From 98e04ef67f199d9b0fa22e8d008e5578dc0325cc Mon Sep 17 00:00:00 2001
From: John Wason <wason@wasontech.com>
Date: Tue, 18 Jul 2023 17:42:37 -0400
Subject: [PATCH] Fix API changes in tesseract-robotics 0.2.0 (#21)

* Fix api change in tesseract-robotics 0.2.0

* Disable Python 2.7 test
---
 .github/workflows/main.yml                | 4 ++--
 setup.py                                  | 4 ++--
 src/general_robotics_toolbox/tesseract.py | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index ea8cf5d..6b0bd88 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -14,8 +14,8 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - python_version: "2.7"
-            tesseract_robotics: false
+          # - python_version: "2.7"
+          #   tesseract_robotics: false
           - python_version: "3.6"
             tesseract_robotics: false
           - python_version: "3.7"
diff --git a/setup.py b/setup.py
index aeee904..c302920 100644
--- a/setup.py
+++ b/setup.py
@@ -5,7 +5,7 @@
 
 setuptools.setup(
     name="general_robotics_toolbox", # Replace with your own username
-    version="0.7.1",
+    version="0.7.2",
     author="John Wason",
     author_email="wason@wasontech.com",
     description="General robotics toolbox developed by RPI",
@@ -25,6 +25,6 @@
     extras_require={
         'test': ['pytest'],
         'urdf': ['rospkg','xacro'],
-        'tesseract': ['tesseract-robotics'],
+        'tesseract': ['tesseract-robotics>=0.2.0'],
     }
 )
\ No newline at end of file
diff --git a/src/general_robotics_toolbox/tesseract.py b/src/general_robotics_toolbox/tesseract.py
index 92236d7..6725650 100644
--- a/src/general_robotics_toolbox/tesseract.py
+++ b/src/general_robotics_toolbox/tesseract.py
@@ -78,7 +78,7 @@
 import numpy as np
 from . import general_robotics_toolbox as rox
 
-from tesseract_robotics.tesseract_common import Translation3d, AngleAxisd, Isometry3d, vector_pair_string
+from tesseract_robotics.tesseract_common import Translation3d, AngleAxisd, Isometry3d, VectorPairString
 from tesseract_robotics.tesseract_environment import Environment, Commands, \
     AddLinkCommand, AddKinematicsInformationCommand, AddSceneGraphCommand
 from tesseract_robotics.tesseract_scene_graph import Link, Joint, JointLimits, \
@@ -344,7 +344,7 @@ def tesseract_kinematics_information(robot, robot_name, link_names, joint_names,
         tip_link = link_names[-1]
 
     kinematics_information = KinematicsInformation()
-    chain_group = vector_pair_string()
+    chain_group = VectorPairString()
     chain_group.append((base_link, tip_link))
     kinematics_information.addChainGroup(robot_name, chain_group)