diff --git a/CHANGELOG.md b/CHANGELOG.md
index 787b6f3..c1aa895 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [0.0.4] - 2022-02-09
+
 ### Fixed
 - Fixed the conversion from ``iDynTree`` to ``yarp`` pixels after https://github.com/robotology/idyntree/pull/903. Removed some deprecation warnings (https://github.com/robotology/idyntree-yarp-tools/pull/16)
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a3f0405..c6ec960 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 
 project(idyntree-yarp-tools
         LANGUAGES CXX C
-        VERSION 0.0.3)
+        VERSION 0.0.4)
 
 
 # Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.