diff --git a/doc/source/api.rst b/doc/source/api.rst
index 6eccaaa..93288ca 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -58,6 +58,22 @@ You can also search for specific modules, classes, or functions in the
    ~movement_primitives.promp.ProMP
 
 
+:mod:`movement_primitives.io`
+=============================
+
+.. automodule:: movement_primitives.io
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.io.write_pickle
+   ~movement_primitives.io.read_pickle
+   ~movement_primitives.io.write_yaml
+   ~movement_primitives.io.read_yaml
+   ~movement_primitives.io.write_json
+   ~movement_primitives.io.read_json
+
+
 :mod:`movement_primitives.base`
 ===============================
 
@@ -68,3 +84,77 @@ You can also search for specific modules, classes, or functions in the
    :template: class.rst
 
    ~movement_primitives.base.PointToPointMovement
+
+
+:mod:`movement_primitives.data`
+===============================
+
+.. automodule:: movement_primitives.data
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.data.load_lasa
+   ~movement_primitives.data.generate_minimum_jerk
+   ~movement_primitives.data.generate_1d_trajectory_distribution
+
+
+:mod:`movement_primitives.kinematics`
+=====================================
+
+.. automodule:: movement_primitives.kinematics
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: class.rst
+
+   ~movement_primitives.kinematics.Kinematics
+   ~movement_primitives.kinematics.Chain
+
+
+:mod:`movement_primitives.plot`
+===============================
+
+.. automodule:: movement_primitives.plot
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.plot.plot_trajectory_in_rows
+   ~movement_primitives.plot.plot_distribution_in_rows
+
+
+:mod:`movement_primitives.visualization`
+========================================
+
+.. automodule:: movement_primitives.visualization
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.visualization.plot_pointcloud
+   ~movement_primitives.visualization.to_ellipsoid
+
+
+:mod:`movement_primitives.dmp_potential_field`
+==============================================
+
+.. automodule:: movement_primitives.dmp_potential_field
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.dmp_potential_field.plot_potential_field_2d
+
+
+:mod:`movement_primitives.spring_damper`
+========================================
+
+.. automodule:: movement_primitives.spring_damper
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: class.rst
+
+   ~movement_primitives.spring_damper.SpringDamper
+   ~movement_primitives.spring_damper.SpringDamperOrientation
diff --git a/doc/source/conf.py b/doc/source/conf.py
index a793689..fb449ff 100644
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -68,7 +68,6 @@
     "body_max_width": "90%",
     "navbar_links": [
         ("Readme", "README"),
-        #("Examples", "_auto_examples/index"),
         ("API", "api"),
     ],
 }
diff --git a/movement_primitives/base.py b/movement_primitives/base.py
index ec3070e..4de3e24 100644
--- a/movement_primitives/base.py
+++ b/movement_primitives/base.py
@@ -1,4 +1,7 @@
-"""Base classes of movement primitives."""
+"""Base Classes
+============
+
+Base classes of movement primitives."""
 import abc
 import numpy as np
 
diff --git a/movement_primitives/data/__init__.py b/movement_primitives/data/__init__.py
index 6d84bdb..ffcc7f2 100644
--- a/movement_primitives/data/__init__.py
+++ b/movement_primitives/data/__init__.py
@@ -1,4 +1,8 @@
-"""Tools for loading datasets."""
+"""Data
+====
+
+Tools for loading datasets.
+"""
 from ._lasa import load_lasa
 from ._minimum_jerk import generate_minimum_jerk
 from ._toy_1d import generate_1d_trajectory_distribution
diff --git a/movement_primitives/io.py b/movement_primitives/io.py
index dfe8c98..b66f1d9 100644
--- a/movement_primitives/io.py
+++ b/movement_primitives/io.py
@@ -1,4 +1,8 @@
-"""Input and output from and to files of movement primitives."""
+"""Input / Output
+==============
+
+Input and output from and to files of movement primitives.
+"""
 import inspect
 import json
 import pickle
diff --git a/movement_primitives/kinematics.py b/movement_primitives/kinematics.py
index 8a99677..a96015d 100644
--- a/movement_primitives/kinematics.py
+++ b/movement_primitives/kinematics.py
@@ -1,4 +1,7 @@
-"""Forward kinematics and a simple implementation of inverse kinematics."""
+"""Kinematics
+==========
+
+Forward kinematics and a simple implementation of inverse kinematics."""
 import math
 import numpy as np
 import numba
@@ -133,6 +136,9 @@ def create_chain(self, joint_names, base_frame, ee_frame, verbose=0):
 class Chain:
     """Kinematic chain.
 
+    You should not call this constructor manually. Use :class:`Kinematics` to
+    create a kinematic chain.
+
     Parameters
     ----------
     tm : FastUrdfTransformManager