robogym/utils/rotation.py (2 lines):
	- line 72: TODO / Missing
	- line 172: # TODO: vectorize this -- probably could be made faster


robogym/robot/ur16e/mujoco/free_dof_tcp_arm.py (1 line):
	- line 244: # TODO Fix this alignment disparity


robogym/wrappers/cube.py (1 line):
	- line 80: sim.data.xfrc_applied[i, :3] *= 0.99  # TODO: make substeps dependent


robogym/viewer/env_viewer.py (1 line):
	- line 22: # TODO: Next 3 lines can be removed in gym >= 0.12.4


robogym/envs/rearrange/materials/rubber-ball.jsonnet (1 line):
	- line 6: # TODO: we may want to reduce damping in solref here to make the ball bouncier.


robogym/envs/rearrange/goals/object_state.py (1 line):
	- line 535: # TODO: may consider switching to `scipy.optimize.linear_sum_assignment`


robogym/assets/xmls/robot/ur16e/base.xml (1 line):
	- line 68: TODO Investigate if there's a better way, for example enabling/disabling xml tags.


robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_balance.jsonnet (1 line):
	- line 9: # TODO: Physics is still causing the purple block to jitter, and so