diff --git a/docs/Makefile b/docs/Makefile
index d0c3cbf1..b63b368a 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -18,3 +18,11 @@ help:
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+docs:
+    # rm -rf source/apidoc docs/_build
+	sphinx-apidoc -fMeT -o source/apidoc ../src/bsk_rl
+	for f in source/apidoc/*.rst; do\
+		./apidoc_format.sh $$f ;\
+	done
+	$(MAKE) html
\ No newline at end of file
diff --git a/docs/apidoc_format.sh b/docs/apidoc_format.sh
new file mode 100755
index 00000000..8f2d987c
--- /dev/null
+++ b/docs/apidoc_format.sh
@@ -0,0 +1,21 @@
+for file in "$@"; do
+    # Check if file exists
+    if [ -f "$file" ]; then
+        # Get the first line of the file
+        body=$(tail -n +3 "$file")
+        first_line=$(head -n 1 "$file")
+        package_loc=$(echo "$first_line" | sed -E 's/( module| package)$//')
+        page_title="${package_loc##*.}"
+        echo "TITLE" "$page_title"
+
+        # Update the file with the modified first line
+        echo $page_title > $file
+        echo $(printf '=%.0s' $(seq 1 ${#page_title})) >> $file
+        echo "\`$package_loc\`" >> $file
+        echo "$body" >> $file
+
+        echo "Processed $file"
+    else
+        echo "File '$file' does not exist."
+    fi
+done
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 6a5065d3..5efa50c5 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -3,15 +3,18 @@
 # For the full list of built-in configuration values, see the documentation:
 # https://www.sphinx-doc.org/en/master/usage/configuration.html
 
+import datetime
+
 # -- Project information -----------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
 import os
 import sys
 
-#sys.path.insert(0, os.path.abspath(os.path.join("..", "..", "src")))
+# sys.path.insert(0, os.path.abspath(os.path.join("..", "..", "src")))
+now = datetime.datetime.now()
 
 project = "bsk_rl"
-copyright = "2023, Mark Stephenson"
+copyright = str(now.year) + ", Autonomous Vehicle Systems (AVS) Laboratory"
 author = "Mark Stephenson"
 release = "0.0.0"
 
@@ -25,17 +28,40 @@
     "sphinx.ext.autodoc",
     "sphinx.ext.viewcode",
     "sphinx.ext.napoleon",
+    "sphinx_rtd_theme",
 ]
 
 templates_path = ["_templates"]
 exclude_patterns = []
 
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = "en"
+
 
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
 
 html_theme = "sphinx_rtd_theme"
+html_theme_options = {
+    "style_nav_header_background": "#CFB87C",
+    "navigation_depth": -1,
+}
 html_static_path = ["_static"]
-html_css_files = ["custom.css"]
+# html_css_files = ["custom.css"]
+html_logo = "./_images/static/Basilisk-Logo.png"
+
+add_module_names = False
+
+
+def skip(app, what, name, obj, would_skip, options):
+    if name == "__init__":
+        return False
+    return would_skip
+
 
-add_module_names = False
\ No newline at end of file
+def setup(app):
+    app.connect("autodoc-skip-member", skip)
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 3640aaa4..9ff62891 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -16,8 +16,9 @@ Check out the :doc:`usage` section for further information.
 .. toctree::
    :maxdepth: 2
    :caption: Contents:
+   :titlesonly:
 
-   documentation/modules
+   apidoc/bsk_rl
 
 
 Indices and tables
diff --git a/docs/source/usage.rst b/docs/source/usage.rst
index d6b91dba..0adbf59f 100644
--- a/docs/source/usage.rst
+++ b/docs/source/usage.rst
@@ -1,8 +1,5 @@
-Usage
-=====
-
 Installation
-------------
+============
 
 .. note::
     To use Lumache, bsk_rl, Basilisk must be installed first. You can find instructions on how to do so