance:
+.. currentmodule:: zonopyrobots
+
+This module contains classes which specify robot parameters.
+
+Arm Robots
+----------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+    :recursive:
+
+    ZonoArmRobot
+    robots.armrobot.ZonoArmRobotLink
+    robots.armrobot.ZonoArmRobotJoint
diff --git a/docs/source/trajectories.rst b/docs/source/trajectories.rst
new file mode 100644
index 0000000..cddcb4e
--- /dev/null
+++ b/docs/source/trajectories.rst
@@ -0,0 +1,17 @@
+Common Trajectory Types
+=======================
+.. automodule:: zonopyrobots.trajectory
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopyrobots.trajectory
+
+Kinematic Trajectory Parameterizations
+--------------------------------------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+    :recursive:
+
+    PiecewiseArmTrajectory
+    BernsteinArmTrajectory
diff --git a/docs/source/utils.rst b/docs/source/utils.rst
new file mode 100644
index 0000000..82584f6
--- /dev/null
+++ b/docs/source/utils.rst
@@ -0,0 +1,13 @@
+Utility Functions
+=================
+.. automodule:: zonopyrobots
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopyrobots
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    make_cfg_dict
diff --git a/setup.py b/setup.py
index 7ab2aa0..561e7bc 100644
--- a/setup.py
+++ b/setup.py
@@ -1,8 +1,14 @@
 from setuptools import setup, find_packages
+from distutils.util import convert_path
+
+main_ns = {}
+ver_path = convert_path('zonopyrobots/properties.py')
+with open(ver_path) as ver_file:
+    exec(ver_file.read(), main_ns)
 
 setup(name='zonopy-robots',
-      version='0.0.1',
-      install_requires=['zonopy','urchin','scipy'], # scipy for loadmat in jrs trig
+      version=main_ns['__version__'],
+      install_requires=['zonopy','urchin'], # scipy for loadmat in jrs trig
       packages=find_packages(),
       package_dir={"": "."},
       package_data = {'zonopyrobots': ['robots/assets/**/*', 'joint_reachable_set/jrs_trig/**/*']}
diff --git a/zonopyrobots/__init__.py b/zonopyrobots/__init__.py
index 18b7a80..823627c 100644
--- a/zonopyrobots/__init__.py
+++ b/zonopyrobots/__init__.py
@@ -11,13 +11,5 @@
 
 import zonopy.internal as internal
 
-__version__ = "0.0.1"
-__logo__ = """
-*** ZONO-PY ROBOTS ***
-  _____         _____
- |     |__    __//
- |_____|  |__//‾‾
-    |_____|  |
-       |_____|
-"""
+
 
diff --git a/zonopyrobots/properties.py b/zonopyrobots/properties.py
new file mode 100644
index 0000000..881be7c
--- /dev/null
+++ b/zonopyrobots/properties.py
@@ -0,0 +1,22 @@
+"""
+A collection of internal properties for zonopyrobots.
+
+.. data:: __version__
+
+    Version of the zonopyrobots package. This value is automatically propagated from here to
+    the package's setup.py file and the Sphinx documentation.
+
+.. data:: __logo__
+
+    A fun little logo for zonopyrobots.
+
+"""
+__version__ = "0.0.1"
+__logo__ = """
+*** ZONO-PY ROBOTS ***
+  _____         _____
+ |     |__    __//
+ |_____|  |__//‾‾
+    |_____|  |
+       |_____|
+"""