Agri-Sim: Agricultural Simulation Platform for Embodied Intelligence Evaluation in Greenhouse Robotics

Abstract:Agricultural-robot development requires simulation environments that can jointly support realistic scene construction, virtual sensing, autonomous navigation, motion planning, and manipulation-task execution. This paper presents Agri-Sim, a Unity and ROS2-based simulation platform for the closed-loop development and functional evaluation of agricultural robots. The platform contains a configurable tomato-greenhouse environment, a mobile dual-arm harvesting robot, virtual RGB-D, LiDAR, IMU, and joint sensors, and a bidirectional communication interface between Unity and ROS2. Unity is responsible for scene rendering, rigid-body dynamics, collision detection, virtual sensing, and task-state execution, whereas ROS2 and MoveIt 2 provide localization, navigation, collision-aware motion planning, inverse kinematics, and trajectory generation. Autonomous greenhouse navigation and dual-arm tomato harvesting were used to evaluate the complete simulation workflow. The experiments covered virtual sensor publication, ROS2-based navigation, collision-aware motion planning, mobile-base control, tomato acquisition, inter-arm handover, and box placement. The results demonstrate that Agri-Sim supports closed-loop integration and repeatable functional evaluation of navigation and manipulation workflows in a controlled virtual greenhouse, providing a practical foundation for subsequent algorithm development and Sim-to-Real studies.

Robotics (cs.RO)

arXiv:2608.29100 [cs.RO]

(or arXiv:2608.29100v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.29100 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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