release: Update CHANGELOG.md for 3.8.0

Author: jorisv

CHANGELOG.md

@@ -10,6 +10,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [3.8.0] - 2025-09-17
+
 ### Added
 - Continuous joints can now be parsed as mimic from a urdf file ([#2756](https://github.com/stack-of-tasks/pinocchio/pull/2756))
 - Beta version of Viser visualizer ([#2718](https://github.com/stack-of-tasks/pinocchio/pull/2718))
@@ -1192,7 +1194,8 @@ 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/v3.7.0...HEAD
+[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.8.0...HEAD
+[3.8.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.7.0...v3.8.0
 [3.7.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.6.0...v3.7.0
 [3.6.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.5.0...v3.6.0
 [3.5.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.4.0...v3.5.0