bank-payment/account_banking_mandate/security/ir.model.access.csv

"id","name","model_id:id","group_id:id","perm_read","perm_write","perm_create","perm_unlink"
"access_account_banking_mandate","Full access on account.banking.mandate","model_account_banking_mandate","account_payment.group_account_payment",1,1,1,1
"access_account_banking_mandate_read","Read access on account.banking.mandate","model_account_banking_mandate","base.group_user",1,0,0,0