diff --git a/CMakeLists.txt b/CMakeLists.txt
index fc1066fe08..87500074b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,8 +4,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 159)
-set (OPENRAVE_VERSION_PATCH 1)
+set (OPENRAVE_VERSION_MINOR 160)
+set (OPENRAVE_VERSION_PATCH 0)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 0a46c8e375..495070c65b 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -3,6 +3,12 @@
 ChangeLog
 #########
 
+Version 0.160.0
+===============
+
+- Add new functions for AddKinBody/AddRobot to specify an exact environmentBodyIndex.
+- Use std::unique_lock instead of std::scoped_lock. Remove boost recursive mutex.
+
 Version 0.159.1
 ===============