Firstly, I want to write a plugin which can simulate the teaching box based

 on OpenHRP3. However it is to hard for me to understand the structure of the
 whole source code. So I want to information such as the documentation of the
 program. Thank you. I have try a lot, but I think your help would be greatly
 appreciated.

Secondly ,I compile the example of move_ankle and rebuild the solution in the condition of DEBUG. However the move_ankle.exe is 1 kb bigger than yours in the share/example/move_ankle. What was worse, it can not work at all. But yours works well. And the move_ankle.exe build under Release is OK. I want to change the model in the move_ankle. I think it is easy ,however I failed . OnlineViewer could not be updated. This is the exception . Can you give some help?

Thank you.