diff --git a/module2/exo4/exercice.ipynb b/module2/exo4/exercice.ipynb
index 254ad3a9ab79f356d51413c146530c591862314b..e7d905194d730a65fc093bec6af0c5e8ca84863d 100644
--- a/module2/exo4/exercice.ipynb
+++ b/module2/exo4/exercice.ipynb
@@ -16,17 +16,59 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 1,
    "metadata": {
     "hideCode": false,
     "hideOutput": true,
     "hidePrompt": false
    },
    "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
+      "Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
+      "To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Collecting plotly\n",
+      "  Downloading plotly-4.9.0-py2.py3-none-any.whl (12.9 MB)\n",
+      "Requirement already satisfied: six in /opt/conda/lib/python3.6/site-packages (from plotly) (1.14.0)\n",
+      "Collecting retrying>=1.3.3\n",
+      "  Downloading retrying-1.3.3.tar.gz (10 kB)\n",
+      "Building wheels for collected packages: retrying\n",
+      "  Building wheel for retrying (setup.py): started\n",
+      "  Building wheel for retrying (setup.py): finished with status 'done'\n",
+      "  Created wheel for retrying: filename=retrying-1.3.3-py3-none-any.whl size=11430 sha256=aadcf7c4fb481ad4c17a17895314b11482e582e1588b81c4feca2294d100700d\n",
+      "  Stored in directory: /home/jovyan/.cache/pip/wheels/ac/cb/8a/b27bf6323e2f4c462dcbf77d70b7c5e7868a7fbe12871770cf\n",
+      "Successfully built retrying\n",
+      "Installing collected packages: retrying, plotly\n",
+      "Successfully installed plotly-4.9.0 retrying-1.3.3\n",
+      "Collecting pyquaternion\n",
+      "  Downloading pyquaternion-0.9.5-py3-none-any.whl (14 kB)\n",
+      "Requirement already satisfied: numpy in /opt/conda/lib/python3.6/site-packages (from pyquaternion) (1.15.2)\n",
+      "Installing collected packages: pyquaternion\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
+      "Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
+      "To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
+     ]
+    },
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
+      "Successfully installed pyquaternion-0.9.5\n",
       "Collecting xmltodict\n",
       "  Downloading xmltodict-0.12.0-py2.py3-none-any.whl (9.2 kB)\n",
       "Installing collected packages: xmltodict\n"
@@ -61,9 +103,9 @@
     "# install('panda3d')\n",
     "# install('ursina')\n",
     "# install('ipyvolume')\n",
-    "# install('plotly')\n",
-    "# install('pyquaternion')\n",
-    "# install('xmltodict')"
+    "install('plotly')\n",
+    "install('pyquaternion')\n",
+    "install('xmltodict')"
    ]
   },
   {
@@ -82,7 +124,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {
     "hideCode": true,
     "hideOutput": true,
@@ -338,30 +380,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": 3,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "OrderedDict([('@id', '716508'),\n",
-       "             ('@color', '21 156 162'),\n",
-       "             ('@text', ''),\n",
-       "             ('@nyu_class', 'wall'),\n",
-       "             ('@note', ''),\n",
-       "             ('@area', '492477'),\n",
-       "             ('@obbox',\n",
-       "              '-1.2153 -2.52873 -1.90061 4.76056 2.89713 3.58827 0.999386 0.0115122 0.0173149 0.02819'),\n",
-       "             ('@aabbox',\n",
-       "              '-1.19997 -0.368718 -1.66073 3.51822 2.43698 1.86119'),\n",
-       "             ('@local_pose', '1 0 0 0')])"
-      ]
-     },
-     "execution_count": 19,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "import xmltodict\n",
     "labels = xmltodict.parse(sample_scene_data)['annotation']['label']\n",
@@ -371,7 +392,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 37,
+   "execution_count": 41,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -411,12 +432,38 @@
     "    \n",
     "    x, y, z = zip(*vertices)\n",
     "    \n",
-    "    return x, y, z"
+    "    return x, y, z\n",
+    "\n",
+    "def aabbox_properties_to_vertices(aabbox_properties):\n",
+    "    \"\"\"\n",
+    "    Convert axis-aligned 3D box properties (center, dimensions, and quaternion)\n",
+    "    \"\"\"\n",
+    "    if isinstance(aabbox_properties, str):\n",
+    "        aabbox_properties = list(map(float, aabbox_properties.split()))\n",
+    "        \n",
+    "    # Extract properties\n",
+    "    minx, miny, minz = aabbox_properties[0:3]\n",
+    "    maxx, maxy, maxz = aabbox_properties[3:6]\n",
+    "\n",
+    "    # Constants for converting properties to vertices\n",
+    "    X = [0, 0, 1, 1, 0, 0, 1, 1]\n",
+    "    Y = [0, 1, 1, 0, 0, 1, 1, 0]\n",
+    "    Z = [0, 0, 0, 0, 1, 1, 1, 1]\n",
+    "\n",
+    "    # Properties to vertices\n",
+    "    x = [(minx if v == 0 else maxx) for v in X]\n",
+    "    y = [(miny if v == 0 else maxy) for v in Y]\n",
+    "    z = [(minz if v == 0 else maxz) for v in Z]\n",
+    "    vertices = zip(x, y, z)\n",
+    "    \n",
+    "    x, y, z = zip(*vertices)\n",
+    "    \n",
+    "    return x, y, z\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 51,
+   "execution_count": 42,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -424,7 +471,8 @@
     "import numpy as np\n",
     "\n",
     "def label_to_mesh_3d(label, color='magenta'):\n",
-    "    x, y, z = obbox_properties_to_vertices(label['@obbox'])\n",
+    "#     x, y, z = obbox_properties_to_vertices(label['@obbox'])\n",
+    "    x, y, z = aabbox_properties_to_vertices(label['@aabbox'])\n",
     "    mesh_3d = go.Mesh3d(\n",
     "            x=x, y=y, z=z,\n",
     "            color=color,\n",
@@ -460,7 +508,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 52,
+   "execution_count": 43,
    "metadata": {
     "scrolled": true
    },
@@ -1364,20 +1412,20 @@
        "<div>\n",
        "        \n",
        "        \n",
-       "            <div id=\"a2572bb8-2f68-4914-9e5d-faf6a569a205\" class=\"plotly-graph-div\" style=\"height:525px; width:100%;\"></div>\n",
+       "            <div id=\"7c09ad54-e683-4170-b362-4180364db858\" class=\"plotly-graph-div\" style=\"height:525px; width:100%;\"></div>\n",
        "            <script type=\"text/javascript\">\n",
        "                require([\"plotly\"], function(Plotly) {\n",
        "                    window.PLOTLYENV=window.PLOTLYENV || {};\n",
        "                    \n",
-       "                if (document.getElementById(\"a2572bb8-2f68-4914-9e5d-faf6a569a205\")) {\n",
+       "                if (document.getElementById(\"7c09ad54-e683-4170-b362-4180364db858\")) {\n",
        "                    Plotly.newPlot(\n",
-       "                        'a2572bb8-2f68-4914-9e5d-faf6a569a205',\n",
+       "                        '7c09ad54-e683-4170-b362-4180364db858',\n",
        "                        [{\"color\": \"magenta\", \"i\": [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2], \"j\": [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3], \"k\": [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6], \"name\": \"y\", \"opacity\": 0.5, \"showscale\": true, \"type\": \"mesh3d\", \"x\": [-3.6886965305184787, -3.6248609873006448, 1.1315826823865907, 1.0677471391687567, -3.5621826823865907, -3.498347139168757, 1.2580965305184786, 1.1942609873006447], \"y\": [-1.039569781668396, -3.931327300833111, -3.8171381678029768, -0.9253806486382623, -1.240321832197023, -4.132079351361738, -4.017890218331604, -1.1261326991668894], \"z\": [-0.2734329098196713, -0.10903792608714347, 0.05262831216329, -0.11176667156923759, -3.8538483121632896, -3.689453328430762, -3.527787090180328, -3.692182073912856]}],\n",
        "                        {\"template\": {\"data\": {\"bar\": [{\"error_x\": {\"color\": \"#2a3f5f\"}, \"error_y\": {\"color\": \"#2a3f5f\"}, \"marker\": {\"line\": {\"color\": \"#E5ECF6\", \"width\": 0.5}}, \"type\": \"bar\"}], \"barpolar\": [{\"marker\": {\"line\": {\"color\": \"#E5ECF6\", \"width\": 0.5}}, \"type\": \"barpolar\"}], \"carpet\": [{\"aaxis\": {\"endlinecolor\": \"#2a3f5f\", \"gridcolor\": \"white\", \"linecolor\": \"white\", \"minorgridcolor\": \"white\", \"startlinecolor\": \"#2a3f5f\"}, \"baxis\": {\"endlinecolor\": \"#2a3f5f\", \"gridcolor\": \"white\", \"linecolor\": \"white\", \"minorgridcolor\": \"white\", \"startlinecolor\": \"#2a3f5f\"}, \"type\": \"carpet\"}], \"choropleth\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"type\": \"choropleth\"}], \"contour\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[0.0, \"#0d0887\"], [0.1111111111111111, \"#46039f\"], [0.2222222222222222, \"#7201a8\"], [0.3333333333333333, 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[0.4444444444444444, \"#bd3786\"], [0.5555555555555556, \"#d8576b\"], [0.6666666666666666, \"#ed7953\"], [0.7777777777777778, \"#fb9f3a\"], [0.8888888888888888, \"#fdca26\"], [1.0, \"#f0f921\"]], \"type\": \"histogram2dcontour\"}], \"mesh3d\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"type\": \"mesh3d\"}], \"parcoords\": [{\"line\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"parcoords\"}], \"pie\": [{\"automargin\": true, \"type\": \"pie\"}], \"scatter\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scatter\"}], \"scatter3d\": [{\"line\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scatter3d\"}], \"scattercarpet\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scattercarpet\"}], \"scattergeo\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": 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[1.0, \"#f0f921\"]], \"type\": \"surface\"}], \"table\": [{\"cells\": {\"fill\": {\"color\": \"#EBF0F8\"}, \"line\": {\"color\": \"white\"}}, \"header\": {\"fill\": {\"color\": \"#C8D4E3\"}, \"line\": {\"color\": \"white\"}}, \"type\": \"table\"}]}, \"layout\": {\"annotationdefaults\": {\"arrowcolor\": \"#2a3f5f\", \"arrowhead\": 0, \"arrowwidth\": 1}, \"coloraxis\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"colorscale\": {\"diverging\": [[0, \"#8e0152\"], [0.1, \"#c51b7d\"], [0.2, \"#de77ae\"], [0.3, \"#f1b6da\"], [0.4, \"#fde0ef\"], [0.5, \"#f7f7f7\"], [0.6, \"#e6f5d0\"], [0.7, \"#b8e186\"], [0.8, \"#7fbc41\"], [0.9, \"#4d9221\"], [1, \"#276419\"]], \"sequential\": [[0.0, \"#0d0887\"], [0.1111111111111111, \"#46039f\"], [0.2222222222222222, \"#7201a8\"], [0.3333333333333333, \"#9c179e\"], [0.4444444444444444, \"#bd3786\"], [0.5555555555555556, \"#d8576b\"], [0.6666666666666666, \"#ed7953\"], [0.7777777777777778, \"#fb9f3a\"], [0.8888888888888888, \"#fdca26\"], [1.0, \"#f0f921\"]], \"sequentialminus\": [[0.0, \"#0d0887\"], [0.1111111111111111, \"#46039f\"], [0.2222222222222222, \"#7201a8\"], [0.3333333333333333, \"#9c179e\"], [0.4444444444444444, \"#bd3786\"], [0.5555555555555556, \"#d8576b\"], [0.6666666666666666, \"#ed7953\"], [0.7777777777777778, \"#fb9f3a\"], [0.8888888888888888, \"#fdca26\"], [1.0, \"#f0f921\"]]}, \"colorway\": [\"#636efa\", \"#EF553B\", \"#00cc96\", \"#ab63fa\", \"#FFA15A\", \"#19d3f3\", \"#FF6692\", \"#B6E880\", \"#FF97FF\", \"#FECB52\"], \"font\": {\"color\": \"#2a3f5f\"}, \"geo\": {\"bgcolor\": \"white\", \"lakecolor\": \"white\", \"landcolor\": \"#E5ECF6\", \"showlakes\": true, \"showland\": true, \"subunitcolor\": \"white\"}, \"hoverlabel\": {\"align\": \"left\"}, \"hovermode\": \"closest\", \"mapbox\": {\"style\": \"light\"}, \"paper_bgcolor\": \"white\", \"plot_bgcolor\": \"#E5ECF6\", \"polar\": {\"angularaxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}, \"bgcolor\": \"#E5ECF6\", \"radialaxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"scene\": {\"xaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}, \"yaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}, \"zaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}}, \"shapedefaults\": {\"line\": {\"color\": \"#2a3f5f\"}}, \"ternary\": {\"aaxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}, \"baxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}, \"bgcolor\": \"#E5ECF6\", \"caxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"title\": {\"x\": 0.05}, \"xaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}, \"yaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}}}},\n",
        "                        {\"responsive\": true}\n",
        "                    ).then(function(){\n",
        "                            \n",
-       "var gd = document.getElementById('a2572bb8-2f68-4914-9e5d-faf6a569a205');\n",
+       "var gd = document.getElementById('7c09ad54-e683-4170-b362-4180364db858');\n",
        "var x = new MutationObserver(function (mutations, observer) {{\n",
        "        var display = window.getComputedStyle(gd).display;\n",
        "        if (!display || display === 'none') {{\n",
@@ -1414,67 +1462,6 @@
     "plot_obbox(sample_label['@obbox'])"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "Take a look at the classes in the sample scene:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 55,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "{'bag',\n",
-       " 'bed',\n",
-       " 'bookshelf',\n",
-       " 'box',\n",
-       " 'cabinet',\n",
-       " 'ceiling',\n",
-       " 'chair',\n",
-       " 'desk',\n",
-       " 'door',\n",
-       " 'floor',\n",
-       " 'lamp',\n",
-       " 'prop',\n",
-       " 'shelves',\n",
-       " 'television',\n",
-       " 'towel',\n",
-       " 'unknown',\n",
-       " 'wall',\n",
-       " 'window'}"
-      ]
-     },
-     "execution_count": 55,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "classes = set()\n",
-    "for labebag',\n",
-    " 'bed',\n",
-    " 'bookshelf',\n",
-    " 'box',\n",
-    " 'cabinet',\n",
-    " 'ceiling',\n",
-    " 'chair',\n",
-    " 'desk',\n",
-    " 'door',\n",
-    " 'floor',\n",
-    " 'lamp',\n",
-    " 'prop',\n",
-    " 'shelvel in labels:\n",
-    "    classes.add(label['@nyu_class'])\n",
-    "classes"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -1484,7 +1471,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 57,
+   "execution_count": 44,
    "metadata": {},
    "outputs": [
     {
@@ -1711,7 +1698,7 @@
        " 'lamp': ['126 210 18', '196 36 92', '234 250 54']}"
       ]
      },
-     "execution_count": 57,
+     "execution_count": 44,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -1729,13 +1716,4135 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 47,
    "metadata": {},
    "outputs": [],
    "source": [
-    "for label in labels:\n",
-    "    "
+    "filter = \n",
+    "meshes = [label_to_mesh_3d(label) for label in labels if (label['@nyu_class'] != 'unknown')]"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 48,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
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\"radialaxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"scene\": {\"xaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}, \"yaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}, \"zaxis\": {\"backgroundcolor\": \"#E5ECF6\", \"gridcolor\": \"white\", \"gridwidth\": 2, \"linecolor\": \"white\", \"showbackground\": true, \"ticks\": \"\", \"zerolinecolor\": \"white\"}}, \"shapedefaults\": {\"line\": {\"color\": \"#2a3f5f\"}}, \"ternary\": {\"aaxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}, \"baxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}, \"bgcolor\": \"#E5ECF6\", \"caxis\": {\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"title\": {\"x\": 0.05}, \"xaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}, \"yaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}}}},\n",
+       "                        {\"responsive\": true}\n",
+       "                    ).then(function(){\n",
+       "                            \n",
+       "var gd = document.getElementById('672c3390-454c-4194-aef3-cc37336302c8');\n",
+       "var x = new MutationObserver(function (mutations, observer) {{\n",
+       "        var display = window.getComputedStyle(gd).display;\n",
+       "        if (!display || display === 'none') {{\n",
+       "            console.log([gd, 'removed!']);\n",
+       "            Plotly.purge(gd);\n",
+       "            observer.disconnect();\n",
+       "        }}\n",
+       "}});\n",
+       "\n",
+       "// Listen for the removal of the full notebook cells\n",
+       "var notebookContainer = gd.closest('#notebook-container');\n",
+       "if (notebookContainer) {{\n",
+       "    x.observe(notebookContainer, {childList: true});\n",
+       "}}\n",
+       "\n",
+       "// Listen for the clearing of the current output cell\n",
+       "var outputEl = gd.closest('.output');\n",
+       "if (outputEl) {{\n",
+       "    x.observe(outputEl, {childList: true});\n",
+       "}}\n",
+       "\n",
+       "                        })\n",
+       "                };\n",
+       "                });\n",
+       "            </script>\n",
+       "        </div>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "fig = go.Figure(data=meshes)\n",
+    "fig.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {