diff --git a/include/mc_control/MCController.h b/include/mc_control/MCController.h
index 1107e6f43c..0ec255099c 100644
--- a/include/mc_control/MCController.h
+++ b/include/mc_control/MCController.h
@@ -526,6 +526,7 @@ struct MC_CONTROL_DLLAPI MCController
   ContactSet contacts_;
   /** True if contacts were changed in the previous round */
   bool contacts_changed_;
+  /** Data shown in the contacts' table: R1, R1Surface, R2, R2Surface, DoF, Friction */
   using ContactTableDataT = std::tuple<std::string, std::string, std::string, std::string, std::string, double>;
   /** Used in GUI display */
   std::vector<ContactTableDataT> contacts_table_;
diff --git a/src/mc_solver/QPSolver_setContacts.cpp b/src/mc_solver/QPSolver_setContacts.cpp
index 58d0571cc2..a1523879b0 100644
--- a/src/mc_solver/QPSolver_setContacts.cpp
+++ b/src/mc_solver/QPSolver_setContacts.cpp
@@ -9,7 +9,8 @@ void QPSolver::setContacts(const std::vector<mc_rbdyn::Contact> & contacts)
 {
   if(controller_)
   {
-    mc_rtc::log::warning("[MC_RTC_DEPRECATED] Prefer using addContact/removeContact for contacts manipulation");
+    mc_rtc::log::warning("[MC_RTC_DEPRECATED] Prefer using addContact/removeContact for contacts manipulation instead "
+                         "of QPSolver::setContacts");
     controller_->clearContacts();
     for(const auto & c : contacts)
     {