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

[francescotaioli]

Hi @andrewliu2001, were you able to set up this particular robot arm?