Robot simulator in Unity, including ROS2

We are currently developing a garden robot, and looking to use Unity to provide a simulation environment for development, test and experimentation. The completed Unity build will contain: 1. Environment: - Photorealistic garden environment covering 100x100m. - Various kinds of plants and trees and weeds (these can be chosen in collaboration to minimise development cost), and surfaces of soil, grass, gravel and paving slab. - Steps from one part of the garden to another. - Pond. - Shall include small animations throughout to make the environment seem alive. - Lighting options (controllable by player): - Sunlight, time of day selectable. - Cloudy day. - Clear night with moon, moon position movable. - Cloudy night. - Temperature and humidity controllable by player. - Shall include the option to cover the entire scene in snow, controllable by the player. 2. Robot: - CAD files will be supplied for the robot (STEP, FBX, etc). - Tracked motion. - Integrating ROS2 nodes for camera, inertial sensors (rotation and acceleration), environmental measurements (temperature and humidity), movement motor control and a single-point Radar proximity sensor . (See [login to view URL]) - Includes an arm which has a single motor to control the height, also on the ROS2 network. 3. Pest and life modelling - Slugs of two different colours. - Slugs must spawn at the edges of the garden and move autonomously around on random but feasible routes. - Shall include butterflies flying around and alighting on plants when the temperature is warm enough. - Shall include blackbirds landing on the grass and searching for worms ([login to view URL]) - Shall include a person occasionally walking through the garden on a set path. Fixed ethnicity and gender for now. Start shall be triggerable by the player. - Shall include a baby occasionally crawling through the garden on a set path. Fixed ethnicity and gender for now. Start shall be triggerable by the player. - Shall include a dog occasionally walking through the garden on a set path. Fixed breed, size and colourings for now. Start shall be triggerable by the player. - Shall include a cat occasionally walking through the garden on a set path. Fixed breed, size and colourings for now. Start shall be triggerable by the player. 4. Robot-Environment-Pest interaction. - Robot must have different levels of traction on different surfaces (slip etc) as specified during the development. This must be variable dependent on temperature and humidity using linearly interpolated look-up tables. - It must be possible for the robot must be able to electrocute weeds - control for this is provided outside the model. - Robot must interact with the environment using standard physics. - PLEASE QUOTE AS AN ADD-ON: The robot should change the environment when it rolls over grass, gravel, mud, snow, leaving tracks. The level of indentation / deformation should be variable dependent on temperature and humidity using linearly interpolated look-up tables. 5. Performance and build - Linux and Windows. - It is anticipated that this build will be substantially enriched and varied in the future to accomodate various different modelling scenarios. - 30fps with this spec: [login to view URL] - Photorealistic style, with the closest possible match to a realistic scene. - It is perfectly acceptable to use pre-built assets (e.g. Unity Asset Store) provided that they are of high quality. To quote: - Please provide a fixed price for the work, if possible. If not, an estimated range. - Please provide a clear indication of timescales and availability. - Please supply examples of previous photo-realistic work that you have completed. - If you have any specific experience related to simulation or robotics, please include. - Note, we are also using other forums to source potential suppliers.