Added some more documentation
Added some more documentation

krishauser/Klampt,krishauser/Klampt,hpbader42/Klampt,hpbader42/Klampt,krishauser/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,hpbader42/Klampt,hpbader42/Klampt,krishauser/Klampt,krishauser/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,hpbader42/Klampt,krishauser/Klampt