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This turns out to be really easy. Download the short script scripts attached to this page. Assuming you have the Panda environment set up, you can just . You will need to recompile the Madgraph code to match what's available on the Grid. The best way is to recompile after setting up Athena release 17.2.8 (for example). Then run
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./compile_gridpack.sh gridpack.tar.gz
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This will produce a file called grid_gridpack.tar.gz. Now, set up the Panda environment (you need the command prun available), and run
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./submission.sh grid_gridpack.tar.gz user.nickname.myoutputdatasetname 10000 20
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where the last two parameters are the number of events per job and the number of jobs to submit, respectively. The Panda submission will recompile the gridpack for Grid site compatibility and run your jobs.