Hi
Short answer: no
Long answer: possibly with some coding, but it will not be very performant.
A plantery environment can be constructed using a point graph, it will not be particularly fast, but it will work. (just by manually placing a GameObject for each node in the graph).
It can sort of work with obstacles, but it will not be particularly performant.
Local avoidance will not work, it is strictly 2.5D.
You can use it with a rigid body.
However the included movement scripts only work for the XZ plane, not for a sphere.