diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index a20a619bb..d357aa09d 100644
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -39,7 +39,7 @@ jobs:
     - name: cmake configure
       run: |
         export PYTHONVERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DUSE_PHYSX=OFF -DUSE_BULLET=OFF -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_QHULL8=ON
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DUSE_PHYSX=OFF -DUSE_BULLET=OFF -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_QHULL8=ON ${{github.workspace}}
 
     - name: cmake build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
diff --git a/.github/workflows/sphinx.yml b/.github/workflows/sphinx.yml
new file mode 100644
index 000000000..a68ca396a
--- /dev/null
+++ b/.github/workflows/sphinx.yml
@@ -0,0 +1,30 @@
+name: SphinxDocumentation
+
+on: [push, pull_request]
+
+permissions:
+  contents: write
+
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - uses: actions/setup-python@v3
+        with:
+          python-version: '3.10'
+      - name: install ubuntu dependencies
+        run: |
+          sudo apt-get install pandoc freeglut3 libglew-dev
+      - name: Install dependencies
+        run: |
+          pip install sphinx sphinx_rtd_theme myst_parser nbsphinx robotic numpy
+      - name: Sphinx build
+        run: |
+          cd rai-docs && sphinx-build doc ../html
+      - name: Deploy to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        with:
+          folder: html
diff --git a/.gitmodules b/.gitmodules
index 97e6d6105..44a027480 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -7,3 +7,6 @@
 [submodule "botop"]
 	path = botop
 	url = git@github.com:MarcToussaint/botop.git
+[submodule "rai-docs"]
+	path = rai-docs
+	url = git@github.com:MarcToussaint/rai-docs.git
diff --git a/Makefile b/Makefile
new file mode 100644
index 000000000..8f8889103
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,5 @@
+docs:
+	cd rai-docs && sphinx-build doc ../html
+
+clean:
+	rm -Rf build
diff --git a/_build_utils/build-wheels.sh b/_build_utils/build-wheels.sh
index 321715cdd..2dbdbc9c1 100755
--- a/_build_utils/build-wheels.sh
+++ b/_build_utils/build-wheels.sh
@@ -13,7 +13,8 @@ rm -Rf rai-robotModels
 mkdir rai-robotModels
 cd rai-robotModels
 mkdir -p objects; cp ../../rai-robotModels/objects/*.g objects
-mkdir -p panda; cp ../../rai-robotModels/panda/*.g panda;  cp -R ../../rai-robotModels/panda/meshes panda
+mkdir -p panda; cp ../../rai-robotModels/panda/*.g panda;  cp -R ../../rai-robotModels/panda/*_description panda
+mkdir -p ur10; cp ../../rai-robotModels/ur10/*.g ur10;  cp -R ../../rai-robotModels/ur10/*_description ur10
 mkdir -p pr2; cp ../../rai-robotModels/pr2/*.g pr2;  cp -R ../../rai-robotModels/pr2/meshes pr2
 mkdir -p baxter; cp ../../rai-robotModels/baxter/*.g baxter;  cp -R ../../rai-robotModels/baxter/*_description baxter
 mkdir -p robotiq; cp ../../rai-robotModels/robotiq/*.g robotiq;  cp -R ../../rai-robotModels/robotiq/meshes robotiq
diff --git a/rai-docs b/rai-docs
new file mode 160000
index 000000000..4c027ab3d
--- /dev/null
+++ b/rai-docs
@@ -0,0 +1 @@
+Subproject commit 4c027ab3d1c1b88c30c97e9b09eee7e0395f7618
diff --git a/rai-robotModels b/rai-robotModels
index 65e4c7cfa..ebd16bc7b 160000
--- a/rai-robotModels
+++ b/rai-robotModels
@@ -1 +1 @@
-Subproject commit 65e4c7cfab311431058de97ec062c81ad201c4ec
+Subproject commit ebd16bc7b65f294e8485f35405201a94ecdb73d4