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‎.circleci/config.yml

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version: 2.1
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jobs:
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py37_linux:
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docker:
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- image: circleci/python:3.7
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steps:
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- checkout
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- run:
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name: "Preparing environment"
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command: |
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sudo pip install nox
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- run:
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name: "Testing PyTouch"
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command: |
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pip install nox
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nox
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workflows:
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version: 2
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build:
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jobs:
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- py37_linux

‎.flake8

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[flake8]
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exclude =
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.git
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,.nox
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,__init__.py
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max-line-length = 119
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copyright-check = True
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select = E,F,W,C
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copyright-regexp=Copyright \(c\) Facebook, Inc. and its affiliates. All Rights Reserved
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ignore=W503,E203

‎.gitignore

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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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#hydra outputs
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outputs/
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multirun/
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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pip-wheel-metadata/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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coverage.xml
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*.cover
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*.py,cover
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.hypothesis/
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.pytest_cache/
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cover/
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# Translations
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*.mo
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*.pot
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# Django stuff:
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*.log
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local_settings.py
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db.sqlite3
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db.sqlite3-journal
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# Flask stuff:
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instance/
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.webassets-cache
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# Scrapy stuff:
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.scrapy
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# Sphinx documentation
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docs/_build/
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# PyBuilder
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.pybuilder/
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# pyenv
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# For a library or package, you might want to ignore these files since the code is
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# intended to run in multiple environments; otherwise, check them in:
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# .python-version
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# pipenv
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# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
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# having no cross-platform support, pipenv may install dependencies that don't work, or not
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# install all needed dependencies.
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#Pipfile.lock
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow
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__pypackages__/
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# Celery stuff
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celerybeat-schedule
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celerybeat.pid
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# SageMath parsed files
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*.sage.py
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# Environments
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.env
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.venv
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env/
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venv/
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ENV/
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env.bak/
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venv.bak/
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# Spyder project settings
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.spyderproject
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.spyproject
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# Rope project settings
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.ropeproject
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Pyre type checker
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.pyre/
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# pytype static type analyzer
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.pytype/
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# Cython debug symbols
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cython_debug/
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# static files generated from Django application using `collectstatic`
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media
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static
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# Pycharm
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.idea/

‎.isort.cfg

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[settings]
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multi_line_output=3
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include_trailing_comma=True
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force_grid_wrap=0
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use_parentheses=True
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line_length=88
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ensure_newline_before_comments=True
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known_third_party=hydra,torch,torchvision,pytorch_lightning,boto3
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known_first_party=pytouch

‎.pre-commit-config.yaml

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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: master
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hooks:
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- id: check-yaml
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- id: end-of-file-fixer
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- id: trailing-whitespace
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- repo: https://github.com/psf/black
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rev: stable
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hooks:
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- id: black
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language_version: python3

‎CODE_OF_CONDUCT.md

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# Open Source Code of Conduct
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## Our Pledge
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In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to make participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socio-economic status, nationality, personal appearance, race, religion, or sexual identity and orientation.
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## Our Standards
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Examples of behavior that contributes to creating a positive environment include:
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Using welcoming and inclusive language
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Being respectful of differing viewpoints and experiences
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Gracefully accepting constructive criticism
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Focusing on what is best for the community
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Showing empathy towards other community members
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Examples of unacceptable behavior by participants include:
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The use of sexualized language or imagery and unwelcome sexual attention or advances
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Trolling, insulting/derogatory comments, and personal or political attacks
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Public or private harassment
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Publishing others’ private information, such as a physical or electronic address, without explicit permission
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Other conduct which could reasonably be considered inappropriate in a professional setting
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## Our Responsibilities
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Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
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Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
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## Scope
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This Code of Conduct applies within all project spaces, and it also applies when an individual is representing the project or its community in public spaces. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
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## Enforcement
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Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at [email protected]. All complaints will be reviewed and investigated and will result in a response that is deemed necessary and appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
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Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project’s leadership.
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## Attribution
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This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
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available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
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[homepage]: https://www.contributor-covenant.org

‎CONTRIBUTING.md

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# Contributing
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We want to make contributing to this project as easy and transparent as possible.
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## Pull Requests
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We actively welcome your pull requests.
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1. Fork the repo and create your branch from `master`.
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2. If you have added code that should be tested, add tests.
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3. If you have changed APIs, update the documentation.
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4. Ensure the test suite passes.
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5. Make sure your code lints.
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6. If you have not already, complete the Contributor License Agreement ("CLA").
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## Contributor License Agreement ("CLA")
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In order to accept your pull request, we need you to submit a CLA. You only need to do this once to work on any of Facebook's open source projects.
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Complete your CLA here: <https://code.facebook.com/cla>
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## Issues
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We use GitHub issues for general feature discussion, Q&A and tracking public bugs. Please ensure your description is clear and has sufficient instructions to be able to reproduce the issue or understand the problem.
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## License
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By contributing to this project, you agree that your contributions will be licensed under the [LICENSE file](LICENSE) in the root directory of this source tree.

‎LICENSE

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MIT License
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Copyright (c) Facebook, Inc. and its affiliates.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md

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<h1 align="center">PyTouch</h1>
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<p align="center">
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<a href="#">
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<img src="https://circleci.com/gh/facebookresearch/PyTouch.svg?style=shield&circle-token=1633dac9daf88db4d3dbf10e1312663538f10bb4" alt="CircleCI" />
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</a>
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<a href="#">
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<img src="https://img.shields.io/badge/License-MIT-green.svg" alt="License: MIT" />
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</a>
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<a href="#">
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<img src="https://img.shields.io/badge/code%20style-black-000000.svg" alt="Code Style: Black" />
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</a>
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</p>
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<p align="center">
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<i>PyTouch is a machine learning library for tactile touch sensing.</i>
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</p>
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<p align="center">
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<i>Check the <a href="xyz">website</a> for more information.</i>
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</p>
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### Releases
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#### Stable
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**PyTouch 0.4.0** is a beta version of PyTouch.
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- [Documentation](https://xyz/docs/intro)
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- Installation : `pip install pytouch --upgrade`
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### License
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PyTouch is licensed under [MIT License](LICENSE).
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## Community
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See the following links to similar projects and to the Touch Sensing Community:
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* [Touch Sensing Community](https://www.touch-sensing.org)
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* [TACTO](https://github.com/facebookresearch/tacto)
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* [DIGIT](https://digit.ml)
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### Citing PyTouch
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If you use PyTouch in your research please use the following BibTeX entry:
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```BibTeX
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@Article{Lambeta2021PyTouch,
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author = {Lambeta, Mike and Xu, Huazhe and Xu, Jingwei and Chou, Po-Wei and Wang, Shaoxiong and Darrell, Trevor and Calandra, Roberto},
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journal = {IEEE International Conference on Robotics and Automation (ICRA)},
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title = {{PyTouch}: A Machine Learning Library for Touch Processing},
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year = {2021},
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}
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```

‎environment.yaml

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name: pytouch
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dependencies:
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- python=3.7.*
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- pip
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- pip:
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- ipython
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- ipdb
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- -r file:requirements.txt

‎examples/contact_area.py

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# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
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import pytouch
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from pytouch.handlers import ImageHandler
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from pytouch.sensors import DigitSensor
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from pytouch.tasks import ContactArea
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def extract_surface_contact():
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base_img_path = "./path/to/img/"
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sample_img_path = "./path/to/img"
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base_img = ImageHandler(base_img_path).nparray
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sample_img = ImageHandler(sample_img_path).nparray
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sample_img_2 = sample_img.copy()
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# initialize with default configuration of ContactArea task
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pt = pytouch.PyTouch(DigitSensor, tasks=[ContactArea])
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major, minor = pt.ContactArea(sample_img, base=base_img)
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print("Major Axis: {0}, minor axis: {1}".format(*major, *minor))
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ImageHandler.save("surface_contact_1.png", sample_img)
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# initialize with custom configuration of ContactArea task
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contact_area = ContactArea(base=base_img, contour_threshold=10)
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major, minor = contact_area(sample_img_2)
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print("Major Axis: {0}, minor axis: {1}".format(*major, *minor))
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ImageHandler.save("surface_contact_2.png", sample_img_2)
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if __name__ == "__main__":
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extract_surface_contact()

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