diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1da924b277..4e29043143 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@ All notable changes to this project are documented in this file.
 
 ## [unreleased]
 ### Added
+- Set submodel states from IMUs in RDE and add friction torques as measurement (https://github.com/ami-iit/bipedal-locomotion-framework/pull/793)
 
 ### Changed
 
@@ -22,7 +23,6 @@ All notable changes to this project are documented in this file.
 - Add the support of QP problems with no constraint in `QPInverseKinematics` and `QPTSID` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/784)
 - Implement `blf-joints-grid-position-tracking` application in `utilities` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/787)
 - Add the possibility to resample the contact in a given contact list (https://github.com/ami-iit/bipedal-locomotion-framework/pull/788)
-- Set submodel states from IMUs in RDE (Use IMU measurements to set submodel base state in RDE)
 
 ### Changed
 - Restructure of the `CentroidalMPC` class in `ReducedModelControllers` component. Specifically, the `CentroidalMPC` now provides a contact phase list instead of indicating the next active contact. Additionally, users can now switch between `ipopt` and `sqpmethod` to solve the optimization problem. Furthermore, the update allows for setting the warm-start for the non-linear solver. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/766)