Update the CHANGELOG

Author: GiulioRomualdi

CHANGELOG.md

@@ -5,6 +5,8 @@ All notable changes to this project are documented in this file.
 ### Added
 - Implement the `MultiStateWeightProvider` in `ContinuousDynamicalSystem` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/555)
 - Implement `PortInput` and `PortOutput`in `System` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/555)
+- Implement `toManifTwist` in `Conversions` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/557)
+- Add the default value for the desired spatial and angular velocity to the `IK::SO3Task` and `IK::SE3Task` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/557)
 
 ### Changed
 - Now `Advanceable` inherits from `PortInput` and `PortOutput` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/555)