contactopt/diffcontact.py (4 lines):
	- line 25: # TODO implement normal check?
	- line 27: knn_dists, nearest_idx, nearest_pos = pytorch3d.ops.knn_points(mesh_verts, query_points, K=1, return_nn=True)   # TODO should attract capsule middle?
	- line 35: knn_dists, nearest_idx, nearest_pos = pytorch3d.ops.knn_points(query_points, mesh_verts, K=1, return_nn=True)   # TODO should attract capsule middle?
	- line 99: obj_contact = sdf_to_contact(sdf_obj, dot_obj, method=contact_norm_method)# * (dot_obj/2+0.5) # TODO dotting contact normal


contactopt/train_deepcontact.py (2 lines):
	- line 51: loss_meter.update(loss.item(), batch_size)   # TODO better loss monitoring
	- line 113: scheduler = torch.optim.lr_scheduler.MultiStepLR(optimizer, milestones=[10], gamma=0.1)  # TODO automatic?


contactopt/util.py (1 line):
	- line 309: colors[colors < 0.1] = 0.1 # TODO hack to make brighter


contactopt/hand_object.py (1 line):
	- line 209: obj_normals[norms < 0.8] = 0.6   # TODO hacky get-around when normal finding fails completely