Updated changelog to discuss FloatingBaseVelocityLimit

Author: Soontosh

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 - examples: Add example with a sparse QP solver, suppressing matrix conversion warnings
+- limits: Allow floating base velocity limits with `FloatingBaseVelocityLimit` to plug into configurations to automatically clamp base twists
 
 ### Changed