Update comments.

include/MultiContactController/MultiContactController.h

@@ -28,16 +28,18 @@ struct MultiContactController : public mc_control::fsm::Controller
 public:
   /** \brief Constructor.
 
-      basePose in configuration allows users to set the initial pose of the robot.
-      It will be registered on datastore in this function and reflected in the reset function.
+      If the pose is stored in the "basePose" key of the controller configuration, the pose will be registered in the
+     "MCC::ResetBasePose" key of the datastore and applied to the baselink poses of the control and real robots in the
+     reset function.
    */
   MultiContactController(mc_rbdyn::RobotModulePtr rm, double dt, const mc_rtc::Configuration & _config);
 
   /** \brief Reset a controller.
 
       This method is called when starting the controller.
-      When MCC::ResetBasePose is in datastore, the posW of both control and real robots
-      are overwritten by it in this function.
+
+      If the pose is registered in the "MCC::ResetBasePose" key of the datastore, the pose will be applied to the
+     baselink poses of the control and real robots in the reset function.
    */
   void reset(const mc_control::ControllerResetData & resetData) override;
 
@@ -50,9 +52,10 @@ struct MultiContactController : public mc_control::fsm::Controller
   /** \brief Stop a controller.
 
       This method is called when stopping the controller.
-      When saveLastBasePose is enabled in the configuration,
-      the poseW of control robot will be saved in datastore at the end of this function
-      to use it for initialization of the following controller.
+
+       If the "saveLastBasePose" key in the controller configuration is true, the baselink pose of the current control
+     robot is registered in the "MCC::ResetBasePose" key of the datastore. This is intended to be used in subsequent
+     controller initializations.
    */
   void stop() override;
 

src/LimbManager.cpp

@@ -284,9 +284,11 @@ void LimbManager::update()
   currentContactCommand_ = getContactCommand(ctl().t());
   if(currentContactCommand_ && currentContactCommand_->constraint->type() != "Empty" && requireTouchDownPoseUpdate_)
   {
-    // In contact transitions for arms, the type of currentContactCommand_ become Empty while closing the
-    // gripper. Since Empty command does not have vertices for wrench distribution, we exclude it to apply
-    // updateGlobalVertices to vertices in Grasp command following on Empty command.
+    // \todo In order to correctly update global vertices when transitioning from an EmptyContact with no vertices for
+    // wrench distribution to, for example, a GraspContact with vertices for wrench distribution, the condition here is
+    // skipped for EmptyContact and requireTouchDownPoseUpdate_ is retained. The current implementation works well for
+    // contact transitions where the hand grasps the environment (i.e., EmptyContact -> GraspContact), but it does not
+    // work well to perform other contact transitions in the future (e.g., SurfaceContact -> GraspContact).
     currentContactCommand_->constraint->updateGlobalVertices(targetPose_);
     requireTouchDownPoseUpdate_ = false;
   }

src/PostureManager.cpp

@@ -40,7 +40,7 @@ void PostureManager::update()
   PostureMap nominalPosture = getNominalPosture(ctl().t());
   postureTask_->target(nominalPosture); // this function will do nothing if nominalPosture is empty
 
-  // TODO: update postureTask_->refVel and postureTask_->refAcc
+  // \todo update postureTask_->refVel and postureTask_->refAcc
 }
 
 void PostureManager::stop()