From dc5f90283cd815113c3f0a1cd1de2204224c37d1 Mon Sep 17 00:00:00 2001
From: Megane Millan <megane.millan@inria.fr>
Date: Tue, 9 Jul 2024 14:57:28 +0200
Subject: [PATCH] [bindings] Add precisions to documentation

---
 .../python/multibody/joint/joints-models.hpp  | 57 ++++++++++++++-----
 1 file changed, 42 insertions(+), 15 deletions(-)

diff --git a/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp b/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
index 6285c0accf..c6253ade15 100644
--- a/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+++ b/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
@@ -31,7 +31,9 @@ namespace pinocchio
     bp::class_<context::JointModelRX> &
     expose_joint_model<context::JointModelRX>(bp::class_<context::JointModelRX> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRX with x as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRX with the X axis ([1, 0, 0]) as rotation axis."))
         .def(
           "getMotionAxis", &context::JointModelRX::getMotionAxis,
           "Rotation axis of the JointModelRX.");
@@ -41,7 +43,9 @@ namespace pinocchio
     bp::class_<context::JointModelRY> &
     expose_joint_model<context::JointModelRY>(bp::class_<context::JointModelRY> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRY with y as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRY with the Y axis ([0, 1, 0]) as rotation axis."))
         .def(
           "getMotionAxis", &context::JointModelRY::getMotionAxis,
           "Rotation axis of the JointModelRY.");
@@ -51,7 +55,9 @@ namespace pinocchio
     bp::class_<context::JointModelRZ> &
     expose_joint_model<context::JointModelRZ>(bp::class_<context::JointModelRZ> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRZ with z as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRZ with the Z axis ([0, 0, 1]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelRZ::getMotionAxis,
           "Rotation axis of the JointModelRZ.");
@@ -80,7 +86,9 @@ namespace pinocchio
     bp::class_<context::JointModelRUBX> &
     expose_joint_model<context::JointModelRUBX>(bp::class_<context::JointModelRUBX> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBX with x as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRUBX with the X axis ([1, 0, 0]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelRUBX::getMotionAxis,
           "Rotation axis of the JointModelRUBX.");
@@ -90,7 +98,9 @@ namespace pinocchio
     bp::class_<context::JointModelRUBY> &
     expose_joint_model<context::JointModelRUBY>(bp::class_<context::JointModelRUBY> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBY with y as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRUBY with the Y axis ([0, 1, 0]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelRUBY::getMotionAxis,
           "Rotation axis of the JointModelRUBY.");
@@ -100,7 +110,9 @@ namespace pinocchio
     bp::class_<context::JointModelRUBZ> &
     expose_joint_model<context::JointModelRUBZ>(bp::class_<context::JointModelRUBZ> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelRUBZ with z as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelRUBZ with the Z axis ([0, 0, 1]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelRUBZ::getMotionAxis,
           "Rotation axis of the JointModelRUBZ.");
@@ -111,7 +123,9 @@ namespace pinocchio
     bp::class_<context::JointModelPX> &
     expose_joint_model<context::JointModelPX>(bp::class_<context::JointModelPX> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelPX with x as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelPX with the X axis ([1, 0, 0]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelPX::getMotionAxis,
           "Rotation axis of the JointModelPX.");
@@ -121,7 +135,9 @@ namespace pinocchio
     bp::class_<context::JointModelPY> &
     expose_joint_model<context::JointModelPY>(bp::class_<context::JointModelPY> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelPY with y as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelPY with the Y axis ([0, 1, 0]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelPY::getMotionAxis,
           "Rotation axis of the JointModelPY.");
@@ -131,7 +147,9 @@ namespace pinocchio
     bp::class_<context::JointModelPZ> &
     expose_joint_model<context::JointModelPZ>(bp::class_<context::JointModelPZ> & cl)
     {
-      return cl.def(bp::init<>(bp::args("self"), "Init JointModelPZ with z as rotation axis"))
+      return cl
+        .def(bp::init<>(
+          bp::args("self"), "Init JointModelPZ with the Z axis ([0, 0, 1]) as rotation axis"))
         .def(
           "getMotionAxis", &context::JointModelPZ::getMotionAxis,
           "Rotation axis of the JointModelPZ.");
@@ -183,8 +201,11 @@ namespace pinocchio
     {
       return cl
         .def(bp::init<context::Scalar>(
-          bp::args("self", "pitch"), "Init JointModelHX with pitch value"))
-        .def(bp::init<>(bp::args("self"), "Init JointModelHX with pitch 0.0"))
+          bp::args("self", "pitch"),
+          "Init JointModelHX with pitch value and the X axis ([1, 0, 0]) as a rotation axis."))
+        .def(bp::init<>(
+          bp::args("self"),
+          "Init JointModelHX with pitch 0.0 and the X axis ([1, 0, 0]) as a rotation axis."))
         .def(
           "getMotionAxis", &context::JointModelHX::getMotionAxis,
           "Rotation axis of the JointModelHX.")
@@ -197,8 +218,11 @@ namespace pinocchio
     {
       return cl
         .def(bp::init<context::Scalar>(
-          bp::args("self", "pitch"), "Init JointModelHY with pitch value."))
-        .def(bp::init<>(bp::args("self"), "Init JointModelHY with pitch 0.0"))
+          bp::args("self", "pitch"),
+          "Init JointModelHY with pitch value and the Y axis ([0, 1, 0]) as a rotation axis."))
+        .def(bp::init<>(
+          bp::args("self"),
+          "Init JointModelHY with pitch 0.0 and the Y axis ([0, 1, 0]) as a rotation axis."))
         .def(
           "getMotionAxis", &context::JointModelHY::getMotionAxis,
           "Rotation axis of the JointModelHY.")
@@ -211,8 +235,11 @@ namespace pinocchio
     {
       return cl
         .def(bp::init<context::Scalar>(
-          bp::args("self", "pitch"), "Init JointModelHZ with pitch value"))
-        .def(bp::init<>(bp::args("self"), "Init JointModelHZ with pitch 0.0"))
+          bp::args("self", "pitch"),
+          "Init JointModelHZ with pitch value and the Z axis ([0, 0, 1]) as a rotation axis."))
+        .def(bp::init<>(
+          bp::args("self"),
+          "Init JointModelHZ with pitch 0.0 and the Z axis ([0, 0, 1]) as a rotation axis."))
         .def(
           "getMotionAxis", &context::JointModelHZ::getMotionAxis,
           "Rotation axis of the JointModelHZ.")