/b> and <b>vfb</b> replaced
    with <b>xfb</b>; no gravity argument; <b>f_ext</b> now in absolute
    coordinates</td>
</tr>
<tr>
  <td><b>jcalc</b></td>
  <td><b>pitch</b> argument replaced with joint type descriptor</td>
</tr>

<tr><td></td></tr>
<tr><td></td></tr>

<tr>
  <th colspan="2">Model Constructors</th>
</tr>
<tr>
  <td><b>autoTree</b></td>
  <td>no change</td>
</tr>
<tr>
  <td><b>floatbase</b></td>
  <td>no change</td>
</tr>
<tr>
  <td><b>planar2</b></td>
  <td>withdrawn.&nbsp; Use <b>planar(2)