Update descriptions based on suggestions

Author: urmahp

include/ur_client_library/comm/control_mode.h

@@ -48,7 +48,7 @@ enum class ControlMode : int32_t
   MODE_POSE = 5,            ///< Set when cartesian pose control is active.
   MODE_FREEDRIVE = 6,       ///< Set when freedrive mode is active.
   MODE_TOOL_IN_CONTACT =
-      7  ///< Used by the internally in the script, when robot is in tool contact, clear by endToolContact()
+      7  ///< Used only internally in the script, when robot is in tool contact, clear by endToolContact()
 };
 }  // namespace comm
 }  // namespace urcl

include/ur_client_library/ur/ur_driver.h

@@ -277,18 +277,18 @@ class UrDriver
    * \param task_frame A pose vector that defines the force frame relative to the base frame
    * \param selection_vector A 6d vector of 0s and 1s. 1 means that the robot will be compliant in the corresponding
    * axis of the task frame
-   * \param wrench The forces/torques the robot will apply to its environment. The robot adjusts its position
-   * along/about compliant axis in order to achieve the specified force/torque. Values have no effect for non-compliant
-   * axes
+   * \param wrench 6d vector of forces/torques [x,y,z,rotX,rotY,rotZ] that the robot will apply to its environment. The
+   * robot adjusts its position along/about compliant axis in order to achieve the specified force/torque. Values have
+   * no effect for non-compliant axes.
    * \param type An integer [1;3] specifying how the robot interprets the force frame.
    *  1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot
    *  tcp towards the origin of the force frame
    *  2: The force frame is not transformed
    *  3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector
    *  onto the x-y plane of the force frame
-   * \param limits (Float) 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the
-   * axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual
-   * tcp position and the one set by the program
+   * \param limits (double) 6d vector. For compliant axes, these values are the maximum allowed tcp speed
+   * along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis
+   * between the actual tcp position and the one set by the program
    *
    * \returns True, if the write was performed successfully, false otherwise.
    */