diff --git a/doc/changelog.rst b/doc/changelog.rst
index c2315f74..b78d76fd 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -30,10 +30,10 @@ General
 
 - Updates to humanoid model:
 
- * Added two keyframes (stand-on-one-leg and squat).
- * Increased maximum hip flexion angle.
- * Added hamstring tendons which couple the hip and knee at high hip flexion angles.
- * General cosmetic improvements, including improved use of defaults and better naming scheme.
+  * Added two keyframes (stand-on-one-leg and squat).
+  * Increased maximum hip flexion angle.
+  * Added hamstring tendons which couple the hip and knee at high hip flexion angles.
+  * General cosmetic improvements, including improved use of defaults and better naming scheme.
 
 - Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
   Quadratic Program:
@@ -61,22 +61,36 @@ General
 - Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
 
 - Added new :at:`cable` composite type:
- * Cable elements are connected with ball joints.
- * The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
- * The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
- * The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
- * The orientation of the body frame **is** the orientation of the material frame of the curve.
+
+  * Cable elements are connected with ball joints.
+  * The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
+  * The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
+  * The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
+  * The orientation of the body frame **is** the orientation of the material frame of the curve.
 
 - Added new :at:`cable` passive force plugin:
- * Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
- * The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
- * New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
-   showing the formation of plectoneme.
- * New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_  example
-   showing a curved equilibrium configuration.
- * New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_  example
-   showing interaction between twist and anisotropy.
- * Added test using cantilever exact solution.
+
+  * Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
+  * The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
+  * New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
+    showing the formation of plectoneme.
+  * New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_  example
+    showing a curved equilibrium configuration.
+  * New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_  example
+    showing interaction between twist and anisotropy.
+  * Added test using cantilever exact solution.
+
+.. youtube:: 25kQP671fJE
+   :align: right
+   :height: 115px
+
+.. youtube:: 4DvGe-BodFU
+   :align: right
+   :height: 115px
+
+.. youtube:: QcGdpUd5H0c
+   :align: right
+   :height: 115px
 
 Python bindings
 ^^^^^^^^^^^^^^^