diff --git a/CHANGELOG.md b/CHANGELOG.md
index e6b93bbc8d..5f19292995 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ All notable changes to this project are documented in this file.
 - Implement the `VectorsCollectionWrapper` device for collection of arbitrary vector ports (https://github.com/ami-iit/bipedal-locomotion-framework/pull/512)
 - Add reading of right upper leg FT for `iCubGenova09` and associated cartesian wrench in `YarpRobotLoggerDevice` configuration files (https://github.com/ami-iit/bipedal-locomotion-framework/pull/513)
 - Add reading of right and left arms FT for `iCubGenova09` in `YarpRobotLoggerDevice` configuration files (https://github.com/ami-iit/bipedal-locomotion-framework/pull/515)
+- Add reading of right and left arms and right upper leg FTs and cartesian wrenches for `iCubGazeboV3` in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/525)
 
 ### Changed
 - An error it will be returned if the user tries to change the clock type once the `clock()` has been already called once (https://github.com/ami-iit/bipedal-locomotion-framework/pull/500)