diff --git a/isaaclab_arena/assets/object_base.py b/isaaclab_arena/assets/object_base.py
index 7fe86a7ca..9e2cbc7a8 100644
--- a/isaaclab_arena/assets/object_base.py
+++ b/isaaclab_arena/assets/object_base.py
@@ -204,7 +204,7 @@ def get_object_pose(self, env: ManagerBasedEnv, is_relative: bool = True) -> tor
 
         Returns:
             The pose of the object in each environment. The shape is (num_envs, 7).
-            The order is (x, y, z, qw, qx, qy, qz).
+            The order is (x, y, z, qx, qy, qz, qw).
         """
         # We require that the asset has been added to the scene under its name.
         assert self.name in env.unwrapped.scene.keys(), f"Asset {self.name} not found in scene"
diff --git a/isaaclab_arena/relations/object_placer.py b/isaaclab_arena/relations/object_placer.py
index 7d54db27d..802cc4156 100644
--- a/isaaclab_arena/relations/object_placer.py
+++ b/isaaclab_arena/relations/object_placer.py
@@ -78,7 +78,7 @@ def place(
                 placement (one layout per env).
             result_per_env: When True (default), each environment gets a distinct
                 layout. When False, a single best layout is solved and applied
-                identically to all environments (useful for deterministic evaluation).
+                identically to all environments.
 
         Returns:
             PlacementResult when a single layout is produced (num_envs=1 or
diff --git a/isaaclab_arena/relations/relations.py b/isaaclab_arena/relations/relations.py
index 569fbd9ee..7faa0cf58 100644
--- a/isaaclab_arena/relations/relations.py
+++ b/isaaclab_arena/relations/relations.py
@@ -125,7 +125,7 @@ class NoCollision(Relation):
 
     Note: Loss computation is handled by NoCollisionLossStrategy in relation_loss_strategies.py.
 
-    NOTE: RelationSolver._compute_total_loss iterates every relation on every object with no
+    TODO(zhx06): RelationSolver._compute_total_loss iterates every relation on every object with no
     deduplication. If both A.add_relation(NoCollision(B)) and B.add_relation(NoCollision(A))
     are present, loss is computed twice. Bidirectional NoCollision can also make the relation
     graph cyclic and cause issues when creating the environment. Deduplication and/or