added some more blather about features/placements/values and some figures
added some more blather about features/placements/values and some figures

simbody/simbody,chrisdembia/simbody,elkingtonmcb/simbody,simbody/simbody,chrisdembia/simbody,robojukie/simbody,robojukie/simbody,elkingtonmcb/simbody,chrisdembia/simbody,robojukie/simbody,elen4/simbody,scamille/simbody,Gjacquenot/simbody,elen4/simbody,Gjacquenot/simbody,elkingtonmcb/simbody,Gjacquenot/simbody,scamille/simbody,scamille/simbody