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/usr/bin/bzr-upload-pack is in bzr-git 0.6.12+bzr1629-1.

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#! /usr/bin/python

import bzrlib
from bzrlib.plugin import load_plugins
load_plugins ()
from bzrlib.plugins.git.server import BzrBackend
from dulwich.server import UploadPackHandler, serve_command
import sys, os

if len(sys.argv) < 2:
    print "usage: %s <git-dir>" % os.path.basename(sys.argv[0])
    sys.exit(1)

backend = BzrBackend(bzrlib.transport.get_transport("/"))
sys.exit(serve_command(UploadPackHandler, backend=backend))