If you don't know what Udon is, read What is Udon first.
There are two ways for you to get started with Udon. You can use our Creator Companion to do so.
Using the Creator Companion
Here are all the steps to get you started with Udon using the Creator Companion.
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Visit The VRChat Download Page.
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Login with your VRChat account or create it if you don't have one yet.
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Download the Creator Companion and follow its installation steps.
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Create a new Project by opening the Creator Companion, going to Projects Tab and pressing "New", select the "World" Template.
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Open your project by clicking Open in the Creator Companion. You can also use the Unity Hub to open your project, either is fine!
From there, you're ready to start!
Manual Setup
This method is deprecated! You should use the Creator Companion.
Here are all the steps to get you started with Udon, as covered in the video above.
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Visit The VRChat Download Page.
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Create a VRChat Account if you don't have one yet.
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Download the SDK.
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Install Unity Hub and current VRChat-compatible version if you don't have them yet. Check the Android Support box when installing Unity so you can make Quest-compatible worlds. Check the current VRChat compatible version on this page
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Install VRChat if you don't have it yet.
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Start a new Unity Project.
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Import the SDK.
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Check out the Readme in Assets/VRChatExamples