diff --git a/javascript/CHANGELOG.md b/javascript/CHANGELOG.md
index f8c0016..0f08a8d 100644
--- a/javascript/CHANGELOG.md
+++ b/javascript/CHANGELOG.md
@@ -5,6 +5,9 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
 ## [0.12.2] - Unreleased
+### Added
+- Support for "planar" and "floating" joint types.
+
 ### Changed
 - setJointValues function can now take "null" vaues.