Mujoco	Unity	NetMQ

• Prerequisites
  • Unity
  • Unity Project setup
  • Unity Plugins
    • Mujoco
    • NuGetForUnity
    • NetMQ
    • Newtonsoft.Json
  • Unity Scripts
  • Unity Assets
• Unity Scenes
• FAQs

Use this Unity Hub Installer to install Unity Hub.

Install Unity Hub by following this guide.

First, clone the repository and initialize the submodule (This assumes you already have git and ssh setup).

git clone git@github.com:Simsreal/simulator.git
cd simulator
git submodule update --init --recursive

In Unity Hub, go to Projects. Click Add -> Add project from disk., select the path to the cloned simulator folder.

1. Double click on the added simulator in Unity Hub to open the project.

2. On first opening the project, Unity may prompt you to enter Safe Mode due to missing NuGet packages. Ignore the prompt to let NuGet resolve and install the packages.

• Starter Assets (free)
• Animal pack deluxe
• The Visual Engine

Navigate to Assets/Scenes/ in the Unity Editor, open the simsrealunity.

1. Open a scene, click the Play button in Unity.

1. Download the mujoco-3.2.7-windows-x86_64.zip from here
2. Create a folder named MuJoCo at your user directory, i.e. C:\Users\<username>\
3. Unzip the file at C:\Users\<username>\MuJoCo\

After the installation, click Assets -> Reimport All to reimport all the assets.

1. Check if collider has been added to Unity Asset
2. If not, add collider to Unity Asset
3. Right-click on the Unity Asset and select Add a matching MuJoCo geom

1. Please check the network configuration in zmq_config.json and ensure that the IP addresses are correct. The pub address should be local address or any address (0.0.0.0), the sub address should be simsreal's address. zmq_config.json can be found under the persistent data path. The company name is Simsreal and the product name is simulator.

2. Verify your firewall configuration to allow the following connections:

   • Ports: 5556, 5557, or any ports you specified in zmq_config.json;
   • Programs: Python, Unity, Unity Editor.

If you're using WSL2 with NAT to run Simsreal, ensure that inbound connections from WSL are allowed. By default, Windows firewall blocks all inbound connections from WSL.

1. Press WIN + X, then press A to open a terminal with administrator privileges.
2. Check the network interface name of WSL using the following command:

   Get-NetAdapter | Where-Object Name -like "*WSL*" | Select-Object Name

   Typically, the interface name will be vEthernet (WSL) or vEthernet (WSL (Hyper-V firewall)).
3. Use the following PowerShell command to allow all inbound connections from WSL:

   New-NetFirewallRule -Name WSLAllowAllInbound `
   	-DisplayName "Allow WSL Inbound" `
   	-Direction Inbound `
   	-InterfaceAlias "vEthernet (WSL)" `
   	-Action Allow

   Note: Replace "vEthernet (WSL)" with the actual adapter name you found in the previous step.