habitat/datasets/rearrange/rearrange_generator.py (7 lines):
	- line 521: # TODO: creating shortened names should be automated and embedded in the objects to be done in a uniform way
	- line 607: # TODO: we should fix this to provide an appropriate reset method
	- line 679: # TODO: maybe draw/display trajectory tubes for the displacements?
	- line 760: # TODO: This default is a bit ugly, but we must use ConfigNodes and define all options to directly nest dicts with yacs|yaml...
	- line 773: # TODO: convert some special examples to yaml:
	- line 823: # TODO: the cupboard asset needs to be modified to remove self-collisions or have collision geometry not intersecting the wall.
	- line 824: # TODO: does not support spherical joints (3 dof joints)


habitat/tasks/rearrange/rearrange_sim.py (4 lines):
	- line 331: ), "Duplicate object attributes matched to shortened handle. TODO: relative paths as handles should fix this. For now, try renaming objects to avoid collision."
	- line 371: # TODO: refactor this
	- line 421: TODO: This should probably be True by default, but I am not sure the effect
	- line 494: # TODO: Make debug cameras more flexible


habitat/datasets/rearrange/receptacle.py (4 lines):
	- line 147: # TODO: add an API query or other method to avoid reconstructing the stage frame here
	- line 212: # TODO: enable rotation for object local receptacles
	- line 256: # TODO: we currently need to load every URDF to get at the configs. This should change once AO templates are better managed.
	- line 334: # TODO: adding more receptacle types will require additional logic here


habitat/sims/habitat_simulator/habitat_simulator.py (3 lines):
	- line 206: # TODO Sensor Hierarchy needs to be redone here. These should not subclass camera sensors
	- line 273: # TODO: Should this be moved elsewhere?
	- line 325: # TODO consider making trans_dict a sensor class var too.


habitat_baselines/common/obs_transformers.py (2 lines):
	- line 162: self.trans_keys = trans_keys  # TODO: Add to from_config constructor
	- line 879: # TODO verify attributes of the sensors in the config if possible. Think about API design


habitat/tasks/nav/nav.py (2 lines):
	- line 1082: # TODO @maksymets: Propagate through Simulator class
	- line 1272: # TODO: Make a better way to flag collisions


habitat_baselines/il/data/data.py (1 line):
	- line 205: # TODO: can be done in mp3d_eqa_dataset class too?


habitat_baselines/il/data/nav_data.py (1 line):
	- line 383: # TODO: can be done in mp3d_eqa_dataset class too?


habitat_baselines/rl/ppo/ppo_trainer.py (1 line):
	- line 1077: # TODO move normalization / channel changing out of the policy and undo it here


habitat_baselines/il/data/eqa_cnn_pretrain_data.py (1 line):
	- line 66: # TODO: Consider alternative for shortest_paths


habitat/datasets/rearrange/samplers.py (1 line):
	- line 480: # TODO: handle sampled invalid states (e.g. fridge open into wall in some scenes)


habitat/sims/habitat_simulator/debug_visualizer.py (1 line):
	- line 172: # TODO: query fov and aspect from the camera spec