diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0610819a8..8d9df035c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,16 @@ Release Versions:
 - Add CI workflow for Python bindings (#159)
 - Add emtpy constructors for Circular and Ring DS (#154)
 - Update ROS1 example because simulation is more developed (#160)
+- Define `inverse` and `*` operators for Cartesian types explicitly (#158)
+
+## Important TODOs
+
+- Revise `*=` and `*` operators in Cartesian types before the next release with 
+  breaking changes (some are marked *deprecated*, and some are left as is, but 
+  they should be deleted). See issue #156
+- Add the wrench computation in the `*` operator and `inverse` function (#134)
+- Refactor and improve unittests for state_representation (especially JointState
+  and CartesianState)
 
 ## 3.0.0
 
diff --git a/source/state_representation/src/space/cartesian/CartesianTwist.cpp b/source/state_representation/src/space/cartesian/CartesianTwist.cpp
index 9e522ab50..a9544b1ab 100644
--- a/source/state_representation/src/space/cartesian/CartesianTwist.cpp
+++ b/source/state_representation/src/space/cartesian/CartesianTwist.cpp
@@ -164,8 +164,7 @@ Eigen::VectorXd CartesianTwist::data() const {
 }
 
 CartesianTwist CartesianTwist::inverse() const {
-  CartesianTwist result = this->CartesianState::inverse();
-  return result;
+  return this->CartesianState::inverse();
 }
 
 std::ostream& operator<<(std::ostream& os, const CartesianTwist& twist) {
@@ -184,7 +183,7 @@ std::ostream& operator<<(std::ostream& os, const CartesianTwist& twist) {
 }
 
 CartesianTwist operator*(const CartesianState& state, const CartesianTwist& twist) {
-  return CartesianTwist(state.operator*(twist));
+  return state.operator*(twist);
 }
 
 CartesianTwist operator*(double lambda, const CartesianTwist& twist) {
diff --git a/source/state_representation/src/space/cartesian/CartesianWrench.cpp b/source/state_representation/src/space/cartesian/CartesianWrench.cpp
index acc9945a3..930f25873 100644
--- a/source/state_representation/src/space/cartesian/CartesianWrench.cpp
+++ b/source/state_representation/src/space/cartesian/CartesianWrench.cpp
@@ -141,7 +141,7 @@ std::ostream& operator<<(std::ostream& os, const CartesianWrench& wrench) {
 }
 
 CartesianWrench operator*(const CartesianState& state, const CartesianWrench& wrench) {
-  return CartesianWrench(state.operator*(wrench));
+  return state.operator*(wrench);
 }
 
 CartesianWrench operator*(double lambda, const CartesianWrench& wrench) {