fix: adapt changelog and revert changes in visualization.py

CHANGELOG.md

@@ -3,24 +3,17 @@
 All notable changes to this project will be documented in this file.
 
 ## [2.2.0] - 2024-05-11
+
+## Unreleased
 ### Added
 - Control Barrier Functions, namely:
   - Abstract Barrier ``Barrier``
-  - Frame Position Barrier ``PositionBarrier```
-  - Joint Configuration Barrier ``ConfigurationBarrier``
-  - Spherical Collision-Avoidance Barrier ``BodySphericalBarrier``
-- Examples for `UR5` and `yumi` manipulators, which illustrate barriers effect.
-
-### Changed
-- Configuration accepts list of Control Barrier Functions
-- Configuration could optionally disable Configuration Limits (for example to use ``ConfigurationBarrier``)
-- Visualization could optionally skip opening the simulation window (for example to open it in `.ipynb`)
-
-## Unreleased
-
+  - Frame Position Barrier ``PositionBarrier``
+- Examples for `UR5` manipulator and `go2` quadruped robot, which illustrate barriers effect.
+
 ### Changed
-
 - CICD: Update ruff to 0.4.3
+- Configuration accepts list of Control Barrier Functions
 
 ### Fixed
 

pink/visualization.py

@@ -9,9 +9,7 @@
 import pinocchio as pin
 
 
-def start_meshcat_visualizer(
-    robot: pin.RobotWrapper,
-) -> pin.visualize.MeshcatVisualizer:
+def start_meshcat_visualizer(robot: pin.RobotWrapper) -> pin.visualize.MeshcatVisualizer:
     """Open a MeshCat visualizer in a web browser.
 
     Args:
@@ -20,9 +18,7 @@ def start_meshcat_visualizer(
     Returns:
         MeshCat visualizer.
     """
-    viz = pin.visualize.MeshcatVisualizer(
-        robot.model, robot.collision_model, robot.visual_model
-    )
+    viz = pin.visualize.MeshcatVisualizer(robot.model, robot.collision_model, robot.visual_model)
     robot.setVisualizer(viz, init=False)
     viz.initViewer(open=True)
     viz.loadViewerModel()