update usage instructions in readme

README.md

@@ -170,6 +170,46 @@ stiffness = sample['stiffness']
 scooped_volume = sample['scooped_volume']
 ```
 
+### Loading All Data for a Specific Terrain ID
+
+If you want to load all samples corresponding to a specific terrain ID, you can filter the dataset using the `filter` method. Here's how you can do it:
+
+```python
+# Specify the terrain ID you're interested in
+terrain_id_of_interest = 10 # Replace with the desired terrain ID (1-67)
+
+# Filter the dataset to include only samples from the specified terrain
+terrain_samples = dataset.filter(lambda sample: sample['terrain_id'] == terrain_id_of_interest)
+
+print(f"Number of samples for terrain {terrain_id_of_interest}: {len(terrain_samples)}")
+for sample in terrain_samples:
+ # Load RGB image
+ rgb_image = sample['rgb_image'] # PIL Image
+
+ # Load and reconstruct depth image
+ depth_image = sample['depth_image'] # PIL Image
+ depth_array = np.array(depth_image).astype(np.float32)
+ depth_normalized = depth_array / 65535
+ depth_min = sample['depth_min']
+ depth_max = sample['depth_max']
+ original_depth = depth_normalized * (depth_max - depth_min) + depth_min
+
+ # Load F/T sensor data
+ ft_data = pd.read_csv(sample['ft_csv_path'], header=None).values
+
+ # Access action parameters
+ pixel_x = sample['pixel_x']
+ pixel_y = sample['pixel_y']
+ yaw = sample['yaw']
+ scoop_depth = sample['scoop_depth']
+ stiffness = sample['stiffness']
+ scooped_volume = sample['scooped_volume']
+
+ # Perform your analysis or processing here
+ # Example: Print scooped volume for each sample
+ print(f"Sample {sample['sample_index']}: Scooped volume = {scooped_volume} cubic meters")
+```
+
 ## Dataset Creation
 
 The dataset was created using the following steps: