# TartanGround Six trajectories from the TartanGround ground-robot dataset, one per simulation environment (AbandonedFactory, CyberPunkDowntown, GreatMarsh, Hospital, JapaneseCity, NordicHarbor), as native `.mcap` episodes. Each episode carries the front camera, its segmentation stream, per-frame lidar point clouds, ego pose, and IMU plot channels on a 10 Hz frame clock. **Details** - Dataset name: `tartanground` - Dataset source: [https://huggingface.co/datasets/Voxel51/TartanGround](https://huggingface.co/datasets/Voxel51/TartanGround) - Dataset size: 7.24 GB - Dataset license: CC-BY-4.0 - Tags: `multimodal, mcap, robotics, lidar, simulation` - Supported splits: `N/A` - ZooDataset class: [`TartanGroundDataset`](../../api/fiftyone.zoo.datasets.base.md#fiftyone.zoo.datasets.base.TartanGroundDataset) **Example usage** Python CLI ```python import fiftyone as fo import fiftyone.zoo as foz dataset = foz.load_zoo_dataset("tartanground") session = fo.launch_app(dataset) ``` ```shell fiftyone zoo datasets load tartanground fiftyone app launch tartanground ```