diff --git a/module2/exo4/exercice.ipynb b/module2/exo4/exercice.ipynb
index 46f94e2bacb80768c5499a7aee28ba95083a49e4..254ad3a9ab79f356d51413c146530c591862314b 100644
--- a/module2/exo4/exercice.ipynb
+++ b/module2/exo4/exercice.ipynb
@@ -371,26 +371,26 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 37,
    "metadata": {},
    "outputs": [],
    "source": [
     "import pyquaternion\n",
     "\n",
-    "def obbox_properties_to_vertices(obbox_properties)\n",
+    "def obbox_properties_to_vertices(obbox_properties):\n",
     "    \"\"\"\n",
     "    Convert 3D box properties (center, dimensions, and quaternion)\n",
     "    \"\"\"\n",
     "    if isinstance(obbox_properties, str):\n",
-    "        obbox_properties = a = map(float, obbox_properties.split())\n",
+    "        obbox_properties = list(map(float, obbox_properties.split()))\n",
     "    \n",
     "#     TODO ADD EXTRA CHECKS\n",
     "#     if isinstance(obbox_properties, iterable) and len(obbox_properties == 10) and \n",
     "    \n",
     "    # Extract properties\n",
-    "    cx, cy, cz = [0:3]\n",
-    "    dx, dy, dz = [3:6]\n",
-    "    qx, qy, qz, qw = [6:10]\n",
+    "    cx, cy, cz = obbox_properties[0:3]\n",
+    "    dx, dy, dz = obbox_properties[3:6]\n",
+    "    qx, qy, qz, qw = obbox_properties[6:10]\n",
     "\n",
     "    # Constants for converting properties to vertices\n",
     "    X = [0, 0, 1, 1, 0, 0, 1, 1]\n",
@@ -398,9 +398,9 @@
     "    Z = [0, 0, 0, 0, 1, 1, 1, 1]\n",
     "\n",
     "    # Properties to unrotated vertices\n",
-    "    x = [c_x + (-0.5 * d_x if v == 0 else 0.5 * d_x) for v in X]\n",
-    "    y = [c_y + (-0.5 * d_y if v == 0 else 0.5 * d_y) for v in Y]\n",
-    "    z = [c_z + (-0.5 * d_z if v == 0 else 0.5 * d_z) for v in Z]\n",
+    "    x = [cx + (-0.5 * dx if v == 0 else 0.5 * dx) for v in X]\n",
+    "    y = [cy + (-0.5 * dy if v == 0 else 0.5 * dy) for v in Y]\n",
+    "    z = [cz + (-0.5 * dz if v == 0 else 0.5 * dz) for v in Z]\n",
     "    unrotated_vertices = zip(x, y, z)\n",
     "    \n",
     "    # Apply quaternion\n",
@@ -411,85 +411,1331 @@
     "    \n",
     "    x, y, z = zip(*vertices)\n",
     "    \n",
-    "    return x, y, z\n",
+    "    return x, y, z"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 51,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import plotly.graph_objects as go\n",
+    "import numpy as np\n",
     "\n",
-    "def box_vertices"
+    "def label_to_mesh_3d(label, color='magenta'):\n",
+    "    x, y, z = obbox_properties_to_vertices(label['@obbox'])\n",
+    "    mesh_3d = go.Mesh3d(\n",
+    "            x=x, y=y, z=z,\n",
+    "            color=color,\n",
+    "            opacity=0.5,\n",
+    "            # i, j and k give the vertices of triangles\n",
+    "            i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n",
+    "            j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n",
+    "            k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n",
+    "            name=label['@nyu_class'],\n",
+    "            showscale=True\n",
+    "    )\n",
+    "    return mesh_3d\n",
+    "\n",
+    "def plot_obbox(obbox):\n",
+    "    x, y, z = obbox_properties_to_vertices(obbox)\n",
+    "    fig = go.Figure(data=[\n",
+    "        go.Mesh3d(\n",
+    "            x=x, y=y, z=z,\n",
+    "            color='magenta',\n",
+    "            opacity=0.5,\n",
+    "            # i, j and k give the vertices of triangles\n",
+    "            i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n",
+    "            j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n",
+    "            k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n",
+    "            name='y',\n",
+    "            showscale=True\n",
+    "        )\n",
+    "    ])\n",
+    "    return fig\n",
+    "\n",
+    "#     fig.show()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": 52,
+   "metadata": {
+    "scrolled": true
+   },
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.plotly.v1+json": {
+       "config": {
+        "plotlyServerURL": "https://plot.ly"
+       },
+       "data": [
+        {
+         "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
+         ]
+        }
+       ],
+       "layout": {
+        "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,
+              "#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,
+              "#f0f921"
+             ]
+            ],
+            "type": "contour"
+           }
+          ],
+          "contourcarpet": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "type": "contourcarpet"
+           }
+          ],
+          "heatmap": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "colorscale": [
+             [
+              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,
+              "#f0f921"
+             ]
+            ],
+            "type": "heatmap"
+           }
+          ],
+          "heatmapgl": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "colorscale": [
+             [
+              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,
+              "#f0f921"
+             ]
+            ],
+            "type": "heatmapgl"
+           }
+          ],
+          "histogram": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "histogram"
+           }
+          ],
+          "histogram2d": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "colorscale": [
+             [
+              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,
+              "#f0f921"
+             ]
+            ],
+            "type": "histogram2d"
+           }
+          ],
+          "histogram2dcontour": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "colorscale": [
+             [
+              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,
+              "#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": "scattergeo"
+           }
+          ],
+          "scattergl": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "scattergl"
+           }
+          ],
+          "scattermapbox": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "scattermapbox"
+           }
+          ],
+          "scatterpolar": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "scatterpolar"
+           }
+          ],
+          "scatterpolargl": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "scatterpolargl"
+           }
+          ],
+          "scatterternary": [
+           {
+            "marker": {
+             "colorbar": {
+              "outlinewidth": 0,
+              "ticks": ""
+             }
+            },
+            "type": "scatterternary"
+           }
+          ],
+          "surface": [
+           {
+            "colorbar": {
+             "outlinewidth": 0,
+             "ticks": ""
+            },
+            "colorscale": [
+             [
+              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,
+              "#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,
+             "#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,
+             "#f0f921"
+            ]
+           ],
+           "sequentialminus": [
+            [
+             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,
+             "#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
+          }
+         }
+        }
+       }
+      },
+      "text/html": [
+       "<div>\n",
+       "        \n",
+       "        \n",
+       "            <div id=\"a2572bb8-2f68-4914-9e5d-faf6a569a205\" 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",
+       "                    Plotly.newPlot(\n",
+       "                        'a2572bb8-2f68-4914-9e5d-faf6a569a205',\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, \"#9c179e\"], [0.4444444444444444, \"#bd3786\"], [0.5555555555555556, \"#d8576b\"], [0.6666666666666666, \"#ed7953\"], [0.7777777777777778, \"#fb9f3a\"], [0.8888888888888888, \"#fdca26\"], [1.0, \"#f0f921\"]], \"type\": \"contour\"}], \"contourcarpet\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"type\": \"contourcarpet\"}], \"heatmap\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[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\"]], \"type\": \"heatmap\"}], \"heatmapgl\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[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\"]], \"type\": \"heatmapgl\"}], \"histogram\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"histogram\"}], \"histogram2d\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[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\"]], \"type\": \"histogram2d\"}], \"histogram2dcontour\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[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\"]], \"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\": \"scattergeo\"}], \"scattergl\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scattergl\"}], \"scattermapbox\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scattermapbox\"}], \"scatterpolar\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scatterpolar\"}], \"scatterpolargl\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scatterpolargl\"}], \"scatterternary\": [{\"marker\": {\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}}, \"type\": \"scatterternary\"}], \"surface\": [{\"colorbar\": {\"outlinewidth\": 0, \"ticks\": \"\"}, \"colorscale\": [[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\"]], \"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 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": [
+    "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": [
     {
-     "ename": "NameError",
-     "evalue": "name 'np' is not defined",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
-      "\u001b[0;32m<ipython-input-21-29c839d25695>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m     11\u001b[0m                     [1, 'magenta']],\n\u001b[1;32m     12\u001b[0m         \u001b[0;31m# Intensity of each vertex, which will be interpolated and color-coded\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 13\u001b[0;31m         \u001b[0mintensity\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlinspace\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m12\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mendpoint\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     14\u001b[0m         \u001b[0mintensitymode\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m'cell'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     15\u001b[0m         \u001b[0;31m# i, j and k give the vertices of triangles\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;31mNameError\u001b[0m: name 'np' is not defined"
-     ]
+     "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": [
-    "import plotly.graph_objects as go\n",
-    "fig = go.Figure(data=[\n",
-    "    go.Mesh3d(\n",
-    "        # 8 vertices of a cube\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",
-    "        colorbar_title='z',\n",
-    "        colorscale=[[0, 'gold'],\n",
-    "                    [0.5, 'mediumturquoise'],\n",
-    "                    [1, 'magenta']],\n",
-    "        # Intensity of each vertex, which will be interpolated and color-coded\n",
-    "        intensity = np.linspace(0, 1, 12, endpoint=True),\n",
-    "        intensitymode='cell',\n",
-    "        # i, j and k give the vertices of triangles\n",
-    "        i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n",
-    "        j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n",
-    "        k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n",
-    "        name='y',\n",
-    "        showscale=True\n",
-    "    )\n",
-    "])\n",
-    "\n",
-    "fig.show()"
+    "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": {},
+   "source": [
+    "Check if a nyu_class can be represented by different colors in original dataset"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 28,
+   "execution_count": 57,
    "metadata": {},
    "outputs": [
     {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n",
-      "<class 'float'>\n"
-     ]
+     "data": {
+      "text/plain": [
+       "{'wall': ['21 156 162'],\n",
+       " 'bed': ['195 224 75'],\n",
+       " 'ceiling': ['249 129 6',\n",
+       "  '216 148 91',\n",
+       "  '210 171 73',\n",
+       "  '85 110 41',\n",
+       "  '148 2 50',\n",
+       "  '90 67 102'],\n",
+       " 'floor': ['244 244 249', '84 102 188'],\n",
+       " 'desk': ['73 37 200', '95 228 26'],\n",
+       " 'bookshelf': ['205 250 112'],\n",
+       " 'window': ['240 88 86'],\n",
+       " 'door': ['153 91 119', '241 196 116', '36 242 138'],\n",
+       " 'chair': ['56 190 211', '174 76 53', '58 1 47', '206 81 234'],\n",
+       " 'shelves': ['244 76 17'],\n",
+       " 'cabinet': ['139 41 45'],\n",
+       " 'prop': ['17 15 47',\n",
+       "  '166 71 56',\n",
+       "  '218 234 195',\n",
+       "  '130 122 54',\n",
+       "  '41 64 0',\n",
+       "  '172 18 250',\n",
+       "  '26 98 68'],\n",
+       " 'box': ['196 11 210', '191 240 43', '246 217 198', '123 185 187'],\n",
+       " 'unknown': ['18 72 169',\n",
+       "  '250 241 183',\n",
+       "  '208 23 69',\n",
+       "  '162 77 150',\n",
+       "  '209 7 128',\n",
+       "  '182 133 137',\n",
+       "  '25 103 137',\n",
+       "  '108 71 13',\n",
+       "  '112 144 15',\n",
+       "  '52 237 197',\n",
+       "  '106 59 108',\n",
+       "  '210 95 11',\n",
+       "  '90 67 102',\n",
+       "  '73 40 150',\n",
+       "  '122 86 209',\n",
+       "  '30 172 1',\n",
+       "  '203 120 184',\n",
+       "  '154 107 160',\n",
+       "  '148 185 161',\n",
+       "  '167 223 45',\n",
+       "  '207 177 201',\n",
+       "  '4 189 197',\n",
+       "  '59 43 90',\n",
+       "  '163 100 250',\n",
+       "  '159 239 33',\n",
+       "  '112 144 78',\n",
+       "  '188 152 217',\n",
+       "  '139 146 65',\n",
+       "  '93 225 236',\n",
+       "  '76 95 67',\n",
+       "  '223 118 188',\n",
+       "  '4 83 132',\n",
+       "  '201 250 235',\n",
+       "  '62 159 62',\n",
+       "  '28 120 85',\n",
+       "  '104 146 227',\n",
+       "  '184 83 32',\n",
+       "  '233 201 250',\n",
+       "  '107 220 11',\n",
+       "  '51 152 136',\n",
+       "  '118 140 164',\n",
+       "  '217 239 62',\n",
+       "  '167 41 210',\n",
+       "  '27 215 220',\n",
+       "  '172 250 142',\n",
+       "  '48 5 152',\n",
+       "  '233 44 11',\n",
+       "  '110 101 52',\n",
+       "  '175 220 62',\n",
+       "  '1 150 55',\n",
+       "  '74 13 143',\n",
+       "  '205 52 250',\n",
+       "  '133 22 195',\n",
+       "  '110 149 205',\n",
+       "  '119 93 63',\n",
+       "  '119 184 22',\n",
+       "  '105 244 233',\n",
+       "  '215 141 14',\n",
+       "  '149 85 4',\n",
+       "  '71 161 161',\n",
+       "  '70 75 9',\n",
+       "  '95 212 147',\n",
+       "  '4 8 173',\n",
+       "  '101 141 78',\n",
+       "  '207 7 169',\n",
+       "  '164 107 190',\n",
+       "  '205 37 21',\n",
+       "  '85 183 82',\n",
+       "  '58 10 102',\n",
+       "  '218 56 84',\n",
+       "  '186 239 250',\n",
+       "  '202 148 65',\n",
+       "  '53 77 233',\n",
+       "  '40 145 247',\n",
+       "  '187 145 169',\n",
+       "  '112 218 250',\n",
+       "  '30 223 64',\n",
+       "  '32 207 20',\n",
+       "  '169 79 4',\n",
+       "  '113 80 146',\n",
+       "  '171 190 18',\n",
+       "  '147 26 117',\n",
+       "  '250 220 60',\n",
+       "  '164 163 217',\n",
+       "  '217 230 40',\n",
+       "  '43 3 39',\n",
+       "  '239 153 26',\n",
+       "  '102 154 66',\n",
+       "  '101 55 196',\n",
+       "  '210 246 33',\n",
+       "  '173 100 189',\n",
+       "  '41 92 11',\n",
+       "  '6 249 146',\n",
+       "  '172 231 18',\n",
+       "  '138 62 70',\n",
+       "  '132 140 147',\n",
+       "  '106 141 197',\n",
+       "  '183 175 113',\n",
+       "  '210 198 143',\n",
+       "  '96 105 119',\n",
+       "  '240 81 17',\n",
+       "  '173 58 234',\n",
+       "  '229 193 249',\n",
+       "  '173 196 236',\n",
+       "  '102 178 37',\n",
+       "  '135 200 219',\n",
+       "  '41 183 99',\n",
+       "  '59 70 204',\n",
+       "  '184 211 242',\n",
+       "  '136 69 244',\n",
+       "  '46 90 116',\n",
+       "  '159 147 75',\n",
+       "  '18 128 86',\n",
+       "  '161 250 179',\n",
+       "  '140 77 118',\n",
+       "  '188 109 114',\n",
+       "  '132 58 181',\n",
+       "  '250 45 179',\n",
+       "  '210 32 14',\n",
+       "  '24 250 147',\n",
+       "  '124 199 230',\n",
+       "  '48 202 90',\n",
+       "  '56 214 222',\n",
+       "  '235 134 96',\n",
+       "  '5 226 192',\n",
+       "  '146 193 125',\n",
+       "  '35 23 132',\n",
+       "  '151 191 199',\n",
+       "  '0 140 96',\n",
+       "  '250 107 130',\n",
+       "  '240 192 243',\n",
+       "  '201 117 245',\n",
+       "  '20 36 204',\n",
+       "  '113 215 14',\n",
+       "  '68 30 77',\n",
+       "  '119 96 221',\n",
+       "  '51 168 0',\n",
+       "  '140 167 165',\n",
+       "  '100 149 43',\n",
+       "  '25 146 177',\n",
+       "  '203 175 125',\n",
+       "  '218 225 152',\n",
+       "  '128 35 113',\n",
+       "  '235 149 165',\n",
+       "  '240 119 130',\n",
+       "  '63 157 23',\n",
+       "  '250 226 153',\n",
+       "  '64 72 124',\n",
+       "  '220 77 11',\n",
+       "  '82 70 205',\n",
+       "  '193 63 183',\n",
+       "  '246 150 162',\n",
+       "  '191 33 82',\n",
+       "  '49 9 124',\n",
+       "  '236 97 247',\n",
+       "  '29 73 42',\n",
+       "  '174 176 151',\n",
+       "  '216 104 115',\n",
+       "  '27 52 207',\n",
+       "  '250 241 209',\n",
+       "  '107 100 148',\n",
+       "  '132 40 88',\n",
+       "  '111 106 74',\n",
+       "  '122 57 155',\n",
+       "  '38 90 35',\n",
+       "  '152 39 154',\n",
+       "  '212 100 97',\n",
+       "  '136 81 169',\n",
+       "  '250 166 155',\n",
+       "  '9 197 112',\n",
+       "  '125 175 130',\n",
+       "  '120 165 250',\n",
+       "  '18 10 103',\n",
+       "  '246 199 122',\n",
+       "  '172 40 30',\n",
+       "  '223 121 124',\n",
+       "  '63 144 165',\n",
+       "  '99 1 245',\n",
+       "  '130 237 103',\n",
+       "  '67 146 89',\n",
+       "  '134 201 211',\n",
+       "  '150 163 193',\n",
+       "  '209 54 93',\n",
+       "  '227 28 148',\n",
+       "  '59 198 224',\n",
+       "  '135 155 63',\n",
+       "  '245 37 151',\n",
+       "  '110 170 171',\n",
+       "  '161 250 79',\n",
+       "  '30 162 66',\n",
+       "  '88 228 147'],\n",
+       " 'towel': ['166 215 75', '190 249 53'],\n",
+       " 'television': ['182 11 150'],\n",
+       " 'bag': ['79 176 148'],\n",
+       " 'lamp': ['126 210 18', '196 36 92', '234 250 54']}"
+      ]
+     },
+     "execution_count": 57,
+     "metadata": {},
+     "output_type": "execute_result"
     }
    ],
-   "source": []
+   "source": [
+    "classes = {}\n",
+    "for label in labels:\n",
+    "    if label['@nyu_class'] in classes:\n",
+    "        if label['@color'] not in classes[label['@nyu_class']]:\n",
+    "            classes[label['@nyu_class']].append(label['@color'])\n",
+    "    else:\n",
+    "        classes[label['@nyu_class']] = [label['@color']]\n",
+    "classes"
+   ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
    "outputs": [],
-   "source": []
+   "source": [
+    "for label in labels:\n",
+    "    "
+   ]
   }
  ],
  "metadata": {