diff --git a/CHANGELOG.md b/CHANGELOG.md
index 915ead00d..9ce5be9b8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,10 +8,12 @@
     - GNSS: `carla.GnssEvent` renamed to `carla.GnssMeasurement`
   * API extensions:
     - Added `carla.IMUMeasurement`
-    - GNSS data can now be obtained with noise, check the BP library to see the values
+    - GNSS data can now be obtained with noise
+    - IMU data can now be obtained with noise
   * Updated manual_control.py with a lens disortion effect example
   * Exposed rgb camera attributes: exposure, depth of field, tonemapper, color correction, and chromatic aberration
   * Fixed pylint for python3 in travis
+  * Fixed PointCloudIO `cout` that interfiered with other python modules
   * Better steering in manual control
   * Added Doxygen documentation online with automatic updates through Jenkins pipeline
   * Fixed client_bounding_boxes.py example script
diff --git a/Docs/bp_library.md b/Docs/bp_library.md
index 53985771d..c3ce36c37 100755
--- a/Docs/bp_library.md
+++ b/Docs/bp_library.md
@@ -108,6 +108,21 @@ Check out our [blueprint tutorial](../python_api_tutorial/#blueprints).
         - `noise_lat_stddev` (_Float_)<sub>_ – Modifiable_</sub>
         - `noise_lon_bias` (_Float_)<sub>_ – Modifiable_</sub>
         - `noise_lon_stddev` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_seed` (_Int_)<sub>_ – Modifiable_</sub>
+        - `role_name` (_String_)<sub>_ – Modifiable_</sub>
+        - `sensor_tick` (_Float_)<sub>_ – Modifiable_</sub>
+- **<font color="#498efc">sensor.other.imu</font>**  
+    - **Attributes:**
+        - `noise_accel_stddev_x` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_accel_stddev_y` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_accel_stddev_z` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_bias_x` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_bias_y` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_bias_z` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_stddev_x` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_stddev_y` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_gyro_stddev_z` (_Float_)<sub>_ – Modifiable_</sub>
+        - `noise_seed` (_Int_)<sub>_ – Modifiable_</sub>
         - `role_name` (_String_)<sub>_ – Modifiable_</sub>
         - `sensor_tick` (_Float_)<sub>_ – Modifiable_</sub>
 - **<font color="#498efc">sensor.other.lane_invasion</font>**