diff --git a/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp b/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp
index 7dbdfcb6f9..4bda3f6469 100644
--- a/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp
+++ b/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp
@@ -1377,13 +1377,14 @@ void reactive_navigator_demoframe::simulateOneStep(double time_step)
       if (ptg)
       {
         // Draw path:
+        const auto& ipp = lfr.infoPerPTG[lfr.nSelectedPTG];
+
         const int selected_k =
-            is_NOP_op ? lfr.ptg_last_k_NOP
-                      : ptg->alpha2index(lfr.infoPerPTG[lfr.nSelectedPTG].desiredDirection);
+            is_NOP_op ? lfr.ptg_last_k_NOP : ptg->alpha2index(ipp.desiredDirection);
         float max_dist = ptg->getRefDistance();
         gl_robot_ptg_prediction->clear();
 
-        ptg->updateNavDynamicState(is_NOP_op ? lfr.ptg_last_navDynState : lfr.navDynState);
+        ptg->updateNavDynamicState(is_NOP_op ? ipp.lastDynState : ipp.dynState);
 
         ptg->renderPathAsSimpleLine(selected_k, *gl_robot_ptg_prediction, 0.10, max_dist);
         gl_robot_ptg_prediction->setColor_u8(mrpt::img::TColor(0xff, 0x00, 0x00));
diff --git a/apps/navlog-viewer/navlog-viewer-ui.cpp b/apps/navlog-viewer/navlog-viewer-ui.cpp
index ff9837479f..cc0dbe60f5 100644
--- a/apps/navlog-viewer/navlog-viewer-ui.cpp
+++ b/apps/navlog-viewer/navlog-viewer-ui.cpp
@@ -808,13 +808,14 @@ void NavlogViewerApp::updateVisualization()
         {
           if (!ptg->isInitialized()) ptg->initialize();
 
+          auto& ipp = log.infoPerPTG[sel_ptg_idx];
+
           // Set instantaneous dyn state:
-          ptg->updateNavDynamicState(is_NOP_cmd ? log.ptg_last_navDynState : log.navDynState);
+          ptg->updateNavDynamicState(is_NOP_cmd ? ipp.lastDynState : ipp.dynState);
 
           // Draw path:
           const int selected_k =
-              log.ptg_index_NOP < 0 ? ptg->alpha2index(log.infoPerPTG[sel_ptg_idx].desiredDirection)
-                                    : log.ptg_last_k_NOP;
+              log.ptg_index_NOP < 0 ? ptg->alpha2index(ipp.desiredDirection) : log.ptg_last_k_NOP;
           float max_dist = ptg->getRefDistance();
           ptg->add_robotShape_to_setOfLines(*gl_path);
 
@@ -916,8 +917,13 @@ void NavlogViewerApp::updateVisualization()
         {
           if (!ptg->isInitialized()) ptg->initialize();
 
+          const bool this_NOP_cmd =
+              m_manualPickPTGIdx == static_cast<int>(m_logdata_ptg_paths.size() - 1);
+
+          auto& ipp = log.infoPerPTG[m_manualPickPTGIdx];
+
           // Set instantaneous dyn state:
-          ptg->updateNavDynamicState(is_NOP_cmd ? log.ptg_last_navDynState : log.navDynState);
+          ptg->updateNavDynamicState(this_NOP_cmd ? ipp.lastDynState : ipp.dynState);
 
           // Draw path:
           const int selected_k = m_manualPickTrajectoryIdx;
@@ -1137,13 +1143,16 @@ void NavlogViewerApp::updateVisualization()
 
   if (m_cbShowAllDebugFields->checked())
   {
-    ADD_WIN_TEXTMSG(format(
-                        "navDynState: curVelLocal=%s relTarget=%s "
-                        "targetRelSpeed=%.02f",
-                        log.navDynState.curVelLocal.asString().c_str(),
-                        log.navDynState.relTarget.asString().c_str(),
-                        log.navDynState.targetRelSpeed)
-                        .c_str());
+    if (!log.infoPerPTG.empty())
+    {
+      ADD_WIN_TEXTMSG(format(
+                          "navDynState: curVelLocal=%s relTarget=%s "
+                          "targetRelSpeed=%.02f",
+                          log.infoPerPTG.front().dynState.curVelLocal.asString().c_str(),
+                          log.infoPerPTG.front().dynState.relTarget.asString().c_str(),
+                          log.infoPerPTG.front().dynState.targetRelSpeed)
+                          .c_str());
+    }
 
     for (const auto& e : log.values)
       ADD_WIN_TEXTMSG(format(
diff --git a/appveyor.yml b/appveyor.yml
index 47c724b195..311829ea1a 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.14.1-{branch}-build{build}
+version: 2.14.2-{branch}-build{build}
 
 os: Visual Studio 2019
 
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 10e8b54790..c93b83bd78 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,12 @@
 \page changelog Change Log
 
+# Version 2.14.2: Released Oct 5th, 2024
+- Changes in libraries:
+  - \ref mrpt_nav_grp:
+    - Add generic internalState to PTGs.
+  - \ref mrpt_opengl_grp:
+    - mrpt::opengl::CMesh: Remove the annoying warning "Texture image and Z matrix have different sizes"
+
 # Version 2.14.1: Released Sep 24th, 2024
 - Changes in apps:
   - SceneViewer3D: New button to enable shadow casting.
diff --git a/libs/nav/include/mrpt/nav/reactive/CLogFileRecord.h b/libs/nav/include/mrpt/nav/reactive/CLogFileRecord.h
index cf4c09c9ee..81c14923d8 100644
--- a/libs/nav/include/mrpt/nav/reactive/CLogFileRecord.h
+++ b/libs/nav/include/mrpt/nav/reactive/CLogFileRecord.h
@@ -65,18 +65,19 @@ class CLogFileRecord : public mrpt::serialization::CSerializable
     mrpt::nav::CParameterizedTrajectoryGenerator::Ptr ptg;
     /** Clearance for each path */
     mrpt::nav::ClearanceDiagram clearance;
+    /** Stored for each PTG to cope with custom internal states */
+    mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState dynState, lastDynState;
   };
 
-  mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState navDynState;
   /** The number of PTGS: */
-  uint32_t nPTGs{0};
+  uint32_t nPTGs = 0;
 
   /** The info for each applied PTG: must contain "nPTGs * nSecDistances"
    * elements */
   std::vector<TInfoPerPTG> infoPerPTG;
 
   /** The selected PTG. */
-  int32_t nSelectedPTG{-1};
+  int32_t nSelectedPTG = -1;
 
   /** Known values:
    *	- "executionTime": The total computation time, excluding sensing.
@@ -136,7 +137,6 @@ class CLogFileRecord : public mrpt::serialization::CSerializable
   uint16_t ptg_last_k_NOP{0};
   mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP{0, 0, 0},
       rel_pose_PTG_origin_wrt_sense_NOP{0, 0, 0};
-  mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ptg_last_navDynState;
 
   /** Additional visual entities that the source application wants to show
    * in the navlog viewer UI. All objects will be placed relative to the
diff --git a/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h b/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h
index f7d4a19ea0..b8184d059c 100644
--- a/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h
+++ b/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h
@@ -10,6 +10,7 @@
 
 #include <mrpt/config/CConfigFileBase.h>
 #include <mrpt/config/CLoadableOptions.h>
+#include <mrpt/containers/yaml.h>
 #include <mrpt/core/round.h>
 #include <mrpt/kinematics/CVehicleVelCmd.h>
 #include <mrpt/math/CPolygon.h>
@@ -182,6 +183,9 @@ class CParameterizedTrajectoryGenerator :
     /** Desired relative speed [0,1] at target. Default=0 */
     double targetRelSpeed{0};
 
+    /** Derived-class specific internal state variables */
+    mrpt::containers::yaml internalState;
+
     TNavDynamicState() = default;
     bool operator==(const TNavDynamicState& o) const;
     inline bool operator!=(const TNavDynamicState& o) const { return !(*this == o); }
diff --git a/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp b/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp
index 3876c9f99e..aabe248712 100644
--- a/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp
+++ b/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp
@@ -22,8 +22,6 @@
 #include <mrpt/serialization/CArchive.h>
 #include <mrpt/system/filesystem.h>
 
-#include <array>
-#include <iomanip>
 #include <limits>
 
 using namespace mrpt;
@@ -470,8 +468,6 @@ void CAbstractPTGBasedReactive::performNavigationStep()
     ptg_dynState.relTarget = relTargets[0];
     ptg_dynState.targetRelSpeed = m_navigationParams->target.targetDesiredRelSpeed;
 
-    newLogRec.navDynState = ptg_dynState;
-
     {
       mrpt::system::CTimeLoggerEntry tle2(
           m_navProfiler,
@@ -916,7 +912,6 @@ void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(
   newLogRec.rel_pose_PTG_origin_wrt_sense_NOP = rel_pose_PTG_origin_wrt_sense_NOP;
   newLogRec.ptg_index_NOP = best_is_NOP_cmdvel ? m_lastSentVelCmd.ptg_index : -1;
   newLogRec.ptg_last_k_NOP = m_lastSentVelCmd.ptg_alpha_index;
-  newLogRec.ptg_last_navDynState = m_lastSentVelCmd.ptg_dynState;
 
   m_timelogger.leave("navigationStep.populate_log_info");
 
@@ -1606,7 +1601,14 @@ void CAbstractPTGBasedReactive::build_movement_candidate(
           this_is_PTG_continuation ? m_lastSentVelCmd.colfreedist_move_k : .0;
 
       //  SAVE LOG
-      newLogRec.infoPerPTG[idx_in_log_infoPerPTGs].evalFactors = cm.props;
+      auto& ipp = newLogRec.infoPerPTG[idx_in_log_infoPerPTGs];
+
+      ipp.evalFactors = cm.props;
+
+      if (m_lastSentVelCmd.ptg_index == static_cast<int>(idx_in_log_infoPerPTGs))
+        ipp.lastDynState = m_lastSentVelCmd.ptg_dynState;
+
+      ipp.dynState = ptg->getCurrentNavDynamicState();
     }
 
   }  // end "valid_TP"
diff --git a/libs/nav/src/reactive/CLogFileRecord.cpp b/libs/nav/src/reactive/CLogFileRecord.cpp
index 3f2c017b0c..99603936ca 100644
--- a/libs/nav/src/reactive/CLogFileRecord.cpp
+++ b/libs/nav/src/reactive/CLogFileRecord.cpp
@@ -21,43 +21,40 @@ using namespace mrpt::nav;
 
 IMPLEMENTS_SERIALIZABLE(CLogFileRecord, CSerializable, mrpt::nav)
 
-uint8_t CLogFileRecord::serializeGetVersion() const { return 27; }
+uint8_t CLogFileRecord::serializeGetVersion() const { return 28; }
 void CLogFileRecord::serializeTo(mrpt::serialization::CArchive& out) const
 {
-  uint32_t i, n;
-
   // Version 0 ---------
-  n = infoPerPTG.size();
-  out << n;
-  for (i = 0; i < n; i++)
+  out.WriteAs<uint32_t>(infoPerPTG.size());
+  for (const auto& ipp : infoPerPTG)
   {
-    out << infoPerPTG[i].PTG_desc.c_str();
+    out << ipp.PTG_desc.c_str();
 
-    uint32_t m = infoPerPTG[i].TP_Obstacles.size();
+    uint32_t m = ipp.TP_Obstacles.size();
     out << m;
     if (m)
-      out.WriteBuffer(
-          (const void*)&(*infoPerPTG[i].TP_Obstacles.begin()),
-          m * sizeof(infoPerPTG[i].TP_Obstacles[0]));
-
-    out << infoPerPTG[i].TP_Targets;  // v8: CPoint2D -> TPoint2D. v26: vector
-    out << infoPerPTG[i].TP_Robot;    // v17
-    out << infoPerPTG[i].timeForTPObsTransformation
-        << infoPerPTG[i].timeForHolonomicMethod;  // made double in v12
-    out << infoPerPTG[i].desiredDirection << infoPerPTG[i].desiredSpeed
-        << infoPerPTG[i].evaluation;  // made double in v12
+      out.WriteBuffer((const void*)&(*ipp.TP_Obstacles.begin()), m * sizeof(ipp.TP_Obstacles[0]));
+
+    out << ipp.TP_Targets;  // v8: CPoint2D -> TPoint2D. v26: vector
+    out << ipp.TP_Robot;    // v17
+    out << ipp.timeForTPObsTransformation << ipp.timeForHolonomicMethod;  // made double in v12
+    out << ipp.desiredDirection << ipp.desiredSpeed << ipp.evaluation;    // made double in v12
     // removed in v23: out << evaluation_org << evaluation_priority; //
     // added in v21
-    out << infoPerPTG[i].HLFR;
+    out << ipp.HLFR;
 
     // Version 9: Removed security distances. Added optional field with
     // PTG info.
-    const bool there_is_ptg_data = infoPerPTG[i].ptg ? true : false;
+    const bool there_is_ptg_data = ipp.ptg ? true : false;
     out << there_is_ptg_data;
-    if (there_is_ptg_data) out << infoPerPTG[i].ptg;
+    if (there_is_ptg_data) out << ipp.ptg;
 
-    // Was: out << infoPerPTG[i].clearance.raw_clearances; // v19
-    infoPerPTG[i].clearance.writeToStream(out);  // v25
+    // Was: out << ipp.clearance.raw_clearances; // v19
+    ipp.clearance.writeToStream(out);  // v25
+
+    // v28
+    ipp.dynState.writeToStream(out);
+    ipp.lastDynState.writeToStream(out);
   }
   out << nSelectedPTG << WS_Obstacles;
   out << WS_Obstacles_original;  // v20
@@ -72,15 +69,15 @@ void CLogFileRecord::serializeTo(mrpt::serialization::CArchive& out) const
       << rel_pose_PTG_origin_wrt_sense_NOP;  // v24: CPose2D->TPose2D
 
   // Removed: v24. out << ptg_last_curRobotVelLocal; // v17
-  ptg_last_navDynState.writeToStream(out);  // v24
+  // Removed: v28 ptg_last_navDynState.writeToStream(out);  // v24
 
   if (ptg_index_NOP < 0) out << cmd_vel /*v10*/ << cmd_vel_original;  // v15
 
   // Previous values: REMOVED IN VERSION #6
-  n = robotShape_x.size();
-  out << n;
-  if (n)
+  out.WriteAs<uint32_t>(robotShape_x.size());
+  if (!robotShape_x.empty())
   {
+    const auto n = robotShape_x.size();
     out.WriteBuffer((const void*)&(*robotShape_x.begin()), n * sizeof(robotShape_x[0]));
     out.WriteBuffer((const void*)&(*robotShape_y.begin()), n * sizeof(robotShape_y[0]));
   }
@@ -90,11 +87,11 @@ void CLogFileRecord::serializeTo(mrpt::serialization::CArchive& out) const
   // out << estimatedExecutionPeriod; // removed v13
 
   // Version 3 ----------
-  for (i = 0; i < infoPerPTG.size(); i++)
+  for (const auto& ipp : infoPerPTG)
   {
     // v22: this is now a TParameters
     // (mrpt 2.1.0) Directly a std::map<>
-    out << infoPerPTG[i].evalFactors;
+    out << ipp.evalFactors;
   }
 
   out << nPTGs;  // v4
@@ -109,7 +106,7 @@ void CLogFileRecord::serializeTo(mrpt::serialization::CArchive& out) const
   // v15: cmd_vel converted from std::vector<double> into CSerializable
   out << additional_debug_msgs;  // v18
 
-  navDynState.writeToStream(out);  // v24
+  // Removed v28. navDynState.writeToStream(out);  // v24.
 
   out << visuals;  // v27
 }
@@ -146,6 +143,7 @@ void CLogFileRecord::serializeFrom(mrpt::serialization::CArchive& in, uint8_t ve
     case 25:
     case 26:
     case 27:
+    case 28:
     {
       // Version 0 --------------
       uint32_t i, n;
@@ -239,6 +237,12 @@ void CLogFileRecord::serializeFrom(mrpt::serialization::CArchive& in, uint8_t ve
         {
           ipp.clearance.clear();
         }
+
+        if (version >= 28)
+        {
+          ipp.dynState.readFromStream(in);
+          ipp.lastDynState.readFromStream(in);
+        }
       }
 
       in >> nSelectedPTG >> WS_Obstacles;
@@ -306,11 +310,15 @@ void CLogFileRecord::serializeFrom(mrpt::serialization::CArchive& in, uint8_t ve
       }
       if (version >= 17 && version < 24)
       {
-        in >> ptg_last_navDynState.curVelLocal;
+        mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ds;
+        in >> ds.curVelLocal;
+        for (auto& ipp : infoPerPTG) ipp.dynState = ds;
       }
-      if (version >= 24)
+      if (version >= 24 && version < 28)
       {
-        ptg_last_navDynState.readFromStream(in);
+        mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ds;
+        ds.readFromStream(in);
+        for (auto& ipp : infoPerPTG) ipp.dynState = ds;
       }
 
       if (version >= 10)
@@ -518,13 +526,19 @@ void CLogFileRecord::serializeFrom(mrpt::serialization::CArchive& in, uint8_t ve
       else
         additional_debug_msgs.clear();
 
-      if (version >= 24)
-        navDynState.readFromStream(in);
-      else
+      if (version < 28)
       {
-        navDynState = CParameterizedTrajectoryGenerator::TNavDynamicState();
-        navDynState.curVelLocal = cur_vel_local;
-        if (!WS_targets_relative.empty()) navDynState.relTarget = WS_targets_relative[0];
+        CParameterizedTrajectoryGenerator::TNavDynamicState ds;
+        if (version >= 24)
+        {
+          ds.readFromStream(in);
+        }
+        else
+        {
+          ds.curVelLocal = cur_vel_local;
+          if (!WS_targets_relative.empty()) ds.relTarget = WS_targets_relative[0];
+        }
+        for (auto& ipp : infoPerPTG) ipp.dynState = ds;
       }
 
       if (version >= 27)
diff --git a/libs/nav/src/tpspace/CParameterizedTrajectoryGenerator.cpp b/libs/nav/src/tpspace/CParameterizedTrajectoryGenerator.cpp
index 881d0455ef..f443ba2562 100644
--- a/libs/nav/src/tpspace/CParameterizedTrajectoryGenerator.cpp
+++ b/libs/nav/src/tpspace/CParameterizedTrajectoryGenerator.cpp
@@ -555,10 +555,14 @@ bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator==(
 void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream(
     mrpt::serialization::CArchive& out) const
 {
-  const uint8_t version = 0;
+  const uint8_t version = 1;
   out << version;
   // Data:
   out << curVelLocal << relTarget << targetRelSpeed;
+  // internalState:
+  std::stringstream ss;
+  internalState.printAsYAML(ss);
+  out << ss.str();
 }
 
 void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream(
@@ -569,7 +573,21 @@ void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStr
   switch (version)
   {
     case 0:
+    case 1:
       in >> curVelLocal >> relTarget >> targetRelSpeed;
+      if (version >= 1)
+      {
+        std::string s;
+        in >> s;
+        if (s.empty())
+          internalState.clear();
+        else
+          internalState = mrpt::containers::yaml::FromText(s);
+      }
+      else
+      {
+        internalState.clear();
+      }
       break;
     default:
       MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
diff --git a/libs/opengl/src/CMesh.cpp b/libs/opengl/src/CMesh.cpp
index 0f9b93ef24..1311c53605 100644
--- a/libs/opengl/src/CMesh.cpp
+++ b/libs/opengl/src/CMesh.cpp
@@ -516,7 +516,8 @@ void CMesh::updateColorsMatrix() const
 
     if ((cols != Z.cols()) || (rows != Z.rows()))
     {
-      std::cerr << "[CMesh] Texture image and Z matrix have different sizes.\n";
+      // Texture image and Z matrix have different sizes.
+      // Don't create color matrices.
     }
     else if (getTextureImage().isColor())
     {
diff --git a/python/src/mrpt/maps/CVoxelMapBase.cpp b/python/src/mrpt/maps/CVoxelMapBase.cpp
index 8d31660086..54e2b6908a 100644
--- a/python/src/mrpt/maps/CVoxelMapBase.cpp
+++ b/python/src/mrpt/maps/CVoxelMapBase.cpp
@@ -39,7 +39,7 @@
 
 void bind_mrpt_maps_CVoxelMapBase(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::maps::CVoxelMapBase file:mrpt/maps/CVoxelMapBase.h line:42
+	{ // mrpt::maps::CVoxelMapBase file:mrpt/maps/CVoxelMapBase.h line:44
 		pybind11::class_<mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>, std::shared_ptr<mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>>, mrpt::maps::CMetricMap> cl(M("mrpt::maps"), "CVoxelMapBase_mrpt_maps_VoxelNodeOccupancy_t", "");
 		cl.def("assign", (class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccupancy> & (mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::*)(const class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccupancy> &)) &mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::operator=, "C++: mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::operator=(const class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccupancy> &) --> class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccupancy> &", pybind11::return_value_policy::automatic, pybind11::arg("o"));
 		cl.def("asString", (std::string (mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::*)() const) &mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::asString, "C++: mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccupancy>::asString() const --> std::string");
@@ -70,7 +70,7 @@ void bind_mrpt_maps_CVoxelMapBase(std::function< pybind11::module &(std::string
 		cl.def("getAsSimplePointsMap", (class mrpt::maps::CSimplePointsMap * (mrpt::maps::CMetricMap::*)()) &mrpt::maps::CMetricMap::getAsSimplePointsMap, "C++: mrpt::maps::CMetricMap::getAsSimplePointsMap() --> class mrpt::maps::CSimplePointsMap *", pybind11::return_value_policy::automatic);
 		cl.def("assign", (class mrpt::maps::CMetricMap & (mrpt::maps::CMetricMap::*)(const class mrpt::maps::CMetricMap &)) &mrpt::maps::CMetricMap::operator=, "C++: mrpt::maps::CMetricMap::operator=(const class mrpt::maps::CMetricMap &) --> class mrpt::maps::CMetricMap &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
-	{ // mrpt::maps::CVoxelMapBase file:mrpt/maps/CVoxelMapBase.h line:42
+	{ // mrpt::maps::CVoxelMapBase file:mrpt/maps/CVoxelMapBase.h line:44
 		pybind11::class_<mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>, std::shared_ptr<mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>>, mrpt::maps::CMetricMap> cl(M("mrpt::maps"), "CVoxelMapBase_mrpt_maps_VoxelNodeOccRGB_t", "");
 		cl.def("assign", (class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccRGB> & (mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::*)(const class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccRGB> &)) &mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::operator=, "C++: mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::operator=(const class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccRGB> &) --> class mrpt::maps::CVoxelMapBase<struct mrpt::maps::VoxelNodeOccRGB> &", pybind11::return_value_policy::automatic, pybind11::arg("o"));
 		cl.def("asString", (std::string (mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::*)() const) &mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::asString, "C++: mrpt::maps::CVoxelMapBase<mrpt::maps::VoxelNodeOccRGB>::asString() const --> std::string");
diff --git a/python/src/mrpt/nav/holonomic/ClearanceDiagram.cpp b/python/src/mrpt/nav/holonomic/ClearanceDiagram.cpp
index 48f38c2dce..05dba35259 100644
--- a/python/src/mrpt/nav/holonomic/ClearanceDiagram.cpp
+++ b/python/src/mrpt/nav/holonomic/ClearanceDiagram.cpp
@@ -71,7 +71,7 @@ void bind_mrpt_nav_holonomic_ClearanceDiagram(std::function< pybind11::module &(
 		cl.def("decimated_k_to_real_k", (size_t (mrpt::nav::ClearanceDiagram::*)(size_t) const) &mrpt::nav::ClearanceDiagram::decimated_k_to_real_k, "C++: mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(size_t) const --> size_t", pybind11::arg("k"));
 		cl.def("assign", (class mrpt::nav::ClearanceDiagram & (mrpt::nav::ClearanceDiagram::*)(const class mrpt::nav::ClearanceDiagram &)) &mrpt::nav::ClearanceDiagram::operator=, "C++: mrpt::nav::ClearanceDiagram::operator=(const class mrpt::nav::ClearanceDiagram &) --> class mrpt::nav::ClearanceDiagram &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
-	// mrpt::nav::PTG_collision_behavior_t file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:42
+	// mrpt::nav::PTG_collision_behavior_t file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:43
 	pybind11::enum_<mrpt::nav::PTG_collision_behavior_t>(M("mrpt::nav"), "PTG_collision_behavior_t", pybind11::arithmetic(), "Defines behaviors for where there is an obstacle *inside* the robot shape\nright at the beginning of a PTG trajectory.\n\n\n \n Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR")
 		.value("COLL_BEH_BACK_AWAY", mrpt::nav::COLL_BEH_BACK_AWAY)
 		.value("COLL_BEH_STOP", mrpt::nav::COLL_BEH_STOP)
@@ -79,7 +79,7 @@ void bind_mrpt_nav_holonomic_ClearanceDiagram(std::function< pybind11::module &(
 
 ;
 
-	{ // mrpt::nav::CParameterizedTrajectoryGenerator file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:79
+	{ // mrpt::nav::CParameterizedTrajectoryGenerator file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:80
 		pybind11::class_<mrpt::nav::CParameterizedTrajectoryGenerator, std::shared_ptr<mrpt::nav::CParameterizedTrajectoryGenerator>, mrpt::serialization::CSerializable, mrpt::config::CLoadableOptions> cl(M("mrpt::nav"), "CParameterizedTrajectoryGenerator", "This is the base class for any user-defined PTG.\n  There is a class factory interface in\nCParameterizedTrajectoryGenerator::CreatePTG.\n\n Papers:\n  - J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, \"Extending\nObstacle Avoidance Methods through Multiple Parameter-Space Transformations\",\nAutonomous Robots, vol. 24, no. 1, 2008.\nhttp://ingmec.ual.es/~jlblanco/papers/blanco2008eoa_DRAFT.pdf\n\n Changes history:\n	- 30/JUN/2004: Creation (JLBC)\n	- 16/SEP/2004: Totally redesigned.\n	- 15/SEP/2005: Totally rewritten again, for integration into MRPT\nApplications Repository.\n	- 19/JUL/2009: Simplified to use only STL data types, and created the class\nfactory interface.\n	- MAY/2016: Refactored into CParameterizedTrajectoryGenerator,\nCPTG_DiffDrive_CollisionGridBased, PTG classes renamed.\n	- 2016-2018: Many features added to support \"PTG continuation\", dynamic\npaths depending on vehicle speeds, etc.\n\n  \n\n ");
 		cl.def("GetRuntimeClass", (const struct mrpt::rtti::TRuntimeClassId * (mrpt::nav::CParameterizedTrajectoryGenerator::*)() const) &mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *", pybind11::return_value_policy::automatic);
 		cl.def_static("GetRuntimeClassIdStatic", (const struct mrpt::rtti::TRuntimeClassId & (*)()) &mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &", pybind11::return_value_policy::automatic);
@@ -148,7 +148,7 @@ void bind_mrpt_nav_holonomic_ClearanceDiagram(std::function< pybind11::module &(
 		cl.def("evalClearanceSingleObstacle", (void (mrpt::nav::CParameterizedTrajectoryGenerator::*)(const double, const double, const unsigned short, class std::map<double, double> &, bool) const) &mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle, "Evals the robot clearance for each robot pose along path `k`, for the\n real distances in\n the key of the map<>, then keep in the map value the minimum of its\n current stored clearance,\n or the computed clearance. In case of collision, clearance is zero.\n \n\n true: normal use for obstacles; false: compute\n shortest distances to a target point (no collision)\n\nC++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void", pybind11::arg("ox"), pybind11::arg("oy"), pybind11::arg("k"), pybind11::arg("inout_realdist2clearance"), pybind11::arg("treat_as_obstacle"));
 		cl.def("assign", (class mrpt::nav::CParameterizedTrajectoryGenerator & (mrpt::nav::CParameterizedTrajectoryGenerator::*)(const class mrpt::nav::CParameterizedTrajectoryGenerator &)) &mrpt::nav::CParameterizedTrajectoryGenerator::operator=, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::operator=(const class mrpt::nav::CParameterizedTrajectoryGenerator &) --> class mrpt::nav::CParameterizedTrajectoryGenerator &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:176
+		{ // mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:177
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, std::shared_ptr<mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState>> cl(enclosing_class, "TNavDynamicState", "Dynamic state that may affect the PTG path parameterization. \n\n nav_reactive  ");
 			cl.def( pybind11::init( [](){ return new mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState(); } ) );
@@ -156,6 +156,7 @@ void bind_mrpt_nav_holonomic_ClearanceDiagram(std::function< pybind11::module &(
 			cl.def_readwrite("curVelLocal", &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal);
 			cl.def_readwrite("relTarget", &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget);
 			cl.def_readwrite("targetRelSpeed", &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed);
+			cl.def_readwrite("internalState", &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::internalState);
 			cl.def("__eq__", (bool (mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::*)(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &) const) &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator==, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator==(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &) const --> bool", pybind11::arg("o"));
 			cl.def("__ne__", (bool (mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::*)(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &) const) &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator!=, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator!=(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &) const --> bool", pybind11::arg("o"));
 			cl.def("writeToStream", (void (mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::*)(class mrpt::serialization::CArchive &) const) &mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream, "C++: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream(class mrpt::serialization::CArchive &) const --> void", pybind11::arg("out"));
diff --git a/python/src/mrpt/nav/reactive/CLogFileRecord.cpp b/python/src/mrpt/nav/reactive/CLogFileRecord.cpp
index 6b77bedce4..b23c05004b 100644
--- a/python/src/mrpt/nav/reactive/CLogFileRecord.cpp
+++ b/python/src/mrpt/nav/reactive/CLogFileRecord.cpp
@@ -141,7 +141,6 @@ void bind_mrpt_nav_reactive_CLogFileRecord(std::function< pybind11::module &(std
 		cl.def( pybind11::init( [](){ return new mrpt::nav::CLogFileRecord(); }, [](){ return new PyCallBack_mrpt_nav_CLogFileRecord(); } ) );
 		cl.def( pybind11::init( [](PyCallBack_mrpt_nav_CLogFileRecord const &o){ return new PyCallBack_mrpt_nav_CLogFileRecord(o); } ) );
 		cl.def( pybind11::init( [](mrpt::nav::CLogFileRecord const &o){ return new mrpt::nav::CLogFileRecord(o); } ) );
-		cl.def_readwrite("navDynState", &mrpt::nav::CLogFileRecord::navDynState);
 		cl.def_readwrite("nPTGs", &mrpt::nav::CLogFileRecord::nPTGs);
 		cl.def_readwrite("infoPerPTG", &mrpt::nav::CLogFileRecord::infoPerPTG);
 		cl.def_readwrite("nSelectedPTG", &mrpt::nav::CLogFileRecord::nSelectedPTG);
@@ -166,7 +165,6 @@ void bind_mrpt_nav_reactive_CLogFileRecord(std::function< pybind11::module &(std
 		cl.def_readwrite("ptg_last_k_NOP", &mrpt::nav::CLogFileRecord::ptg_last_k_NOP);
 		cl.def_readwrite("rel_cur_pose_wrt_last_vel_cmd_NOP", &mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP);
 		cl.def_readwrite("rel_pose_PTG_origin_wrt_sense_NOP", &mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP);
-		cl.def_readwrite("ptg_last_navDynState", &mrpt::nav::CLogFileRecord::ptg_last_navDynState);
 		cl.def_readwrite("visuals", &mrpt::nav::CLogFileRecord::visuals);
 		cl.def_static("GetRuntimeClassIdStatic", (const struct mrpt::rtti::TRuntimeClassId & (*)()) &mrpt::nav::CLogFileRecord::GetRuntimeClassIdStatic, "C++: mrpt::nav::CLogFileRecord::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &", pybind11::return_value_policy::automatic);
 		cl.def("GetRuntimeClass", (const struct mrpt::rtti::TRuntimeClassId * (mrpt::nav::CLogFileRecord::*)() const) &mrpt::nav::CLogFileRecord::GetRuntimeClass, "C++: mrpt::nav::CLogFileRecord::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *", pybind11::return_value_policy::automatic);
@@ -192,6 +190,8 @@ void bind_mrpt_nav_reactive_CLogFileRecord(std::function< pybind11::module &(std
 			cl.def_readwrite("HLFR", &mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR);
 			cl.def_readwrite("ptg", &mrpt::nav::CLogFileRecord::TInfoPerPTG::ptg);
 			cl.def_readwrite("clearance", &mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance);
+			cl.def_readwrite("dynState", &mrpt::nav::CLogFileRecord::TInfoPerPTG::dynState);
+			cl.def_readwrite("lastDynState", &mrpt::nav::CLogFileRecord::TInfoPerPTG::lastDynState);
 			cl.def("assign", (struct mrpt::nav::CLogFileRecord::TInfoPerPTG & (mrpt::nav::CLogFileRecord::TInfoPerPTG::*)(const struct mrpt::nav::CLogFileRecord::TInfoPerPTG &)) &mrpt::nav::CLogFileRecord::TInfoPerPTG::operator=, "C++: mrpt::nav::CLogFileRecord::TInfoPerPTG::operator=(const struct mrpt::nav::CLogFileRecord::TInfoPerPTG &) --> struct mrpt::nav::CLogFileRecord::TInfoPerPTG &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
diff --git a/python/src/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.cpp b/python/src/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.cpp
index 1bf7b77730..ea3c56c281 100644
--- a/python/src/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.cpp
+++ b/python/src/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.cpp
@@ -273,7 +273,7 @@ struct PyCallBack_mrpt_nav_CAbstractHolonomicReactiveMethod : public mrpt::nav::
 
 void bind_mrpt_nav_tpspace_CParameterizedTrajectoryGenerator(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::nav::CPTG_RobotShape_Polygonal file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:501
+	{ // mrpt::nav::CPTG_RobotShape_Polygonal file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:505
 		pybind11::class_<mrpt::nav::CPTG_RobotShape_Polygonal, std::shared_ptr<mrpt::nav::CPTG_RobotShape_Polygonal>, mrpt::nav::CParameterizedTrajectoryGenerator> cl(M("mrpt::nav"), "CPTG_RobotShape_Polygonal", "Base class for all PTGs using a 2D polygonal robot shape model.\n  \n\n\n ");
 		cl.def("setRobotShape", (void (mrpt::nav::CPTG_RobotShape_Polygonal::*)(const class mrpt::math::CPolygon &)) &mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape, "@{ *\n\n Robot shape must be set before initialization, either from ctor params\n or via this method. \n\nC++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void", pybind11::arg("robotShape"));
 		cl.def("getRobotShape", (const class mrpt::math::CPolygon & (mrpt::nav::CPTG_RobotShape_Polygonal::*)() const) &mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape, "C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &", pybind11::return_value_policy::automatic);
@@ -285,7 +285,7 @@ void bind_mrpt_nav_tpspace_CParameterizedTrajectoryGenerator(std::function< pybi
 		cl.def_static("static_add_robotShape_to_setOfLines", (void (*)(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &)) &mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines, "C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void", pybind11::arg("gl_shape"), pybind11::arg("origin"), pybind11::arg("robotShape"));
 		cl.def("assign", (class mrpt::nav::CPTG_RobotShape_Polygonal & (mrpt::nav::CPTG_RobotShape_Polygonal::*)(const class mrpt::nav::CPTG_RobotShape_Polygonal &)) &mrpt::nav::CPTG_RobotShape_Polygonal::operator=, "C++: mrpt::nav::CPTG_RobotShape_Polygonal::operator=(const class mrpt::nav::CPTG_RobotShape_Polygonal &) --> class mrpt::nav::CPTG_RobotShape_Polygonal &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
-	{ // mrpt::nav::CPTG_RobotShape_Circular file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:545
+	{ // mrpt::nav::CPTG_RobotShape_Circular file:mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h line:549
 		pybind11::class_<mrpt::nav::CPTG_RobotShape_Circular, std::shared_ptr<mrpt::nav::CPTG_RobotShape_Circular>, mrpt::nav::CParameterizedTrajectoryGenerator> cl(M("mrpt::nav"), "CPTG_RobotShape_Circular", "Base class for all PTGs using a 2D circular robot shape model.\n  \n\n\n ");
 		cl.def("setRobotShapeRadius", (void (mrpt::nav::CPTG_RobotShape_Circular::*)(const double)) &mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius, "@{ *\n\n Robot shape must be set before initialization, either from ctor params\n or via this method. \n\nC++: mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius(const double) --> void", pybind11::arg("robot_radius"));
 		cl.def("getRobotShapeRadius", (double (mrpt::nav::CPTG_RobotShape_Circular::*)() const) &mrpt::nav::CPTG_RobotShape_Circular::getRobotShapeRadius, "C++: mrpt::nav::CPTG_RobotShape_Circular::getRobotShapeRadius() const --> double");
diff --git a/python/src/mrpt/opengl/Texture.cpp b/python/src/mrpt/opengl/Texture.cpp
index 16a2171f8e..d9281aa075 100644
--- a/python/src/mrpt/opengl/Texture.cpp
+++ b/python/src/mrpt/opengl/Texture.cpp
@@ -52,6 +52,13 @@ void bind_mrpt_opengl_Texture(std::function< pybind11::module &(std::string cons
 		pybind11::class_<mrpt::opengl::Texture, std::shared_ptr<mrpt::opengl::Texture>> cl(M("mrpt::opengl"), "Texture", "Resource management for OpenGL 2D or Cube textures.\n\n The texture is generated when images are assigned via\n assignImage2D() or assignCubeImages().\n\n \n CRenderizableShaderTexturedTriangles\n \n\n\n ");
 		cl.def( pybind11::init( [](){ return new mrpt::opengl::Texture(); } ) );
 		cl.def( pybind11::init( [](mrpt::opengl::Texture const &o){ return new mrpt::opengl::Texture(o); } ) );
+
+		pybind11::enum_<mrpt::opengl::Texture::Wrapping>(cl, "Wrapping", "")
+			.value("Repeat", mrpt::opengl::Texture::Wrapping::Repeat)
+			.value("MirroredRepeat", mrpt::opengl::Texture::Wrapping::MirroredRepeat)
+			.value("ClampToEdge", mrpt::opengl::Texture::Wrapping::ClampToEdge)
+			.value("ClapToBorder", mrpt::opengl::Texture::Wrapping::ClapToBorder);
+
 		cl.def("assignImage2D", [](mrpt::opengl::Texture &o, const class mrpt::img::CImage & a0, const struct mrpt::opengl::Texture::Options & a1) -> void { return o.assignImage2D(a0, a1); }, "", pybind11::arg("rgb"), pybind11::arg("o"));
 		cl.def("assignImage2D", (void (mrpt::opengl::Texture::*)(const class mrpt::img::CImage &, const struct mrpt::opengl::Texture::Options &, int)) &mrpt::opengl::Texture::assignImage2D, "This is how an 2D texture image is loaded into this object, and a\n texture ID is generated underneath. Valid image formats are 8bit per\n channel RGB or RGBA.\n\nC++: mrpt::opengl::Texture::assignImage2D(const class mrpt::img::CImage &, const struct mrpt::opengl::Texture::Options &, int) --> void", pybind11::arg("rgb"), pybind11::arg("o"), pybind11::arg("textureUnit"));
 		cl.def("assignImage2D", [](mrpt::opengl::Texture &o, const class mrpt::img::CImage & a0, const class mrpt::img::CImage & a1, const struct mrpt::opengl::Texture::Options & a2) -> void { return o.assignImage2D(a0, a1, a2); }, "", pybind11::arg("rgb"), pybind11::arg("alpha"), pybind11::arg("o"));
@@ -66,20 +73,22 @@ void bind_mrpt_opengl_Texture(std::function< pybind11::module &(std::string cons
 		cl.def("textureNameID", (unsigned int (mrpt::opengl::Texture::*)() const) &mrpt::opengl::Texture::textureNameID, "C++: mrpt::opengl::Texture::textureNameID() const --> unsigned int");
 		cl.def("assign", (class mrpt::opengl::Texture & (mrpt::opengl::Texture::*)(const class mrpt::opengl::Texture &)) &mrpt::opengl::Texture::operator=, "C++: mrpt::opengl::Texture::operator=(const class mrpt::opengl::Texture &) --> class mrpt::opengl::Texture &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::opengl::Texture::Options file:mrpt/opengl/Texture.h line:47
+		{ // mrpt::opengl::Texture::Options file:mrpt/opengl/Texture.h line:55
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::opengl::Texture::Options, std::shared_ptr<mrpt::opengl::Texture::Options>> cl(enclosing_class, "Options", "Options while creating a texture from an image.");
 			cl.def( pybind11::init( [](){ return new mrpt::opengl::Texture::Options(); } ) );
 			cl.def_readwrite("generateMipMaps", &mrpt::opengl::Texture::Options::generateMipMaps);
 			cl.def_readwrite("magnifyLinearFilter", &mrpt::opengl::Texture::Options::magnifyLinearFilter);
 			cl.def_readwrite("enableTransparency", &mrpt::opengl::Texture::Options::enableTransparency);
+			cl.def_readwrite("wrappingModeS", &mrpt::opengl::Texture::Options::wrappingModeS);
+			cl.def_readwrite("wrappingModeT", &mrpt::opengl::Texture::Options::wrappingModeT);
 		}
 
 	}
-	// mrpt::opengl::getNewTextureNumber() file:mrpt/opengl/Texture.h line:118
+	// mrpt::opengl::getNewTextureNumber() file:mrpt/opengl/Texture.h line:132
 	M("mrpt::opengl").def("getNewTextureNumber", (unsigned int (*)()) &mrpt::opengl::getNewTextureNumber, "C++: mrpt::opengl::getNewTextureNumber() --> unsigned int");
 
-	// mrpt::opengl::releaseTextureName(const unsigned int &) file:mrpt/opengl/Texture.h line:119
+	// mrpt::opengl::releaseTextureName(const unsigned int &) file:mrpt/opengl/Texture.h line:133
 	M("mrpt::opengl").def("releaseTextureName", (void (*)(const unsigned int &)) &mrpt::opengl::releaseTextureName, "C++: mrpt::opengl::releaseTextureName(const unsigned int &) --> void", pybind11::arg("t"));
 
 	{ // mrpt::opengl::CRenderizableShaderTexturedTriangles file:mrpt/opengl/CRenderizableShaderTexturedTriangles.h line:28
diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/nav.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/nav.pyi
index d0fa18b568..a8db2db8ff 100644
--- a/python/stubs-out/mrpt/pymrpt/mrpt/nav.pyi
+++ b/python/stubs-out/mrpt/pymrpt/mrpt/nav.pyi
@@ -2,6 +2,7 @@ from typing import Any, ClassVar, Dict, List, Optional
 
 from typing import overload
 import mrpt.pymrpt.mrpt.config
+import mrpt.pymrpt.mrpt.containers
 import mrpt.pymrpt.mrpt.graphs
 import mrpt.pymrpt.mrpt.img
 import mrpt.pymrpt.mrpt.kinematics
@@ -598,8 +599,10 @@ class CLogFileRecord(mrpt.pymrpt.mrpt.serialization.CSerializable):
         clearance: ClearanceDiagram
         desiredDirection: float
         desiredSpeed: float
+        dynState: CParameterizedTrajectoryGenerator.TNavDynamicState
         evalFactors: Dict[str,float]
         evaluation: float
+        lastDynState: CParameterizedTrajectoryGenerator.TNavDynamicState
         ptg: CParameterizedTrajectoryGenerator
         timeForHolonomicMethod: float
         timeForTPObsTransformation: float
@@ -619,10 +622,8 @@ class CLogFileRecord(mrpt.pymrpt.mrpt.serialization.CSerializable):
     infoPerPTG: Any
     nPTGs: int
     nSelectedPTG: int
-    navDynState: CParameterizedTrajectoryGenerator.TNavDynamicState
     ptg_index_NOP: int
     ptg_last_k_NOP: int
-    ptg_last_navDynState: CParameterizedTrajectoryGenerator.TNavDynamicState
     relPoseSense: mrpt.pymrpt.mrpt.math.TPose2D
     relPoseVelCmd: mrpt.pymrpt.mrpt.math.TPose2D
     rel_cur_pose_wrt_last_vel_cmd_NOP: mrpt.pymrpt.mrpt.math.TPose2D
@@ -1106,6 +1107,7 @@ class CParameterizedTrajectoryGenerator(mrpt.pymrpt.mrpt.serialization.CSerializ
     class TNavDynamicState:
         __hash__: ClassVar[None] = ...
         curVelLocal: Any
+        internalState: mrpt.pymrpt.mrpt.containers.yaml
         relTarget: mrpt.pymrpt.mrpt.math.TPose2D
         targetRelSpeed: float
         @overload
diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
index 136283fa61..fd21ef1880 100644
--- a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
+++ b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
@@ -3802,7 +3802,30 @@ class Texture:
         enableTransparency: bool
         generateMipMaps: bool
         magnifyLinearFilter: bool
+        wrappingModeS: Texture.Wrapping
+        wrappingModeT: Texture.Wrapping
         def __init__(self) -> None: ...
+
+    class Wrapping:
+        __doc__: ClassVar[str] = ...  # read-only
+        __members__: ClassVar[dict] = ...  # read-only
+        ClampToEdge: ClassVar[Texture.Wrapping] = ...
+        ClapToBorder: ClassVar[Texture.Wrapping] = ...
+        MirroredRepeat: ClassVar[Texture.Wrapping] = ...
+        Repeat: ClassVar[Texture.Wrapping] = ...
+        __entries: ClassVar[dict] = ...
+        def __init__(self, value: int) -> None: ...
+        def __eq__(self, other: object) -> bool: ...
+        def __getstate__(self) -> int: ...
+        def __hash__(self) -> int: ...
+        def __index__(self) -> int: ...
+        def __int__(self) -> int: ...
+        def __ne__(self, other: object) -> bool: ...
+        def __setstate__(self, state: int) -> None: ...
+        @property
+        def name(self) -> str: ...
+        @property
+        def value(self) -> int: ...
     @overload
     def __init__(self) -> None: ...
     @overload
diff --git a/version_prefix.txt b/version_prefix.txt
index 0979147215..6bbefbc2b6 100644
--- a/version_prefix.txt
+++ b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.14.1
+2.14.2
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically