initial commit

.circleci/config.yml

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+version: 2.1
+
+
+# -------------------------------------------------------------------------------------
+# Executors
+# -------------------------------------------------------------------------------------
+executors:
+  gpu:
+    environment:
+      CUDA_VERSION: "10.2"
+      PYTHONUNBUFFERED: 1
+    machine:
+      image: ubuntu-1604:201903-01
+    resource_class: gpu.medium # tesla m60
+
+# -------------------------------------------------------------------------------------
+# Re-usable commands
+# -------------------------------------------------------------------------------------
+install_nox: &install_nox
+  - run:
+      name: "Preparing environment"
+      command: |
+        sudo apt-get install -y expect
+        sudo pip install nox==2020.8.22
+
+install_suitesparse: &install_suitesparse
+  - run:
+      name: "Preparing environment"
+      command: |
+        sudo apt-get install -y libsuitesparse-dev
+
+setupcuda: &setupcuda
+  - run:
+      name: Setup CUDA
+      working_directory: ~/
+      command: |
+        # download and install nvidia drivers, cuda, etc
+        wget --quiet --no-clobber -P ~/nvidia-downloads 'https://s3.amazonaws.com/ossci-linux/nvidia_driver/NVIDIA-Linux-x86_64-440.82.run'
+        time sudo /bin/bash ~/nvidia-downloads/NVIDIA-Linux-x86_64-440.82.run --no-drm -q --ui=none
+        echo "Done installing NVIDIA drivers."
+        pyenv versions
+        nvidia-smi
+        pyenv global 3.7.0
+          
+# -------------------------------------------------------------------------------------
+# Jobs
+# -------------------------------------------------------------------------------------
+jobs:
+  py37_linux:
+    docker:
+      - image: circleci/python:3.7
+    steps:
+      - checkout
+      - <<: *install_suitesparse
+      - <<: *install_nox
+      - run:
+          name: "Testing theseus"
+          command: |
+              export NOX_PYTHON_VERSIONS=3.7
+              pip install nox==2020.8.22
+              nox
+
+  py38_linux:
+    docker:
+      - image: circleci/python:3.8
+    steps:
+      - checkout
+      - <<: *install_suitesparse
+      - <<: *install_nox
+      - run:
+          name: "Testing theseus"
+          command: |
+              export NOX_PYTHON_VERSIONS=3.8
+              pip install nox==2020.8.22
+              nox
+
+  unittests_gpu17:
+    executor: gpu
+    steps:
+      - checkout
+      - <<: *install_suitesparse
+      - <<: *setupcuda
+      - run:
+          name: Installs basic dependencies
+          command: |
+            pyenv versions
+            pyenv global 3.7.0
+            python -m venv ~/theseus_venv
+            echo ". ~/theseus_venv/bin/activate" >> $BASH_ENV
+            . ~/theseus_venv/bin/activate
+            pip install --progress-bar off --upgrade pip
+            pip install --progress-bar off --upgrade setuptools
+            pip install --progress-bar off torch==1.9.0+cu102 torchvision torchaudio -f https://download.pytorch.org/whl/torch_stable.html
+            python -c 'import torch; print("Torch version:", torch.__version__); assert torch.cuda.is_available()'
+            pip install --progress-bar off -e .
+          install_cuda: true
+      - run:
+          name: Run GPU tests
+          command: |
+            pytest theseus/tests/test_theseus_layer.py -s
+
+
+workflows:
+  version: 2
+  build:
+    jobs:
+      - py37_linux
+      - py38_linux
+      - unittests_gpu17

.github/ISSUE_TEMPLATE/BUG_REPORT.md

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+---
+name: "\U0001F41B Bug Report"
+about: Submit a bug report to help us improve Theseus
+---
+
+## 🐛 Bug
+
+<!-- A clear and concise description of what the bug is. -->
+
+## Steps to Reproduce
+
+Steps to reproduce the behavior:
+
+<!-- If you were running a command, post the exact command that you were running -->
+<!-- Please note that without a minimal working example to reproduce the bug, we may not be able to help. -->
+<!-- If you have a code sample, error messages, stack traces, please provide it here as well -->
+
+## Expected behavior
+
+<!-- A clear and concise description of what you expected to happen. -->
+
+## Additional context
+
+<!-- Add any other context about the problem here. -->
+
+## System Info
+
+<!-- Please fill out the checklist below. -->
+- OS (e.g., Linux):
+- Python version:
+- GPU models and configuration:
+- CUDA version:
+- pip/conda dependencies packages versions:
+- Any other relevant information:

.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md

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+---
+name: "\U0001F680 Feature Request"
+about: Submit a proposal or request for a new Theseus feature
+---
+
+## 🚀 Feature
+<!-- A clear and concise description of the feature proposal. -->
+
+## Motivation
+
+<!-- Please outline the motivation for the proposal. Is your feature request related to  -->
+<!-- a problem? e.g., I'm always frustrated when [...]. If this is related to another  -->
+<!-- GitHub issue, please link here too. -->
+
+## Pitch
+
+<!-- A clear and concise description of what you want to happen. -->
+
+## Alternatives
+
+<!-- A clear and concise description of any alternative solutions or features you've  -->
+<!-- considered, if any. -->
+
+## Additional context
+
+<!-- Add any other context or screenshots about the feature request here. -->

.github/ISSUE_TEMPLATE/QUESTIONS_HELP_SUPPORT.md

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+---
+name: "❓ Questions/Help/Support"
+about: Do you need support?
+---
+
+## ❓ Questions and Help

.github/PULL_REQUEST_TEMPLATE.md

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+## Motivation and Context
+
+<!--- Why is this change required? What problem does it solve? -->
+<!--- Please link to an existing issue here if one exists. -->
+<!--- (we recommend to have an existing issue for each pull request) -->
+
+## How Has This Been Tested
+
+<!--- Please describe here how your modifications have been tested. -->
+
+## Types of changes
+
+<!-- What types of changes does your code introduce? -->
+<!-- Put an `x` in all the boxes that apply: -->
+- [ ] Docs change / refactoring / dependency upgrade
+- [ ] Bug fix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (fix or feature that would cause existing functionality to change)
+
+## Checklist
+
+<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
+<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
+- [ ] My code follows the code style of this project.
+- [ ] My change requires a change to the documentation.
+- [ ] I have updated the documentation accordingly.
+- [ ] I have read the **CONTRIBUTING** document.
+- [ ] I have completed my CLA (see **CONTRIBUTING**)
+- [ ] I have added tests to cover my changes.
+- [ ] All new and existing tests passed.

.gitignore

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+.idea
+.DS_Store
+.vscode
+*.code-workspace
+build/
+.mypy_cache/
+.pytest_cache/
+__pycache__/
+*.egg-info/
+expts/
+*.ipynb_checkpoints
+examples/*.ipynb_checkpoints
+outputs/
+examples/outputs/

.pre-commit-config.yaml

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+repos:
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+        language_version: python3.7
+
+  - repo: https://gitlab.com/pycqa/flake8
+    rev: 3.7.9
+    hooks:
+      - id: flake8
+        additional_dependencies: [-e, "git+git://github.com/pycqa/pyflakes.git@1911c20#egg=pyflakes"]
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.910
+    hooks:
+      - id: mypy
+        additional_dependencies: [torch==1.9.0, tokenize-rt==3.2.0, types-PyYAML] 
+        args: [--no-strict-optional, --ignore-missing-imports]
+        exclude: setup.py
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.6.4
+    hooks:
+      - id: isort
+        files: 'theseus/.*'

CODE_OF_CONDUCT.md

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+# Code of Conduct
+
+## Our Pledge
+
+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.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+professional setting
+
+## Our Responsibilities
+
+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.
+
+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.
+
+## Scope
+
+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.
+
+This Code of Conduct also applies outside the project spaces when there is a
+reasonable belief that an individual's behavior may have a negative impact on
+the project or its community.
+
+## Enforcement
+
+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.
+
+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.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq

CONTRIBUTING.md

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+# Contributing to Theseus
+
+We want to make contributing to Theseus as easy and transparent as possible.
+
+### Developer Guide
+
+- Fork the repo and make a branch from `develop`. See the hybrid [workflow model](#workflow-model) we follow.
+  ```bash
+  git checkout -b <username>.<appropriate_branch_name> develop
+  ````
+- Make small, independent, and well documented commits. If you've changed APIs, update the documentation. Add or modify unit tests as appropriate. Follow this [code style](#code-style).
+- See [pull requests](#pull-requests) guide when you are ready to have your code reviewed to be merged into `develop`. It will be included in the next release on `main` following this [versioning](#versioning).
+- See [issues](#issues) for questions, suggestions, and bugs.
+- If you haven't already, complete the [Contributor License Agreement](#contributor-license-agreement) and see [license](#license).
+
+---
+
+## Workflow Model
+
+We follow a hyrbid between [Gitflow](https://www.atlassian.com/git/tutorials/comparing-workflows/gitflow-workflow) and [Trunk-based](https://www.atlassian.com/continuous-delivery/continuous-integration/trunk-based-development) models. From the former we adopt hosting latest stable release on `main` branch and feature development on `develop` branch, and from the latter we adopt small and frequent merges of new features into `develop`.
+
+## Code Style
+
+For Python we use `black` and `isort` for linting and code style, and use [typing](https://docs.python.org/3/library/typing.html). We also use pre-commit hooks to ensure linting and style enforcement.
+```bash
+pip install pre-commit && pre-commit install && pre-commit run --all-files
+```
+
+## Pull Requests
+
+- We encourage more smaller and focused PRs rather than big PRs with many independent changes.
+- Use this [PR template](.github/PULL_REQUEST_TEMPLATE.md) to submit your code for review. Consider using the [draft PR](https://github.blog/2019-02-14-introducing-draft-pull-requests/) option to gather early feedback.
+- Add yourself to the `Assignees`, add at least one core Theseus team member to `Reviewers`, link to any open issues that can be closed when the PR is merged, and add appropriate `Labels` and `Milestone`.
+- We expect the PR is ready for final review only if Continuous Integration tests are passing.
+- Keep your branch up-to-date with `develop` by rebasing as necessary.
+- We employ `squash-and-merge` for incorporating PRs. Add a brief change summary to the commit message.
+- After PR is approved and merged into `develop`, delete the branch to reduce clutter.
+
+## Versioning
+
+We use [semantic versioning](https://semver.org/). For core Theseus team member, to prepare a release:
+- Update [version](version.txt) file.
+- Make sure all tests are passing.
+- Create a release tag with changelog summary using the github release interface.
+
+## Issues
+
+We use [GitHub issues](https://github.com/facebookresearch/theseus/issues) to track bugs. You can also reach out to us there with questions or suggestions. Please ensure your description is clear by following our [templates](https://github.com/facebookresearch/theseus/issues/new/choose).
+
+## Contributor License Agreement
+
+In order to accept your pull request, we need you to submit a Contributor License Agreement (CLA). You only need to do this once to work on any of Meta's open source projects. Complete your CLA here: <https://code.facebook.com/cla>
+
+## License
+
+By contributing to Theseus, you agree that your contributions will be licensed under the [LICENSE](LICENSE) file in the root directory of this source tree.