OpenGRASP Files

# palrave
# It is a physicsengine plugin for OpenRAVE to use PAL (Physics Abstraction Layer)

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# Building instructions
1) Set appropriate paths
Open the file CMakeLists.txt
change the first line:
SET(PAL_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../PAL_Modified) 
for the path where you have pal installed.
2) Build
mkdir build
cd build
cmake ../.
make
2) Check that the library libpalrave.so

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# Use it with OpenRAVE
Set the paths so OpenRAVE can find this plugins. The setup.sh has been created to help you with that.
1) Edit the file setup.h
   Change the first line with the directory where you have palrave:
   export PALRAVE_PATH=/home/beatriz/workspace/palrave
2) In order to set this variables you have two options: 
   * You can edit your .bashrc file and include the setup.sh adding this line at the end:
     source /home/beatriz/workspace/palrave/setup.sh
   * You can open a terminal and copy paste the content of the setup.h file.
3) Execute an example
   cd examples
   pyhon testPhysicsPAL.py