# Improvements TODO List
**Created:** 2025-11-20
**Status:** Planning
**Source:** `docs/CODEBASE_ANALYSIS_AND_IMPROVEMENTS.md`
---
## 🎯 Overview
This TODO list tracks all improvement recommendations from the codebase analysis. Items are prioritized and estimated for effort.
**Total Items:** 52 actionable tasks
**Estimated Total Effort:** 8-12 weeks (spread across 3 phases)
---
## ⚡ Quick Wins (Priority: HIGH - 1 Week)
### QW-1: API Documentation (1 day)
- [ ] Install Sphinx and sphinx-rtd-theme
- [ ] Run `sphinx-apidoc -o docs/api src/gazebo_mcp`
- [ ] Configure Sphinx with `conf.py`
- [ ] Generate HTML documentation
- [ ] Add link to README.md
- [ ] Set up Read the Docs (optional)
- [ ] Test documentation builds correctly
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### QW-2: WorldGenerator Wrapper Class (1-2 days)
- [ ] Create `src/gazebo_mcp/tools/world_generation_wrapper.py`
- [ ] Implement `WorldGenerator` class
- [ ] `__init__()` method
- [ ] `create_world()` method
- [ ] `add_ground_plane()` method
- [ ] `add_obstacle_course()` method
- [ ] `add_light()` method
- [ ] `add_fog()` method
- [ ] `add_wind()` method
- [ ] `add_animated_obstacle()` method
- [ ] `add_trigger_zone()` method
- [ ] `export_world()` method
- [ ] Add type hints throughout
- [ ] Write comprehensive docstrings
- [ ] Create unit tests
- [ ] Update Phase 7 demos to use wrapper
- [ ] Update documentation with usage examples
- [ ] Add to `__init__.py` exports
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### QW-3: Architecture Diagrams (1 day)
- [ ] Install Mermaid or PlantUML
- [ ] Create system architecture diagram
- [ ] Create component interaction diagram
- [ ] Create sequence diagrams for:
- [ ] Model spawning flow
- [ ] Sensor reading flow
- [ ] World generation flow
- [ ] Add diagrams to `docs/ARCHITECTURE.md`
- [ ] Create deployment architecture diagram
- [ ] Add data flow diagrams
- [ ] Export diagrams as PNG/SVG
- [ ] Link diagrams in README.md
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### QW-4: CI/CD Integration Tests (1-2 days)
- [ ] Create `.github/workflows/integration-tests.yml`
- [ ] Configure ROS2 container environment
- [ ] Install Gazebo in CI environment
- [ ] Set up test fixtures
- [ ] Enable `--with-ros2` flag tests
- [ ] Enable `--with-gazebo` flag tests
- [ ] Add test result reporting
- [ ] Configure failure notifications
- [ ] Test workflow on PR
- [ ] Document CI/CD setup in README
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### QW-5: Configuration Management (1 day)
- [ ] Create `config/` directory
- [ ] Create `config/gazebo_mcp.yaml` template
- [ ] Create `src/gazebo_mcp/config.py` module
- [ ] Implement `load_config()` function
- [ ] Add configuration validation with Pydantic
- [ ] Create environment-specific configs:
- [ ] `config/development.yaml`
- [ ] `config/production.yaml`
- [ ] `config/testing.yaml`
- [ ] Update server.py to use config
- [ ] Add configuration documentation
- [ ] Create example config with comments
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
## 🚀 High Value Enhancements (Priority: HIGH - 2-3 Weeks)
### HV-1: Complete Sensor Tools TODO Items (2-3 days)
#### HV-1.1: Real Sensor Discovery
- [ ] Implement `_discover_sensors()` function
- [ ] Add Gazebo service client for sensor enumeration
- [ ] Query available sensors from robot model
- [ ] Cache sensor metadata
- [ ] Handle sensor types: camera, lidar, IMU, GPS
- [ ] Add error handling for missing sensors
- [ ] Write unit tests
- [ ] Update documentation
**File:** `src/gazebo_mcp/tools/sensor_tools.py`
**Lines:** ~150-200 (TODO at multiple locations)
---
#### HV-1.2: Real Sensor Data Subscription
- [ ] Implement real-time sensor topic subscription
- [ ] Add ROS2 subscriber for camera topics
- [ ] Add ROS2 subscriber for lidar topics
- [ ] Add ROS2 subscriber for IMU topics
- [ ] Implement data buffering/caching
- [ ] Add subscription lifecycle management
- [ ] Handle sensor data timeouts
- [ ] Write integration tests
- [ ] Update documentation
**Effort:** 2-3 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### HV-2: Complete World Tools TODO Items (2-3 days)
#### HV-2.1: Real World Saving
- [ ] Implement Gazebo world save service call
- [ ] Add SDF file writing from Gazebo state
- [ ] Support world snapshots
- [ ] Implement incremental saves
- [ ] Add world versioning
- [ ] Handle large world files
- [ ] Write unit tests
- [ ] Update documentation
**File:** `src/gazebo_mcp/tools/world_tools.py`
**Line:** ~100 (TODO marker)
---
#### HV-2.2: Real World Properties Query
- [ ] Implement Gazebo world properties service
- [ ] Query physics engine settings
- [ ] Get lighting configuration
- [ ] Retrieve gravity settings
- [ ] Get world bounds
- [ ] Add caching for performance
- [ ] Write unit tests
- [ ] Update documentation
**Effort:** 2-3 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### HV-3: Complete Simulation Tools TODO Items (1-2 days)
#### HV-3.1: Real Speed Control
- [ ] Implement Gazebo real-time factor service
- [ ] Add speed multiplier functionality
- [ ] Support pause/unpause with speed
- [ ] Handle speed limits (0.1x - 10x)
- [ ] Add speed monitoring
- [ ] Write unit tests
- [ ] Update documentation
**File:** `src/gazebo_mcp/tools/simulation_tools.py`
**Line:** ~150 (TODO marker)
---
#### HV-3.2: Real Time Query
- [ ] Implement simulation time query service
- [ ] Get current sim time
- [ ] Get real-time factor
- [ ] Calculate time statistics
- [ ] Add time synchronization
- [ ] Write unit tests
- [ ] Update documentation
**Effort:** 1-2 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### HV-4: Complete Model Management TODO Items (1-2 days)
#### HV-4.1: Model Loading Implementation
- [ ] Implement SDF model loading
- [ ] Implement URDF model loading
- [ ] Add model path resolution
- [ ] Support Gazebo model database
- [ ] Add model validation
- [ ] Handle model dependencies
- [ ] Write unit tests
- [ ] Update documentation
**File:** `src/gazebo_mcp/tools/model_management.py`
**Line:** ~200 (TODO marker)
**Effort:** 1-2 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### HV-5: Performance Benchmarking Suite (2-3 days)
#### HV-5.1: Create Benchmark Framework
- [ ] Create `tests/performance/` directory
- [ ] Create `test_benchmarks.py`
- [ ] Set up performance fixtures
- [ ] Add timing decorators
- [ ] Create performance data collection
- [ ] Add memory profiling
- [ ] Set up benchmark reporting
---
#### HV-5.2: World Generation Benchmarks
- [ ] Test empty world creation time
- [ ] Test obstacle course generation (10, 50, 100 obstacles)
- [ ] Test terrain generation
- [ ] Test lighting setup time
- [ ] Test world export time
- [ ] Set performance thresholds
- [ ] Document expected performance
---
#### HV-5.3: Model Management Benchmarks
- [ ] Test single model spawn time
- [ ] Test concurrent model spawning (10, 50, 100 models)
- [ ] Test model state queries
- [ ] Test model deletion
- [ ] Set performance thresholds
- [ ] Document expected performance
---
#### HV-5.4: Sensor Benchmarks
- [ ] Test camera image retrieval time
- [ ] Test lidar scan retrieval time
- [ ] Test IMU data retrieval time
- [ ] Test concurrent sensor reads
- [ ] Set performance thresholds
- [ ] Document expected latencies
---
#### HV-5.5: Integration Benchmarks
- [ ] Test complete workflow performance
- [ ] Test server startup time
- [ ] Test ROS2 connection time
- [ ] Test memory usage over time
- [ ] Test for memory leaks
- [ ] Create performance report generator
**Effort:** 2-3 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### HV-6: Auto-Generate API Reference (1 day)
- [ ] Set up Sphinx configuration
- [ ] Configure autodoc extension
- [ ] Add napoleon extension for Google/NumPy docstrings
- [ ] Generate module documentation
- [ ] Generate class documentation
- [ ] Generate function documentation
- [ ] Add cross-references
- [ ] Create index pages
- [ ] Build HTML documentation
- [ ] Deploy to Read the Docs or GitHub Pages
- [ ] Add API docs link to README
**Effort:** 1 day
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
## 📚 Nice-to-Have Enhancements (Priority: MEDIUM - 2-3 Weeks)
### NH-1: Jupyter Notebooks (2-3 days)
#### NH-1.1: Quick Start Notebook
- [ ] Create `examples/notebooks/01_quick_start.ipynb`
- [ ] Add installation verification
- [ ] Add first world creation
- [ ] Add model spawning example
- [ ] Add interactive widgets
- [ ] Test in JupyterLab
- [ ] Add to documentation
---
#### NH-1.2: World Generation Notebook
- [ ] Create `examples/notebooks/02_world_generation.ipynb`
- [ ] Add obstacle course builder
- [ ] Add lighting designer
- [ ] Add material explorer
- [ ] Add interactive preview
- [ ] Add export functionality
- [ ] Test in JupyterLab
---
#### NH-1.3: Robot Control Notebook
- [ ] Create `examples/notebooks/03_robot_control.ipynb`
- [ ] Add robot spawning
- [ ] Add navigation examples
- [ ] Add sensor visualization
- [ ] Add live plotting
- [ ] Test in JupyterLab
---
#### NH-1.4: Sensor Visualization Notebook
- [ ] Create `examples/notebooks/04_sensor_viz.ipynb`
- [ ] Add camera image display
- [ ] Add lidar scan plotting
- [ ] Add IMU data charts
- [ ] Add real-time updates
- [ ] Test in JupyterLab
**Effort:** 2-3 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### NH-2: Video Tutorials (3-5 days)
#### NH-2.1: Equipment Setup
- [ ] Set up screen recording software (OBS Studio)
- [ ] Configure microphone
- [ ] Test recording quality
- [ ] Create intro/outro templates
- [ ] Set up video editing software
---
#### NH-2.2: 5-Minute Quickstart Video
- [ ] Review script in `docs/video_scripts/01_quickstart.md`
- [ ] Record screen actions
- [ ] Record narration
- [ ] Edit video
- [ ] Add captions
- [ ] Export in multiple formats
- [ ] Upload to YouTube
- [ ] Add to documentation
---
#### NH-2.3: Complete Workflow Video
- [ ] Review script in `docs/video_scripts/02_complete_workflow.md`
- [ ] Record screen actions (15 minutes)
- [ ] Record narration
- [ ] Edit video
- [ ] Add captions
- [ ] Export and upload
- [ ] Add to documentation
---
#### NH-2.4: Advanced Features Video
- [ ] Review script in `docs/video_scripts/03_advanced_features.md`
- [ ] Record screen actions
- [ ] Record narration
- [ ] Edit video
- [ ] Add captions
- [ ] Export and upload
- [ ] Create YouTube playlist
- [ ] Add to documentation
**Effort:** 3-5 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### NH-3: Load Testing Suite (2 days)
#### NH-3.1: Create Load Test Framework
- [ ] Create `tests/load/` directory
- [ ] Create `test_concurrent_operations.py`
- [ ] Set up async test infrastructure
- [ ] Add resource monitoring
- [ ] Create load test fixtures
---
#### NH-3.2: Concurrent Model Spawning Tests
- [ ] Test 10 concurrent spawns
- [ ] Test 50 concurrent spawns
- [ ] Test 100 concurrent spawns
- [ ] Measure throughput
- [ ] Measure latency distribution
- [ ] Check for race conditions
- [ ] Verify resource cleanup
---
#### NH-3.3: Concurrent Sensor Reading Tests
- [ ] Test 10 concurrent sensor reads
- [ ] Test 50 concurrent sensor reads
- [ ] Test 100 concurrent sensor reads
- [ ] Measure response times
- [ ] Check data consistency
- [ ] Verify no dropped reads
---
#### NH-3.4: Mixed Operation Tests
- [ ] Test spawn + sensor reads
- [ ] Test spawn + delete + query
- [ ] Test world gen + model spawn
- [ ] Measure system behavior under load
- [ ] Check memory usage
- [ ] Verify no resource leaks
---
#### NH-3.5: Stress Testing
- [ ] Test system limits
- [ ] Test graceful degradation
- [ ] Test error recovery
- [ ] Document performance limits
- [ ] Create load test report
**Effort:** 2 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### NH-4: Enhanced Configuration System (1-2 days)
#### NH-4.1: Configuration Module
- [ ] Create `src/gazebo_mcp/config/` package
- [ ] Create `config_schema.py` with Pydantic models
- [ ] Create `config_loader.py`
- [ ] Add environment variable support
- [ ] Add config validation
- [ ] Add config merging (defaults + user + env)
---
#### NH-4.2: Configuration Files
- [ ] Create `config/default.yaml`
- [ ] Create `config/development.yaml`
- [ ] Create `config/production.yaml`
- [ ] Create `config/testing.yaml`
- [ ] Document all configuration options
- [ ] Add config examples with comments
---
#### NH-4.3: Integration
- [ ] Update `server.py` to use config
- [ ] Update bridge modules to use config
- [ ] Update tools to use config
- [ ] Add config CLI argument
- [ ] Add config validation on startup
- [ ] Write tests for config loading
**Effort:** 1-2 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
### NH-5: Make Phase 7 Demos Functional (1 day)
#### NH-5.1: Update Demo Files
- [ ] Update `examples/demos/interactive_demo.py`
- [ ] Import WorldGenerator from wrapper
- [ ] Test all menu options
- [ ] Fix any import errors
- [ ] Update `examples/demos/01_complete_navigation_demo.py`
- [ ] Import WorldGenerator from wrapper
- [ ] Test complete workflow
- [ ] Verify world export
- [ ] Update `examples/demos/06_world_generation_showcase.py`
- [ ] Import WorldGenerator from wrapper
- [ ] Test all showcases
- [ ] Test --export-all flag
---
#### NH-5.2: Documentation Updates
- [ ] Update `examples/demos/README.md`
- [ ] Remove DEMOS_NOTE.md warning
- [ ] Add usage instructions
- [ ] Update Getting Started tutorial
- [ ] Test all examples work
**Effort:** 1 day (after WorldGenerator wrapper complete)
**Assignee:** _________
**Due Date:** _________
**Status:** Blocked by QW-2
---
### NH-6: Documentation Improvements (1-2 days)
#### NH-6.1: Consolidate Phase Documentation
- [ ] Create `docs/archive/` directory
- [ ] Move old progress docs to archive:
- [ ] PHASE2_PROGRESS.md
- [ ] PHASE3_PROGRESS.md
- [ ] PHASE4_PLAN.md
- [ ] etc.
- [ ] Keep only completion summaries in main docs
- [ ] Update links in other documents
---
#### NH-6.2: Create Missing Documentation
- [ ] Create `docs/CONTRIBUTING.md`
- [ ] Create `docs/CHANGELOG.md`
- [ ] Create `docs/FAQ.md`
- [ ] Update `docs/ARCHITECTURE.md` with diagrams
- [ ] Create `docs/PERFORMANCE.md`
---
#### NH-6.3: Improve Existing Documentation
- [ ] Update README.md with clearer structure
- [ ] Add badges (tests, coverage, version)
- [ ] Improve deployment examples in DEPLOYMENT.md
- [ ] Add more troubleshooting scenarios
- [ ] Create documentation index
**Effort:** 1-2 days
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
---
## 🔮 Future Considerations (Priority: LOW - Long Term)
### FC-1: Web Dashboard (2-3 weeks)
#### FC-1.1: Backend API
- [ ] Create FastAPI application
- [ ] Add server status endpoints
- [ ] Add metrics endpoints
- [ ] Add WebSocket for real-time updates
- [ ] Implement authentication
- [ ] Add CORS configuration
---
#### FC-1.2: Frontend Application
- [ ] Set up React project
- [ ] Create dashboard layout
- [ ] Add server status widget
- [ ] Add metrics charts (Chart.js or D3)
- [ ] Add world preview
- [ ] Add model management UI
- [ ] Add responsive design
---
#### FC-1.3: Integration
- [ ] Connect frontend to backend
- [ ] Implement real-time updates
- [ ] Add error handling
- [ ] Write tests
- [ ] Create Docker container
- [ ] Document deployment
**Effort:** 2-3 weeks
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
**Priority:** LOW
---
### FC-2: Plugin System (1 week)
#### FC-2.1: Plugin Architecture
- [ ] Design plugin interface
- [ ] Create `PluginBase` abstract class
- [ ] Implement plugin discovery
- [ ] Add plugin loading mechanism
- [ ] Create plugin registry
---
#### FC-2.2: Plugin API
- [ ] Define plugin lifecycle hooks
- [ ] Add tool registration API
- [ ] Add configuration API
- [ ] Add logging API
- [ ] Document plugin development
---
#### FC-2.3: Example Plugin
- [ ] Create example custom tool plugin
- [ ] Write plugin documentation
- [ ] Create plugin template
- [ ] Test plugin system
**Effort:** 1 week
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
**Priority:** LOW
---
### FC-3: Multi-Simulator Support (1-2 months)
#### FC-3.1: Simulator Abstraction
- [ ] Design simulator interface
- [ ] Create `SimulatorBase` abstract class
- [ ] Refactor Gazebo code to use abstraction
- [ ] Create simulator factory
---
#### FC-3.2: Additional Simulators
- [ ] Implement Isaac Sim adapter
- [ ] Implement Webots adapter
- [ ] Implement CoppeliaSim adapter
- [ ] Test each simulator
---
#### FC-3.3: Unified Interface
- [ ] Ensure MCP tools work across simulators
- [ ] Handle simulator-specific features
- [ ] Document simulator support
- [ ] Create migration guide
**Effort:** 1-2 months
**Assignee:** _________
**Due Date:** _________
**Status:** Not Started
**Priority:** LOW
---
## 📊 Progress Tracking
### By Priority
#### Quick Wins (5 items)
- [ ] 0/5 complete (0%)
#### High Value (6 items)
- [ ] 0/6 complete (0%)
#### Nice-to-Have (6 items)
- [ ] 0/6 complete (0%)
#### Future (3 items)
- [ ] 0/3 complete (0%)
### By Category
#### Documentation (8 items)
- [ ] 0/8 complete (0%)
#### Testing (4 items)
- [ ] 0/4 complete (0%)
#### Core Functionality (4 items)
- [ ] 0/4 complete (0%)
#### User Experience (4 items)
- [ ] 0/4 complete (0%)
#### Infrastructure (3 items)
- [ ] 0/3 complete (0%)
---
## 🎯 Recommended Implementation Order
### Phase 8: Quick Wins + High Value (3-4 weeks)
**Week 1: Quick Wins**
1. API Documentation (QW-1)
2. Architecture Diagrams (QW-3)
3. Configuration Management (QW-5)
**Week 2: Core Enhancements**
4. WorldGenerator Wrapper (QW-2)
5. CI/CD Integration Tests (QW-4)
6. Complete Sensor Tools TODOs (HV-1)
**Week 3: Remaining TODOs**
7. Complete World Tools TODOs (HV-2)
8. Complete Simulation Tools TODOs (HV-3)
9. Complete Model Management TODOs (HV-4)
**Week 4: Performance & Testing**
10. Performance Benchmarking Suite (HV-5)
11. Auto-Generate API Reference (HV-6)
---
### Phase 9: Nice-to-Have (2-3 weeks)
**Week 5: Testing & Demos**
12. Load Testing Suite (NH-3)
13. Make Phase 7 Demos Functional (NH-5)
14. Documentation Improvements (NH-6)
**Week 6: Interactive Content**
15. Jupyter Notebooks (NH-1)
**Week 7: Video Content**
16. Video Tutorials (NH-2)
---
### Phase 10: Future (As Needed)
**Long Term:**
17. Web Dashboard (FC-1) - When monitoring needs arise
18. Plugin System (FC-2) - When extensibility requested
19. Multi-Simulator (FC-3) - When demand exists
---
## 📝 Notes
### Dependencies
- QW-2 (WorldGenerator) must complete before NH-5 (Phase 7 demos)
- QW-4 (CI/CD) requires HV-1 through HV-4 (TODO completions) for full value
- NH-1 (Jupyter) benefits from QW-2 (WorldGenerator wrapper)
### Resource Requirements
- **Quick Wins:** 1 developer, 1 week
- **High Value:** 1-2 developers, 3 weeks
- **Nice-to-Have:** 1 developer, 2-3 weeks
- **Future:** 1-2 developers, as needed
### Testing Strategy
- Add tests for all new functionality
- Maintain 100% test pass rate
- Add integration tests where applicable
- Update documentation with each change
---
## ✅ Completion Criteria
Each TODO item should meet these criteria:
- [ ] Code implemented and reviewed
- [ ] Tests written and passing
- [ ] Documentation updated
- [ ] Examples created (if applicable)
- [ ] PR reviewed and merged
- [ ] Item marked complete in this list
---
**Last Updated:** 2025-11-20
**Maintained By:** Development Team
**Next Review:** Weekly during active development
---
## 🔗 Related Documents
- **Analysis Report:** `docs/CODEBASE_ANALYSIS_AND_IMPROVEMENTS.md`
- **Project Status:** `PROJECT_STATUS.md`
- **Phase Summaries:** `docs/PHASE*_COMPLETION_SUMMARY.md`
- **Architecture:** `docs/ARCHITECTURE.md`
