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The error that you are getting is caused by this line:

    training_sampley.append(r.joint_callback())

You don't provide any arguments to that function, but it expects a single argument called data. You probably shouldn't be calling joint_callback yourself anyway, since it's the callback function that is called by rospy to pass the sensor_msgs/JointState message.

The error that you are getting is caused by this line:

    training_sampley.append(r.joint_callback())

You don't provide any arguments to that the joint_callback function, but it expects a single argument called data. You probably shouldn't be calling joint_callback yourself anyway, since it's the callback function that is called by rospy to pass the sensor_msgs/JointState message.