src/esp/assets/ResourceManager.cpp (13 lines):
	- line 117: // TODO: HDRi image name should be config based
	- line 163: // TODO: replace this completely with standard mesh (i.e. treat the bb
	- line 857: // TODO: support color material modified assets by changing the
	- line 889: // TODO : refactor to manage any mesh groups, not just scene
	- line 1590: // TODO: either drop MeshTransformNode in favor of SceneData or use
	- line 1749: // TODO : need to free render assets associated with this object if
	- line 1873: // TODO:
	- line 2113: // TODO:
	- line 2184: // TODO:
	- line 2290: // TODO : handle visualization-only objects lacking collision assets
	- line 2431: // TODO:
	- line 2491: // TODO:
	- line 2495: // TODO: HDR Image!


src/esp/physics/bullet/BulletURDFImporter.cpp (11 lines):
	- line 26: // TODO: make this configurable?
	- line 60: // if (m_data->m_flags & CUF_USE_IMPLICIT_CYLINDER) TODO: why not? Should
	- line 72: // TODO: off for now, but may be necessary for better contacts?
	- line 128: // TODO: smart pointer
	- line 397: // TODO: joint friction and damping set for links are not used in Bullet
	- line 426: // TODO: link mapping?
	- line 436: // TODO: link mapping?
	- line 455: // TODO: link mapping?
	- line 467: // TODO: link mapping?
	- line 494: // TODO: link mapping?
	- line 531: // TODO: better track the collision shapes


src/esp/gfx/PbrImageBasedLighting.cpp (9 lines):
	- line 64: // TODO: should have the capability to compute it by the simulator
	- line 122: // TODO: HDR!!
	- line 139: // TODO: HDR!!
	- line 145: size);  // TODO: HDR
	- line 176: // TODO: HDR!!
	- line 183: .setStorage(1, Mn::GL::TextureFormat::RGBA8, size);  // TODO: HDR
	- line 185: // TODO: HDR!!
	- line 250: // TODO: HDR, No LDR in the future!
	- line 292: // TODO: HDR!!


src/esp/sim/Simulator.cpp (8 lines):
	- line 147: // TODO can optimize to do partial re-initialization instead of from-scratch
	- line 253: // TODO:
	- line 331: // TODO : reset may eventually have all the scene instantiation code so
	- line 347: // TODO : need to support stageInstanceAttributes transformation upon
	- line 455: // TODO: programmatic generation of semantic meshes when no
	- line 657: // TODO:
	- line 949: // TODO: any other AgentState members should be randomized?
	- line 1043: // TODO: just do this once


src/esp/gfx/CubeMap.cpp (7 lines):
	- line 93: // TODO: HDR!!
	- line 221: size);  // TODO: HDR!!
	- line 438: // TODO: save object Id texture
	- line 443: // TODO: save vsm texture
	- line 531: // TODO: object Id texture
	- line 536: // TODO: vsm texture
	- line 639: // TODO:


src_python/habitat_sim/simulator.py (6 lines):
	- line 40: # TODO maybe clean up types with TypeVars
	- line 442: # TODO Deprecate and remove
	- line 447: # TODO Deprecate and remove
	- line 452: # TODO Deprecate and remove
	- line 457: # TODO Deprecate and remove
	- line 656: # TODO: sync this path with renderer changes as above (render from sensor object)


src/esp/physics/PhysicsManager.cpp (6 lines):
	- line 74: // TODO process any stage transformations here from
	- line 273: // Get drawables from simulator. TODO: Support non-existent simulator?
	- line 282: // TODO: manage articulated object visibility.
	- line 384: // TODO : support removing asset by removing from resourceDict_ properly
	- line 438: // TODO : if object is trajectory visualization, remove its assets as
	- line 500: // TODO: this function should do any engine specific setting which is


src/esp/physics/bullet/BulletPhysicsManager.cpp (6 lines):
	- line 155: // TODO: set these flags up better
	- line 232: // TODO make sure this is appropriately cast
	- line 238: // TODO make sure this is appropriately cast
	- line 360: // TODO:
	- line 548: // If the lookup fails, default to the stage. TODO: better error-handling.
	- line 811: // TODO: Either fix the Bullet API or do the add/remove for the user here.


src/shaders/pbr.frag (5 lines):
	- line 66: // TODO: separate occlusion texture
	- line 130: // TODO: make them uniform variables
	- line 163: // TODO:
	- line 419: // TODO: use ALPHA_MASK to discard fragments
	- line 461: // TODO: Shadows


src/esp/sensor/VisualSensor.cpp (5 lines):
	- line 103: // TODO: check if our sensor was resized and resize our buffer if needed
	- line 110: // TODO: have different classes for the different types of sensors
	- line 111: // TODO: do we need to flip axis?
	- line 128: // TODO: check if sensor is valid?
	- line 129: // TODO: have different classes for the different types of sensors


src/cmake/FindBullet.cmake (4 lines):
	- line 59: # TODO: builtin support for Bullet from Emscripten Ports (-s USE_BULLET=1)
	- line 67: # TODO: this will probably blow up in Vcpkg as well, the patch there should
	- line 91: # Sigh. TODO: other libs such as Bullet3Common, Robotics, InverseDynamics?
	- line 197: # TODO: When extra optional libraries are added, this needs to check for


src/esp/metadata/managers/StageAttributesManager.cpp (4 lines):
	- line 233: // TODO when all datasets have configuration support, get rid of all these
	- line 306: // TODO : get rid of this once the hardcoded mesh-type handling is removed,
	- line 330: // TODO : support future mesh-name specific type setting?
	- line 415: // TODO eventually remove this, but currently semantic mesh must be


src/esp/gfx/PbrDrawable.cpp (4 lines):
	- line 67: // TODO: may be supported in the future
	- line 136: // TODO:
	- line 177: shader_->bindIrradianceCubeMap(  // TODO: HDR Color
	- line 181: // TODO: HDR Color


src/esp/metadata/managers/LightLayoutAttributesManager.cpp (4 lines):
	- line 85: // TODO construct name using file name prepended to key
	- line 170: // TODO remove this if block to support spot lights
	- line 213: // TODO prune NOTE: component when spotlights are supported
	- line 279: // TODO create default attributes describing these lights?


src/esp/scene/ObjectControls.cpp (4 lines):
	- line 20: // TODO: this assumes no scale is applied
	- line 30: // TODO: this assumes no scale is applied
	- line 40: // TODO: this assumes no scale is applied
	- line 94: // TODO: use magnum math for the filter func as well?


src/esp/physics/bullet/BulletRigidObject.cpp (3 lines):
	- line 61: // TODO: add is_dynamic flag
	- line 345: // TODO: better default given object information?
	- line 470: // TODO: double check the position if there is any implicit transformation


src/esp/sim/Simulator.h (3 lines):
	- line 138: // TODO: support multi-scene physics (default sceneID=0 currently).
	- line 613: // TODO eventually use passed sceneID
	- line 1107: // TODO:


src/esp/gfx/MaterialData.h (3 lines):
	- line 63: // TODO: Migrate the the Magnum built-in PBR material
	- line 90: // TODO:
	- line 95: // TODO: Ptex material data


src/cmake/FindImGui.cmake (3 lines):
	- line 62: # clipboard support. It's removed again in 1.72. TODO: remove once obsolete
	- line 78: # TODO: remove once 1.71 is obsolete
	- line 107: # TODO: remove once 1.71 is obsolete


src/esp/physics/objectWrappers/ManagedArticulatedObject.h (3 lines):
	- line 304: * TODO : once Magnum supports retrieving key-values of configurations, use
	- line 309: // TODO fill out appropriate reporting values
	- line 319: // TODO fill out appropriate reporting values


src/esp/assets/PTexMeshData.cpp (3 lines):
	- line 170: // TODO:
	- line 213: // TODO:
	- line 497: // TODO:


src/esp/gfx/PbrShader.h (3 lines):
	- line 152: * TODO: Do we need instanced object? (instanced texture, istanced id etc.)
	- line 156: * TODO: Do we need VertexColor?
	- line 197: * TODO: alphaMask


src/esp/gfx/PbrShader.cpp (3 lines):
	- line 77: // TODO: Occlusion texture to be added.
	- line 156: // TODO: explore the normal mapping without the precomputer tangent.
	- line 164: // TODO occlusion texture


src/esp/gfx/Renderer.cpp (3 lines):
	- line 80: // TODO: remove || true and NOLINT below
	- line 174: // TODO object id
	- line 384: // TODO: shall we use shader resource manager from now?


src/esp/agent/Agent.cpp (3 lines):
	- line 63: // TODO this should be done less hackishly
	- line 66: // TODO other state members when implemented
	- line 84: // TODO other state members when implemented


src/esp/gfx/CubeMap.h (2 lines):
	- line 49: // TODO: HDR color
	- line 173: // TODO: save HDR textures in EXR format


src/esp/core/Configuration.cpp (2 lines):
	- line 306: // TODO support numeric array in JSON
	- line 321: // TODO support other types?


src/cmake/FindMagnum.cmake (2 lines):
	- line 506: # TODO: Drop this once CMake 3.3 and if(IN_LIST) can be used
	- line 1021: # TODO: ugh why can't I make an alias of IMPORTED target?


src/esp/physics/objectWrappers/ManagedRigidBase.h (2 lines):
	- line 217: * TODO : once Magnum supports retrieving key-values of configurations, use
	- line 231: * TODO : once Magnum supports retrieving key-values of configurations, use


src/esp/metadata/attributes/ObjectAttributes.cpp (2 lines):
	- line 92: // TODO remove this once ShaderType support is complete
	- line 132: // TODO remove this once ShaderType support is complete


src/esp/physics/URDFImporter.cpp (2 lines):
	- line 201: // TODO: diagonalization of inertia matrix:
	- line 204: "TODO: diagonalize?";


src_python/habitat_sim/robots/mobile_manipulator.py (2 lines):
	- line 31: # TODO: refactor this class to support spherical joints: multiple dofs per link and #dofs != #positions
	- line 432: # TODO: add some functions for easy wheel control


src/esp/physics/PhysicsManager.h (2 lines):
	- line 252: /* TODO: reset object states or clear them? Other? */
	- line 1026: // TODO : support removing asset by removing from resourceDict_ properly


src/esp/io/URDFParser.h (2 lines):
	- line 529: * TODO: Not implemented yet, does nothing.
	- line 541: // TODO: this


src/esp/physics/bullet/BulletArticulatedObject.cpp (2 lines):
	- line 20: // TODO: this should probably be moved
	- line 609: // TODO: STATIC and KINEMATIC are equivalent for simplicity. Could manually


src/esp/sensor/FisheyeSensor.h (2 lines):
	- line 32: // TODO:
	- line 91: // TODO:


src/esp/physics/bullet/BulletArticulatedObject.h (2 lines):
	- line 43: // TODO: collision object should be linked here
	- line 463: // TODO: should be stored in the link


src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h (2 lines):
	- line 298: * TODO : once Magnum supports retrieving key-values of configurations, use
	- line 318: // TODO: Verify object is removed from manager here?


src/utils/viewer/viewer.cpp (2 lines):
	- line 647: // TODO: support the other model types in the future.
	- line 1801: // TODO : Change core::buffer to magnum image, then we can simplify


src/esp/sensor/SensorFactory.cpp (2 lines):
	- line 39: // TODO: implement Panorama sensor
	- line 45: // TODO: Implement NonVisualSensorSpecs


src/cmake/FindMagnumBindings.cmake (1 line):
	- line 71: # TODO: Drop this once CMake 3.3 and if(IN_LIST) can be used


src/esp/metadata/MetadataMediator.h (1 line):
	- line 441: * paths that are synthesized for newly made SceneInstanceAttributes. TODO:


src/esp/assets/PTexMeshData.h (1 line):
	- line 98: // TODO We should use a decimated mesh for collsions here instead


src/esp/io/URDFParser.cpp (1 line):
	- line 280: // TODO: parse sensors here


setup.py (1 line):
	- line 53: # TODO refactor to the proper way to pass options to setup.py so pip can do so.


src/esp/metadata/attributes/LightLayoutAttributes.h (1 line):
	- line 189: * TODO : once Magnum supports retrieving key-values of configurations,


src/esp/metadata/managers/AbstractObjectAttributesManagerBase.h (1 line):
	- line 312: // TODO eventually remove this, but currently non-prim collision mesh must


src/cmake/FindGLFW.cmake (1 line):
	- line 107: # TODO: debug?


src/esp/physics/URDFImporter.h (1 line):
	- line 96: // TODO: refactor this nonsense


src/esp/bindings/AttributesBindings.cpp (1 line):
	- line 416: // TODO : LightLayoutAttributes


src/esp/metadata/managers/SceneDatasetAttributesManager.cpp (1 line):
	- line 75: // TODO Need to construct manager to consume readDatasetJSONCell


src/esp/scene/SceneManager.h (1 line):
	- line 20: // TODO:


src/esp/gfx/replay/Player.cpp (1 line):
	- line 97: // TODO: use NodeDeletionHelper to safely delete nodes owned by the Player.


src/esp/physics/objectWrappers/ManagedRigidObject.h (1 line):
	- line 46: * TODO : once Magnum supports retrieving key-values of configurations, use


src/esp/bindings_js/modules/viewer_demo.js (1 line):
	- line 38: // TODO: Later add resize handling


src/esp/sensor/FisheyeSensor.cpp (1 line):
	- line 105: // TODO:


src/esp/metadata/managers/SceneInstanceAttributesManager.cpp (1 line):
	- line 272: // orientation TODO : support euler angles too?


src/esp/gfx/PbrImageBasedLighting.h (1 line):
	- line 126: // TODO: HDR


src/cmake/FindMagnumPlugins.cmake (1 line):
	- line 175: # TODO: Drop this once CMake 3.3 and if(IN_LIST) can be used


src/esp/core/Spimpl.h (1 line):
	- line 55: // TODO: auto detect std::auto_ptr support


src/esp/physics/bullet/BulletPhysicsManager.h (1 line):
	- line 307: recentNumSubStepsTaken_ = -1;  // TODO: handle this more gracefully


src/esp/metadata/managers/AssetAttributesManager.h (1 line):
	- line 120: * TODO : currently do not support file-based Primitive Assets, so no actual


src/esp/scene/SceneGraph.h (1 line):
	- line 43: // TODO: move this to separate class


src/esp/sensor/Sensor.h (1 line):
	- line 71: // TODO: populate this struct with raw data


src/esp/physics/ArticulatedObject.h (1 line):
	- line 150: 0,  // TODO: pass an actual object ID. This is currently


tools/run-clang-tidy.py (1 line):
	- line 10: # FIXME: Integrate with clang-tidy-diff.py


src_python/habitat_sim/utils/__init__.py (1 line):
	- line 9: # TODO @maksymets: remove after habitat-lab/examples/new_actions.py will be


src/esp/bindings/SensorBindings.cpp (1 line):
	- line 50: // TODO fill out other SensorTypes


src/esp/assets/GenericMeshData.cpp (1 line):
	- line 52: /* TODO: Address that non-triangle meshes will have their collisionMeshData_


src/esp/metadata/managers/AssetAttributesManager.cpp (1 line):
	- line 226: // TODO support loading values from JSON docs


src/esp/scene/SemanticScene.cpp (1 line):
	- line 28: // TODO: we need to investigate the possibility of adding an identifying tag


src/esp/agent/Agent.h (1 line):
	- line 26: // TODO: rotation below exposes quaternion x,y,z,w as vec4f for pybind11


src_python/habitat_sim/__init__.py (1 line):
	- line 12: # TODO: kept only for compatibiliy with existing code. Please gradually remove


src_python/habitat_sim/utils/datasets_download.py (1 line):
	- line 420: # TODO: support more compression types as necessary


src/esp/sensor/CameraSensor.cpp (1 line):
	- line 130: // TODO: check sim has semantic scene graph


src/esp/assets/ResourceManager.h (1 line):
	- line 1214: // TODO: directional light shadow maps


src/cmake/FindMagnumIntegration.cmake (1 line):
	- line 127: # TODO: Drop this once CMake 3.3 and if(IN_LIST) can be used


src/esp/nav/PathFinder.cpp (1 line):
	- line 918: // TODO: this should be using core::Random instead, but passing function


src/esp/gfx/RenderTarget.cpp (1 line):
	- line 259: // TODO: Consider implementing the GPU read functions with EGLImage


src_python/habitat_sim/bindings/__init__.py (1 line):
	- line 7: # TODO: this whole thing needs to get removed, kept just for compatibility


src/esp/bindings_js/modules/simenv_embind.js (1 line):
	- line 178: //TODO: Implement checks for different sensors