diff --git a/README.md b/README.md
index 9609fc25..8ae13f05 100644
--- a/README.md
+++ b/README.md
@@ -1,89 +1,165 @@
-![Python 3.8 3.9](https://github.com/f1tenth/f1tenth_gym/actions/workflows/ci.yml/badge.svg)
-![Docker](https://github.com/f1tenth/f1tenth_gym/actions/workflows/docker.yml/badge.svg)
-# The F1TENTH Gym environment
-
-This is the repository of the F1TENTH Gym environment.
-
-This project is still under heavy developement.
-
-You can find the [documentation](https://f1tenth-gym.readthedocs.io/en/latest/) of the environment here.
-
-## Quickstart
-We recommend installing the simulation inside a virtualenv. You can install the environment by running:
-
-```bash
-virtualenv gym_env
-source gym_env/bin/activate
-git clone https://github.com/f1tenth/f1tenth_gym.git
-cd f1tenth_gym
-pip install -e .
-```
-
-Then you can run a quick waypoint follow example by:
-```bash
-cd examples
-python3 waypoint_follow.py
-```
-
-A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required):
-```bash
-docker build -t f1tenth_gym_container -f Dockerfile .
-docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container
-````
-Then the same example can be ran.
-
-## Known issues
-- Library support issues on Windows. You must use Python 3.8 as of 10-2021
-- On MacOS Big Sur and above, when rendering is turned on, you might encounter the error:
-```
-ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework.
-```
-You can fix the error by installing a newer version of pyglet:
-```bash
-$ pip3 install pyglet==1.5.20
-```
-And you might see an error similar to
-```
-f110-gym 0.2.1 requires pyglet<1.5, but you have pyglet 1.5.20 which is incompatible.
-```
-which could be ignored. The environment should still work without error.
-
-- Invalid metadata: Expected end or smeicolon (after version specifier)
->WARNING: Ignoring version 0.19.0 of gym since it has invalid metadata:
-Requested gym==0.19.0 from file:///home/\<user\>/.cache/pip/wheels/c8/24/9d/db9869e09d1fbf12a10ce64362d9f161f09bdb5651e44317fe/gym-0.19.0-py3-none-any.whl (from f110-gym==0.2.1) has invalid metadata: Expected matching RIGHT_PARENTHESIS for LEFT_PARENTHESIS, after version specifier
-    opencv-python (>=3.) ; extra == 'all'
-                  ~~~~^
-Please use pip<24.1 if you need to use this version.
-INFO: pip is looking at multiple versions of f110-gym to determine which version is compatible with other requirements. This could take a while.
-ERROR: Could not find a version that satisfies the requirement gym==0.19.0 (from f110-gym) (from versions: 0.0.2, 0.0.3, 0.0.4, 0.0.5, 0.0.6, 0.0.7, 0.1.0, 0.1.1, 0.1.2, 0.1.3, 0.1.4, 0.1.5, 0.1.6, 0.1.7, 0.2.0, 0.2.1, 0.2.2, 0.2.3, 0.2.4, 0.2.5, 0.2.6, 0.2.7, 0.2.8, 0.2.9, 0.2.10, 0.2.11, 0.2.12, 0.3.0, 0.4.0, 0.4.1, 0.4.2, 0.4.3, 0.4.4, 0.4.5, 0.4.6, 0.4.8, 0.4.9, 0.4.10, 0.5.0, 0.5.1, 0.5.2, 0.5.3, 0.5.4, 0.5.5, 0.5.6, 0.5.7, 0.6.0, 0.7.0, 0.7.1, 0.7.2, 0.7.3, 0.7.4, 0.8.0.dev0, 0.8.0, 0.8.1, 0.8.2, 0.9.0, 0.9.1, 0.9.2, 0.9.3, 0.9.4, 0.9.5, 0.9.6, 0.9.7, 0.10.0, 0.10.1, 0.10.2, 0.10.3, 0.10.4, 0.10.5, 0.10.8, 0.10.9, 0.10.11, 0.11.0, 0.12.0, 0.12.1, 0.12.4, 0.12.5, 0.12.6, 0.13.0, 0.13.1, 0.14.0, 0.15.3, 0.15.4, 0.15.6, 0.15.7, 0.16.0, 0.17.0, 0.17.1, 0.17.2, 0.17.3, 0.18.0, 0.18.3, 0.19.0, 0.20.0, 0.21.0, 0.22.0, 0.23.0, 0.23.1, 0.24.0, 0.24.1, 0.25.0, 0.25.1, 0.25.2, 0.26.0, 0.26.1, 0.26.2)
-ERROR: No matching distribution found for gym==0.19.0
-
-As the warning suggests, this is due to incompatibility between pip versions >=24.1 and gym version 0.19.0. You can resolve this by downgrading the pip used in the virtualenv:
-
-```
-pip install --upgrade pip==24.0
-```
-
-The installation steps are then as follows:
-
-```bash
-virtualenv gym_env
-source gym_env/bin/activate
-pip install --upgrade pip==24.0
-git clone https://github.com/f1tenth/f1tenth_gym.git
-cd f1tenth_gym
-pip install -e .
-```
-## Citing
-If you find this Gym environment useful, please consider citing:
-
-```
-@inproceedings{okelly2020f1tenth,
-  title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
-  author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
-  booktitle={NeurIPS 2019 Competition and Demonstration Track},
-  pages={77--89},
-  year={2020},
-  organization={PMLR}
-}
-```
+![Python 3.8 3.9](https://github.com/f1tenth/f1tenth_gym/actions/workflows/ci.yml/badge.svg)
+![Docker](https://github.com/f1tenth/f1tenth_gym/actions/workflows/docker.yml/badge.svg)
+# The F1TENTH Gym environment
+
+This is the repository of the F1TENTH Gym environment.
+
+This project is still under heavy developement.
+
+You can find the [documentation](https://f1tenth-gym.readthedocs.io/en/latest/) of the environment here.
+
+## Quickstart
+We recommend installing the simulation inside a virtualenv. You can install the environment by running:
+
+```bash
+virtualenv gym_env
+source gym_env/bin/activate
+git clone https://github.com/f1tenth/f1tenth_gym.git
+cd f1tenth_gym
+pip install -e .
+```
+
+Then you can run a quick waypoint follow example by:
+```bash
+cd examples
+python3 waypoint_follow.py
+```
+
+A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required):
+```bash
+docker build -t f1tenth_gym_container -f Dockerfile .
+docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container
+````
+Then the same example can be ran.
+
+## Known issues
+- Library support issues on Windows. You must use Python 3.8 as of 10-2021
+- On MacOS Big Sur and above, when rendering is turned on, you might encounter the error:
+```
+ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework.
+```
+You can fix the error by installing a newer version of pyglet:
+```bash
+$ pip3 install pyglet==1.5.20
+```
+And you might see an error similar to
+```
+f110-gym 0.2.1 requires pyglet<1.5, but you have pyglet 1.5.20 which is incompatible.
+```
+which could be ignored. The environment should still work without error.
+
+- Invalid metadata: Expected end or smeicolon (after version specifier)
+>WARNING: Ignoring version 0.19.0 of gym since it has invalid metadata:
+Requested gym==0.19.0 from file:///home/\<user\>/.cache/pip/wheels/c8/24/9d/db9869e09d1fbf12a10ce64362d9f161f09bdb5651e44317fe/gym-0.19.0-py3-none-any.whl (from f110-gym==0.2.1) has invalid metadata: Expected matching RIGHT_PARENTHESIS for LEFT_PARENTHESIS, after version specifier
+    opencv-python (>=3.) ; extra == 'all'
+                  ~~~~^
+Please use pip<24.1 if you need to use this version.
+INFO: pip is looking at multiple versions of f110-gym to determine which version is compatible with other requirements. This could take a while.
+ERROR: Could not find a version that satisfies the requirement gym==0.19.0 (from f110-gym) (from versions: 0.0.2, 0.0.3, 0.0.4, 0.0.5, 0.0.6, 0.0.7, 0.1.0, 0.1.1, 0.1.2, 0.1.3, 0.1.4, 0.1.5, 0.1.6, 0.1.7, 0.2.0, 0.2.1, 0.2.2, 0.2.3, 0.2.4, 0.2.5, 0.2.6, 0.2.7, 0.2.8, 0.2.9, 0.2.10, 0.2.11, 0.2.12, 0.3.0, 0.4.0, 0.4.1, 0.4.2, 0.4.3, 0.4.4, 0.4.5, 0.4.6, 0.4.8, 0.4.9, 0.4.10, 0.5.0, 0.5.1, 0.5.2, 0.5.3, 0.5.4, 0.5.5, 0.5.6, 0.5.7, 0.6.0, 0.7.0, 0.7.1, 0.7.2, 0.7.3, 0.7.4, 0.8.0.dev0, 0.8.0, 0.8.1, 0.8.2, 0.9.0, 0.9.1, 0.9.2, 0.9.3, 0.9.4, 0.9.5, 0.9.6, 0.9.7, 0.10.0, 0.10.1, 0.10.2, 0.10.3, 0.10.4, 0.10.5, 0.10.8, 0.10.9, 0.10.11, 0.11.0, 0.12.0, 0.12.1, 0.12.4, 0.12.5, 0.12.6, 0.13.0, 0.13.1, 0.14.0, 0.15.3, 0.15.4, 0.15.6, 0.15.7, 0.16.0, 0.17.0, 0.17.1, 0.17.2, 0.17.3, 0.18.0, 0.18.3, 0.19.0, 0.20.0, 0.21.0, 0.22.0, 0.23.0, 0.23.1, 0.24.0, 0.24.1, 0.25.0, 0.25.1, 0.25.2, 0.26.0, 0.26.1, 0.26.2)
+ERROR: No matching distribution found for gym==0.19.0
+
+As the warning suggests, this is due to incompatibility between pip versions >=24.1 and gym version 0.19.0. You can resolve this by downgrading the pip used in the virtualenv:
+
+```
+pip install --upgrade pip==24.0
+```
+
+The installation steps are then as follows:
+
+```bash
+virtualenv gym_env
+source gym_env/bin/activate
+pip install --upgrade pip==24.0
+git clone https://github.com/f1tenth/f1tenth_gym.git
+cd f1tenth_gym
+pip install -e .
+```
+
+## 🐧 Running on WSL2 with Docker Compose
+If you're using Windows with WSL2, you can run this project smoothly using Docker Compose and an X Server for graphical rendering.
+
+1️⃣ Install an X Server on Windows
+To render the simulator's graphics (e.g., PyOpenGL, Pyglet, pygame), you'll need an X Server installed on your host system.
+
+Recommended options:
+
+🧩 VcXsrv (free, common choice)
+
+💠 X410 (paid, very stable)
+
+🌀 GWSL (free, GUI-oriented)
+
+You can read a guide here:
+👉 https://www.guide2wsl.com/x11/
+
+✅ While launching your X Server, make sure to:
+
+Disable access control
+
+Disable native OpenGL
+
+Allow network connections
+
+2️⃣ Set up your WSL environment
+Add the following lines to your ~/.bashrc or ~/.zshrc to make graphical apps work inside Docker containers:
+
+```bash
+export DISPLAY=host.docker.internal:0.0
+export LIBGL_ALWAYS_INDIRECT=1
+```
+
+Then, reload your shell:
+
+```bash
+source ~/.bashrc  # or ~/.zshrc
+```
+
+Optional Test: make sure your X Server is working with:
+
+```bash
+sudo apt install x11-apps
+xclock
+```
+If a clock appears, you're good to go 🕒✅
+
+3️⃣ Build and launch the container
+We provide a ready-to-use Docker Compose file. To build and start the environment:
+
+```bash
+docker-compose build --no-cache
+docker-compose up -d
+docker-compose exec f1tenth_gym bash
+```
+
+4️⃣ Run the simulator
+Once inside the container, navigate to the examples and launch the simulation:
+
+```bash
+cd examples
+python3 waypoint_follow.py
+```
+
+### 🛠️ Troubleshooting
+If the container fails to connect to the display, run this from WSL:
+
+```bash
+xhost +local:
+```
+
+If you see NoSuchDisplayException, double-check that the DISPLAY variable matches your host’s IP or use host.docker.internal.
+
+
+
+## Citing
+If you find this Gym environment useful, please consider citing:
+
+```
+@inproceedings{okelly2020f1tenth,
+  title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
+  author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
+  booktitle={NeurIPS 2019 Competition and Demonstration Track},
+  pages={77--89},
+  year={2020},
+  organization={PMLR}
+}
+```
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 00000000..a9412c94
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,21 @@
+version: '3.8'
+
+services:
+  f1tenth_gym:
+    build:
+      context: .  # Asume que el Dockerfile está en el mismo directorio
+      dockerfile: Dockerfile
+    image: f1tenth_gym:latest
+    container_name: f1tenth_gym_container
+    volumes:
+      - .:/f1tenth_gym  # Monta el código local para desarrollo interactivo
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    environment:
+      - DISPLAY=${DISPLAY}
+      - LIBGL_ALWAYS_INDIRECT=1
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    runtime: nvidia  # Requiere nvidia-docker2 o Docker >= 19.03 con soporte de GPU
+    network_mode: host  # Útil para acceso a simuladores locales tipo ROS o GUI X11
+    stdin_open: true
+    tty: true