giskardpy import error when I use giskardpy interface

[TahaTabatabaei]

Hello,

I guess the way pycram imports GiskardWrappr is deprecated. Please check it.

The error I get:

[grasp_listener-2] Exception in thread Thread-4 (send_goal_to_giskard):
[grasp_listener-2] Traceback (most recent call last):
[grasp_listener-2]   File "/usr/lib/python3.12/threading.py", line 1073, in _bootstrap_inner
[grasp_listener-2]     self.run()
[grasp_listener-2]   File "/usr/lib/python3.12/threading.py", line 1010, in run
[grasp_listener-2]     self._target(*self._args, **self._kwargs)
[grasp_listener-2]   File "/home/tahaos/Code/Projects/acrambly2/workspace/ros/install/my_playground/lib/python3.12/site-packages/my_playground/grasp_listener.py", line 62, in send_goal_to_giskard
[grasp_listener-2]     giskard.achieve_cartesian_goal(goal_pose=goal_pose,
[grasp_listener-2]   File "/home/tahaos/Code/Projects/acrambly2/workspace/ros/build/pycram/src/pycram/external_interfaces/giskard.py", line 63, in wrapper
[grasp_listener-2]     from giskardpy.python_interface.old_python_interface import OldGiskardWrapper as GiskardWrapper
[grasp_listener-2] ModuleNotFoundError: No module named 'giskardpy.python_interface'

My script:

import rclpy
import rclpy.executors
from rclpy.node import Node
print("Importing rclpy done")
from geometry_msgs.msg import PoseStamped
import sys
import traceback

import threading

# from pycram.worlds.bullet_world import BulletWorld
# print("Importing BulletWorld done")
# from pycram.world_concepts.world_object import Object
# print("Importing Object done")
# from pycram.datastructures.enums import ObjectType
# print("Importing ObjectType done")
from pycram.external_interfaces import giskard
print("Importing giskard done")
from pycram.datastructures.pose import Pose
print("Importing Pose done")


class GraspListener(Node):
    def __init__(self):
        super().__init__('grasp_listener')
        print("Starting GraspListener Node ...")

        self.subscriber = self.create_subscription(
            PoseStamped,
            'grasp_pose',
            self.callback,
            10
        )
        print('Listening on topic grasp_pose')


    def callback(self, msg):
        print("Callback triggered")

        print(
            f'Received grasp at time {msg.header.stamp.sec}.{msg.header.stamp.nanosec}'
        )
        print(
            f'Pose: Position({msg.pose.position.x}, {msg.pose.position.y}, {msg.pose.position.z}), '
            f'Orientation({msg.pose.orientation.x}, {msg.pose.orientation.y}, {msg.pose.orientation.z}, {msg.pose.orientation.w})'
        )


        threading.Thread(target=self.send_goal_to_giskard, args=(msg,)).start()


    def send_goal_to_giskard(self, pose_stamped):

        print(f"Preparing to send goal to Giskard: {pose_stamped}")
        goal_pose = Pose(
            position=pose_stamped.pose.position,
            orientation=pose_stamped.pose.orientation
        )
        print(f"Sending goal to Giskard")
        giskard.achieve_cartesian_goal(goal_pose=goal_pose,
                                        root_link='world',
                                        tip_link='ee_link')

I use ros2 jazzy.
The pycram was downloaded from dev branch by following the installation guide.
The giskardpy was downloaded from the giskard_library branch.

I can solve it if I change the line 63 in this file:
src/pycram/external_interfaces/giskard.py
from:
from giskardpy.python_interface.old_python_interface import OldGiskardWrapper as GiskardWrapper
to:
from giskardpy.user_interface import GiskardWrapper