Create README.md

Author: glannuzel

README.md

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+# Simulator_Reachy2021
+
+|   License     |     |
+| ------------- | :-------------: |
+| Title  | [Creatives Commons BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode) |
+| Logo  | [![Creative Commons BY-NC-SA 4.0](https://i.creativecommons.org/l/by-nc-sa/4.0/88x31.png) ](http://creativecommons.org/licenses/by-nc-sa/4.0/)  |
+
+
+## Create your own simulator
+
+To use the simulator, download the Unity package.
+
+To start using the simulator:
+1. Create a new 3D Unity project (or open an existing one)
+2. From **Assets/Import Package/Custom Package...**, import the package you previously downloaded.
+3. Drag and drop Reachy and the Server from the Prefabs folder into your scene.
+4. Then click Play and choose how to connect to your robot
+
+You can create your own scene and environment for Reachy to evolve in!
+
+## Use your simulator
+
+The Unity simulator is only offering the gRPC services of the robot, not the below ROS2 services.  
+For this reason, the simulator is compatible with:
+- [Reachy 2021 Python SDK](https://docs.pollen-robotics.com/sdk/getting-started/introduction/): 
+connect to the simulated robot with the usual [Reachy 2021 Python SDK](https://docs.pollen-robotics.com/sdk/getting-started/introduction/) command:
+
+```
+from reachy_sdk import ReachySDK
+
+reachy = ReachySDK(host='localhost') # Replace with the actual IP
+``` 
+
+- VR teleoperation app
+- Any gRPC client you may create, based on [reachy-sdk-api](https://github.com/pollen-robotics/reachy-sdk-api)