release: Update CHANGELOG.md for 3.4.0

Author: jorisv

CHANGELOG.md

@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [3.4.0] - 2025-02-12
+
 ### Added
 - Add parsing meshes with vertices for MJCF format ([#2537](https://github.com/stack-of-tasks/pinocchio/pull/2537))
 
@@ -1086,7 +1088,8 @@ The model can either be parsed from a URDF format or be created by appendending
         • Fixed (concatenation of two consecutive bodies)
 
 
-[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.3.1...HEAD
+[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.4.0...HEAD
+[3.4.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.3.1...v3.4.0
 [3.3.1]: https://github.com/stack-of-tasks/pinocchio/compare/v3.3.0...v3.3.1
 [3.3.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.2.0...v3.3.0
 [3.2.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.1.0...v3.2.0