[README] Adding overview.

Author: Murilo Marinho

README.md

@@ -1 +1,45 @@
-# docker-coppeliasim
+# Docker CoppeliaSim
+
+> [!WARNING]
+> These are not official images.\
+> They are based on the `EDU` versions of CoppeliaSim used in the SmartArmStack.\
+> See: https://www.coppeliarobotics.com
+
+## Current images
+
+| Ubuntu Version | CoppeliaSim Version | Tag             |
+|----------------|---------------------|-----------------|
+| Noble          | 4.10.0rev0          | `latest`        |
+| Noble          | 4.9.0rev6           | `noble_490rev6` |
+| Noble          | 4.7.0rev4           | `noble_470rev4` |
+
+## Example docker compose
+
+> [!TIP]
+> Replace `murilomarinho/coppeliasim:latest` with your desired image.\
+> Notice that `$COPPELIASIM_PATH` is defined in the container.
+
+Contents of the `compose.yml`.
+
+```yaml
+coppeliasim:
+    image: murilomarinho/coppeliasim:latest
+    platform: linux/amd64 # No current build for arm64
+    environment:
+      DISPLAY: $DISPLAY # x server related
+    privileged: true # Needed for some gpu configurations.
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix # x server related
+      - ~/.Xauthority:/root/.Xauthority # x server related
+    network_mode: "host" # x server related
+    command: /bin/bash -c "
+      cd $$COPPELIASIM_PATH
+      && ./coppeliaSim.sh "
+```
+
+Which can be run in the same directory with
+
+```commandline
+xhost +local:root
+docker compose up
+```