# CitrusFarm Sample A sample of the CitrusFarm multimodal agricultural robotics dataset, as a native `.mcap` episode. A Clearpath Jackal drives the rows of citrus trees at the University of California Riverside’s Agricultural Experimental Station carrying a monochrome camera, a thermal camera, a camera that sees red, green and near-infrared, a ZED 2i stereo camera with its depth, a Velodyne LiDAR, an inertial unit and a GPS-RTK receiver. The episode carries every camera, the stereo depth, the LiDAR scans, the GPS-RTK fixes, the wheel and visual odometry and the ground-truth trajectory on one clock. One sequence, 5 minutes of driving over 357 m: 3,026 monochrome, 3,024 thermal, 3,025 red-green-NIR and 3,022 stereo frames and 2,998 LiDAR scans. **Details** - Dataset name: `citrusfarm-sample` - Dataset source: [https://huggingface.co/datasets/Voxel51/CitrusFarm-Sample](https://huggingface.co/datasets/Voxel51/CitrusFarm-Sample) - Dataset size: 2.50 GB - Dataset license: CC-BY-SA-4.0 - Tags: `multimodal, mcap, agriculture, thermal, multispectral, lidar` - Supported splits: `N/A` - ZooDataset class: [`CitrusFarmSampleDataset`](../../api/fiftyone.zoo.datasets.base.md#fiftyone.zoo.datasets.base.CitrusFarmSampleDataset) **Example usage** Python CLI ```python import fiftyone as fo import fiftyone.zoo as foz dataset = foz.load_zoo_dataset("citrusfarm-sample") session = fo.launch_app(dataset) ``` ```shell fiftyone zoo datasets load citrusfarm-sample fiftyone app launch citrusfarm-sample ```