diff --git a/doc/changelog.rst b/doc/changelog.rst
index ab6f970e..3b1d9b92 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,20 +2,8 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
------------------------------------
-
-General
-^^^^^^^
-1. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
-
-MJX
-^^^
-2. Added support for userdata.
-3. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
-
-Version 3.1.4 (April 8th, 2024)
--------------------------------
+Version 3.1.4 (April 10th, 2024)
+--------------------------------
 
 General
 ^^^^^^^
@@ -41,18 +29,21 @@ General
    which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
 3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
 
+4. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
 
 MJX
 ^^^
-4. Improved performance of SAT for convex collisions.
-5. Fixed bug for sphere/capsule-convex deep penetration.
-6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
-7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
-8. Added ellipsoid plane collisions.
+5. Improved performance of SAT for convex collisions.
+6. Fixed bug for sphere/capsule-convex deep penetration.
+7. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
+8. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
+9. Added ellipsoid plane collisions.
+10. Added support for userdata.
+11. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
 
 Simulate
 ^^^^^^^^
-9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
+12. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
    :ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
    other flag.
 
@@ -63,7 +54,7 @@ Python bindings
    :align: right
    :width: 240px
 
-10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
+13. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
     The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
     Kinematics, is available here: |ls_colab|
     |br| The video on the right shows example clips from the tutorial.