diff --git a/.github/workflows/main_unit_tests.yml b/.github/workflows/main_unit_tests.yml
index 8d9b5213fe..5046c52c8e 100644
--- a/.github/workflows/main_unit_tests.yml
+++ b/.github/workflows/main_unit_tests.yml
@@ -83,6 +83,9 @@ jobs:
       - name: start roscore
         run: |
           roscore &
+      - if: ${{ (runner.debug == '1') }}
+        name: Setup upterm session
+        uses: lhotari/action-upterm@v1
       - name: casadi wrapper
         run: |
           roscd giskardpy
diff --git a/src/giskardpy/python_interface/python_interface.py b/src/giskardpy/python_interface/python_interface.py
index 891adc1fb8..5b3e03d052 100644
--- a/src/giskardpy/python_interface/python_interface.py
+++ b/src/giskardpy/python_interface/python_interface.py
@@ -7,7 +7,6 @@
 from rospy import ServiceException
 from shape_msgs.msg import SolidPrimitive
 
-from giskardpy.monitors.hsr_gripper import OpenHsrGripper, CloseHsrGripper
 from std_srvs.srv import Trigger, TriggerResponse, TriggerRequest
 
 import giskard_msgs.msg as giskard_msgs
@@ -1688,6 +1687,7 @@ def add_open_hsr_gripper(self, start_condition: str = '', name: Optional[str] =
         """
         The monitor will send a force to the HSR's gripper to open it.
         """
+        from giskardpy.monitors.hsr_gripper import OpenHsrGripper
         name = name or OpenHsrGripper.__name__
         return self.add_monitor(monitor_class=OpenHsrGripper.__name__,
                                 name=name,
@@ -1697,6 +1697,7 @@ def add_close_hsr_gripper(self, start_condition: str = '', name: Optional[str] =
         """
         The monitor will send a force to the HSR's gripper to close it.
         """
+        from giskardpy.monitors.hsr_gripper import CloseHsrGripper
         name = name or CloseHsrGripper.__name__
         return self.add_monitor(monitor_class=CloseHsrGripper.__name__,
                                 name=name,