diff --git a/habitat_sim/physics.py b/habitat_sim/physics.py
index c567899d8f..29becf356e 100644
--- a/habitat_sim/physics.py
+++ b/habitat_sim/physics.py
@@ -6,6 +6,7 @@
     ArticulatedObjectManager,
     CollisionGroupHelper,
     CollisionGroups,
+    ContactPointData,
     JointMotorSettings,
     JointMotorType,
     JointType,
@@ -42,4 +43,5 @@
     "JointMotorType",
     "RigidConstraintType",
     "RigidConstraintSettings",
+    "ContactPointData",
 ]
diff --git a/src/esp/bindings/PhysicsBindings.cpp b/src/esp/bindings/PhysicsBindings.cpp
index 7fc60404ba..8dc6589429 100644
--- a/src/esp/bindings/PhysicsBindings.cpp
+++ b/src/esp/bindings/PhysicsBindings.cpp
@@ -26,14 +26,25 @@ void initPhysicsBindings(py::module& m) {
   // ==== struct object VelocityControl ====
   py::class_<VelocityControl, VelocityControl::ptr>(m, "VelocityControl")
       .def(py::init(&VelocityControl::create<>))
-      .def_readwrite("linear_velocity", &VelocityControl::linVel)
-      .def_readwrite("angular_velocity", &VelocityControl::angVel)
-      .def_readwrite("controlling_lin_vel", &VelocityControl::controllingLinVel)
-      .def_readwrite("lin_vel_is_local", &VelocityControl::linVelIsLocal)
-      .def_readwrite("controlling_ang_vel", &VelocityControl::controllingAngVel)
-      .def_readwrite("ang_vel_is_local", &VelocityControl::angVelIsLocal)
-      .def("integrate_transform", &VelocityControl::integrateTransform, "dt"_a,
-           "rigid_state"_a);
+      .def_readwrite("linear_velocity", &VelocityControl::linVel,
+                     R"(The linear velocity in meters/second.)")
+      .def_readwrite(
+          "angular_velocity", &VelocityControl::angVel,
+          R"(The angular velocity (Omega) in units of radians per second.)")
+      .def_readwrite("controlling_lin_vel", &VelocityControl::controllingLinVel,
+                     R"(Whether or not linear velocity is integrated.)")
+      .def_readwrite(
+          "lin_vel_is_local", &VelocityControl::linVelIsLocal,
+          R"(Whether the linear velocity is considered to be in object local space or global space.)")
+      .def_readwrite("controlling_ang_vel", &VelocityControl::controllingAngVel,
+                     R"(Whether or not angular velocity is integrated.)")
+      .def_readwrite(
+          "ang_vel_is_local", &VelocityControl::angVelIsLocal,
+          R"(Whether the angular velocity is considered to be in object local space or global space.)")
+      .def(
+          "integrate_transform", &VelocityControl::integrateTransform, "dt"_a,
+          "rigid_state"_a,
+          R"(Integrate the velocity (with explicit Euler) over a discrete timestep (dt) starting at a given state and using configured parameters. Returns the new state after integration.)");
 
   // ==== enum articulated JointType ====
   py::enum_<JointType>(m, "JointType")
@@ -139,16 +150,31 @@ void initPhysicsBindings(py::module& m) {
   // ==== struct object ContactPointData ====
   py::class_<ContactPointData, ContactPointData::ptr>(m, "ContactPointData")
       .def(py::init(&ContactPointData::create<>))
-      .def_readwrite("object_id_a", &ContactPointData::objectIdA)
-      .def_readwrite("object_id_b", &ContactPointData::objectIdB)
-      .def_readwrite("link_id_a", &ContactPointData::linkIndexA)
-      .def_readwrite("link_id_b", &ContactPointData::linkIndexB)
-      .def_readwrite("position_on_a_in_ws", &ContactPointData::positionOnAInWS)
-      .def_readwrite("position_on_b_in_ws", &ContactPointData::positionOnBInWS)
-      .def_readwrite("contact_normal_on_b_in_ws",
-                     &ContactPointData::contactNormalOnBInWS)
-      .def_readwrite("contact_distance", &ContactPointData::contactDistance)
-      .def_readwrite("normal_force", &ContactPointData::normalForce)
+      .def_readwrite(
+          "object_id_a", &ContactPointData::objectIdA,
+          R"(The Habitat object id of the first object in this collision pair.)")
+      .def_readwrite(
+          "object_id_b", &ContactPointData::objectIdB,
+          R"(The Habitat object id of the second object in this collision pair.)")
+      .def_readwrite(
+          "link_id_a", &ContactPointData::linkIndexA,
+          R"(The Habitat link id of the first object in this collision pair if an articulated link. -1 can indicate base link.)")
+      .def_readwrite(
+          "link_id_b", &ContactPointData::linkIndexB,
+          R"(The Habitat link id of the second object in this collision pair if an articulated link. -1 can indicate base link.)")
+      .def_readwrite(
+          "position_on_a_in_ws", &ContactPointData::positionOnAInWS,
+          R"(The global position of the contact point on the first object.)")
+      .def_readwrite(
+          "position_on_b_in_ws", &ContactPointData::positionOnBInWS,
+          R"(The global position of the contact point on the second object.)")
+      .def_readwrite(
+          "contact_normal_on_b_in_ws", &ContactPointData::contactNormalOnBInWS,
+          R"(The contact normal relative to the second object in world space.)")
+      .def_readwrite("contact_distance", &ContactPointData::contactDistance,
+                     R"(The penetration depth of the contact point.)")
+      .def_readwrite("normal_force", &ContactPointData::normalForce,
+                     R"(The normal force produced by the contact point.)")
       .def_readwrite("linear_friction_force1",
                      &ContactPointData::linearFrictionForce1)
       .def_readwrite("linear_friction_force2",
@@ -157,7 +183,9 @@ void initPhysicsBindings(py::module& m) {
                      &ContactPointData::linearFrictionDirection1)
       .def_readwrite("linear_friction_direction2",
                      &ContactPointData::linearFrictionDirection2)
-      .def_readwrite("is_active", &ContactPointData::isActive);
+      .def_readwrite(
+          "is_active", &ContactPointData::isActive,
+          R"(Whether or not the contact is between active objects. Deactivated objects may produce contact points but no reaction.)");
 
   // ==== enum object CollisionGroup ====
   py::enum_<CollisionGroup> collisionGroups{m, "CollisionGroups",