AgriGen: Large-Scale Scene Generation Framework for Photorealistic Agricultural Robotics Simulation

Agricultural robotics is advancing rapidly, yet progress remains constrained by limited field access, lack of control over field conditions, geographic variability, and seasonal crop cycles. These factors make it difficult and costly to acquire diverse agricultural datasets, resulting in limited evaluation and reduced system robustness. While other robotics domains have scaled learning and evaluation through high-fidelity simulation, agricultural robotics still lacks comparably capable tools. In this paper, we present a ROS-integrated framework, built on Isaac Sim, for large-scale procedural generation of agricultural environments. The framework supports photorealistic rendering, physics simulation, and domain randomization at scales relevant to robotics research, with built-in support for row crops, orchards, and vineyards and straightforward extensibility to additional crop categories.