misc: remove chai_tea problem

Author: tkevinbest

examples/fsm_walking_python_controller.py

@@ -265,7 +265,7 @@ def ankle_homing_complete():
 
     with osl, osl_fsm:
         osl.update()
-        osl.home(callback_functions=[knee_homing_complete, ankle_homing_complete])
+        osl.home(callbacks=[knee_homing_complete, ankle_homing_complete])
         input("Press Enter to start walking...")
 
         # knee

opensourceleg/actuators/base.py

@@ -763,7 +763,7 @@ def home(
         output_position_offset: float = 0.0,
         current_threshold: int = 5000,
         velocity_threshold: float = 0.001,
-        callback_fn: Optional[Callable[[], None]] = None,
+        callback: Optional[Callable[[], None]] = None,
     ) -> None:
         """
         Home the actuator.
@@ -778,7 +778,7 @@ def home(
             output_position_offset (float): Offset to add to the output position.
             current_threshold (int): Current threshold to stop homing.
             velocity_threshold (float): Velocity threshold to stop homing.
-            callback_fn (Optional[Callable[[], None]]): Optional callback function to be
+            callback (Optional[Callable[[], None]]): Optional callback function to be
                         called when homing completes. The function should take no arguments and return None.
 
         Examples:

opensourceleg/actuators/dephy.py

@@ -294,7 +294,7 @@ def home(
         output_position_offset: float = 0.0,
         current_threshold: int = 5000,
         velocity_threshold: float = 0.001,
-        callback_fn: Optional[Callable[[], None]] = None,
+        callback: Optional[Callable[[], None]] = None,
     ) -> None:
         """
 
@@ -318,7 +318,7 @@ def home(
             velocity_threshold (float): Velocity threshold in rad/s to stop homing the joint or actuator.
                 This is also used to detect if the actuator or joint has hit a hard stop.
                 Default is 0.001 rad/s.
-            callback_fn (Optional[Callable[[], None]]): Optional callback function to be called when homing completes.
+            callback (Optional[Callable[[], None]]): Optional callback function to be called when homing completes.
                                                         The function should take no arguments and return None.
         Examples:
             >>> actuator = DephyActuator(port='/dev/ttyACM0')
@@ -348,8 +348,8 @@ def home(
 
                 if abs(self.output_velocity) <= velocity_threshold or abs(self.motor_current) >= current_threshold:
                     self.set_motor_voltage(value=0)
-                    if callback_fn is not None:
-                        callback_fn()
+                    if callback is not None:
+                        callback()
                     is_homing = False
 
         except KeyboardInterrupt:

opensourceleg/actuators/tmotor.py

@@ -199,7 +199,7 @@ def home(
         output_position_offset: float = 0.0,
         current_threshold: int = 5000,
         velocity_threshold: float = 0.001,
-        callback_fn: Optional[Callable[[], None]] = None,
+        callback: Optional[Callable[[], None]] = None,
     ):
         """
         Home the actuator and corresponding joint by moving it to the zero position.
@@ -218,7 +218,7 @@ def home(
                 Default is 5000 mA.
             velocity_threshold (float): Velocity threshold in rad/s to stop homing the joint or actuator.
                 Default is 0.001 rad/s.
-            callback_fn (Optional[Callable[[], None]]): Optional callback function to be called when homing completes.
+            callback (Optional[Callable[[], None]]): Optional callback function to be called when homing completes.
                                                         The function should take no arguments and return None.
         """
         # TODO: implement homing

opensourceleg/robots/osl.py

@@ -44,7 +44,7 @@ def home(
         output_position_offset: Optional[dict[str, float]] = None,
         current_threshold: int = 5000,
         velocity_threshold: float = 0.001,
-        callback_functions: Optional["Iterable[Optional[Callable[[], None]]]"] = None,
+        callbacks: Optional["Iterable[Optional[Callable[[], None]]]"] = None,
     ) -> None:
         """
         Call the home method for all actuators.
@@ -58,7 +58,7 @@ def home(
                 Default is 0.0 for knee and 30.0 for ankle.
             current_threshold: The current threshold to apply to the actuators during homing. Default is 5000.
             velocity_threshold: The velocity threshold to apply to the actuators during homing. Default is 0.001.
-            callback_functions (Optional[Iterable[Optional[Callable[[], None]]]]):
+            callbacks (Optional[Iterable[Optional[Callable[[], None]]]]):
                 Optional list or iterable of callback functions, one per actuator,
                 to be called when each actuator's homing completes.
                 Each function should take no arguments and return None. If None, no callbacks are used.
@@ -67,15 +67,15 @@ def home(
             output_position_offset = {"knee": 0.0, "ankle": np.deg2rad(30.0)}
         if homing_direction is None:
             homing_direction = {"knee": -1, "ankle": -1}
-        for actuator, callback_fn in zip(self.actuators.values(), callback_functions or [None] * len(self.actuators)):
+        for actuator, callback in zip(self.actuators.values(), callbacks or [None] * len(self.actuators)):
             actuator.home(
                 homing_voltage=homing_voltage,
                 homing_frequency=homing_frequency,
                 homing_direction=homing_direction[actuator.tag],
                 output_position_offset=output_position_offset[actuator.tag],
                 current_threshold=current_threshold,
                 velocity_threshold=velocity_threshold,
-                callback_fn=callback_fn,
+                callback=callback,
             )
 
         LOGGER.info(

tutorials/robots/osl/homing_joints.py

@@ -84,7 +84,7 @@ def ankle_homing_complete():
             output_position_offset={"knee": 0.0, "ankle": np.deg2rad(30.0)},
             current_threshold=5000,
             velocity_threshold=0.001,
-            callback_functions=[knee_homing_complete, ankle_homing_complete],
+            callbacks=[knee_homing_complete, ankle_homing_complete],
         )
 
         osl.knee.set_control_mode(CONTROL_MODES.CURRENT)