Added some documentation
Added some documentation

YilunZhou/Klampt,hpbader42/Klampt,krishauser/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,hpbader42/Klampt,krishauser/Klampt,krishauser/Klampt,hpbader42/Klampt,krishauser/Klampt,arocchi/Klampt,bbgw/Klampt,krishauser/Klampt,arocchi/Klampt,YilunZhou/Klampt,arocchi/Klampt,krishauser/Klampt,arocchi/Klampt,bbgw/Klampt,bbgw/Klampt,bbgw/Klampt,hpbader42/Klampt,hpbader42/Klampt