How to use pyrep suction end effector?

[andrewliu2001]

How can I swap out the panda gripper with a pyrep suction? I saved the .ttm file to the repo and added it to SUPPORTED_ROBOTS:

SUPPORTED_ROBOTS = { 'panda': (Panda, PandaGripper, 7), 'panda_suction': {Panda, SuctionCup, 7}, 'jaco': (Jaco, JacoGripper, 6), 'mico': (Mico, MicoGripper, 6), 'sawyer': (Sawyer, BaxterGripper, 7), 'ur5': (UR5, Robotiq85Gripper, 6), }

But I get the following error:

CURRENT ARM IS: panda_suction qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 201, resource id: 0, major code: 140 (Unknown), minor code: 20 Loading arm from: /home/andrew/fmm/external/RLBench/rlbench/robot_ttms/panda_suction.ttm Traceback (most recent call last): File "./external/RLBench/tools/dataset_generator.py", line 649, in app.run(main) File "/home/andrew/.conda/envs/fmm/lib/python3.8/site-packages/absl/app.py", line 308, in run _run_main(main, args) File "/home/andrew/.conda/envs/fmm/lib/python3.8/site-packages/absl/app.py", line 254, in _run_main sys.exit(main(argv)) File "./external/RLBench/tools/dataset_generator.py", line 633, in main run_all_variations(0, lock, task_index, variation_count, result_dict, file_lock, tasks) File "./external/RLBench/tools/dataset_generator.py", line 495, in run_all_variations rlbench_env.launch() File "/home/andrew/fmm/external/RLBench/rlbench/environment.py", line 111, in launch self._pyrep.import_model(arm_path) File "/home/andrew/.conda/envs/fmm/lib/python3.8/site-packages/pyrep/pyrep.py", line 282, in import_model handle = sim.simLoadModel(filename) File "/home/andrew/.conda/envs/fmm/lib/python3.8/site-packages/pyrep/backend/sim.py", line 345, in simLoadModel _check_return(val) File "/home/andrew/.conda/envs/fmm/lib/python3.8/site-packages/pyrep/backend/sim.py", line 27, in _check_return raise RuntimeError( RuntimeError: The call failed on the V-REP side. Return value: -1 QMutex: destroying locked mutex