diff --git a/include/ignition/physics/ConstructEmpty.hh b/include/ignition/physics/ConstructEmpty.hh
index 1a6bcb8ed..8863fe581 100644
--- a/include/ignition/physics/ConstructEmpty.hh
+++ b/include/ignition/physics/ConstructEmpty.hh
@@ -26,6 +26,8 @@ namespace ignition {
 namespace physics {
 
 /////////////////////////////////////////////////
+/// \brief This feature constructs an empty world and return its pointer
+/// from the current physics engine in use.
 class ConstructEmptyWorldFeature : public virtual Feature
 {
   public: template <typename PolicyT, typename FeaturesT>
@@ -33,6 +35,9 @@ class ConstructEmptyWorldFeature : public virtual Feature
   {
     public: using WorldPtrType = WorldPtr<PolicyT, FeaturesT>;
 
+    /// \brief Construct an empty world and attach a given name to it.
+    /// \return
+    ///   The WorldPtrType of the constructed world.
     public: WorldPtrType ConstructEmptyWorld(const std::string &_name);
   };
 
@@ -45,6 +50,8 @@ class ConstructEmptyWorldFeature : public virtual Feature
 };
 
 /////////////////////////////////////////////////
+/// \brief This feature constructs an empty model and return its pointer
+/// from the given world.
 class ConstructEmptyModelFeature : public virtual Feature
 {
   public: template <typename PolicyT, typename FeaturesT>
@@ -52,6 +59,9 @@ class ConstructEmptyModelFeature : public virtual Feature
   {
     public: using ModelPtrType = ModelPtr<PolicyT, FeaturesT>;
 
+    /// \brief Construct an empty model and attach a given name to it.
+    /// \return
+    ///   The ModelPtrType of the constructed model.
     public: ModelPtrType ConstructEmptyModel(const std::string &_name);
   };
 
@@ -64,6 +74,8 @@ class ConstructEmptyModelFeature : public virtual Feature
 };
 
 /////////////////////////////////////////////////
+/// \brief This feature constructs an empty link and return its pointer
+/// from the given model.
 class ConstructEmptyLinkFeature : public virtual Feature
 {
   public: template <typename PolicyT, typename FeaturesT>
@@ -71,6 +83,9 @@ class ConstructEmptyLinkFeature : public virtual Feature
   {
     public: using LinkPtrType = LinkPtr<PolicyT, FeaturesT>;
 
+    /// \brief Construct an empty link and attach a given name to it.
+    /// \return
+    ///   The LinkPtrType of the constructed link.
     public: LinkPtrType ConstructEmptyLink(const std::string &_name);
   };