diff --git a/Dockerfile b/Dockerfile
index d608cfa..4147cec 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -168,9 +168,9 @@ RUN mkdir -p build && cd build \
     && make -j$(nproc)
 
 # =============================================================================
-# PYTHON DEPENDENCIES (MAVProxy, pymavlink)
+# PYTHON DEPENDENCIES (MAVProxy, pymavlink, empy)
 # =============================================================================
-RUN pip3 install --user --break-system-packages pymavlink mavproxy pexpect pybullet numpy pillow opencv-python
+RUN pip3 install --user --break-system-packages pymavlink mavproxy pexpect pybullet numpy pillow opencv-python empy==3.3.4
 
 # =============================================================================
 # COPY PROJECT FILES
diff --git a/docker-compose.yml b/docker-compose.yml
index b012e31..df96d06 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -38,21 +38,23 @@ x-common: &common
             count: all
             capabilities: [ gpu ]
 
-  # Environment variables - use XWayland for OpenGL compatibility
+  # Environment variables - Wayland with GPU
   environment:
-    # X11/XWayland display (better for OpenGL in containers)
+    # Wayland display
     &common-env
-    - DISPLAY=${DISPLAY:-:0}
+    - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0}
     - XDG_RUNTIME_DIR=/run/user/1000
+    # X11 fallback
+    - DISPLAY=${DISPLAY:-:0}
     # GPU
     - NVIDIA_VISIBLE_DEVICES=all
     - NVIDIA_DRIVER_CAPABILITIES=all
-    # Force X11/XCB for Qt (more stable for OpenGL than native Wayland)
-    - QT_QPA_PLATFORM=xcb
-    - QT_X11_NO_MITSHM=1
+    # Qt platform - Wayland first, then X11
+    - QT_QPA_PLATFORM=wayland
+    - QT_WAYLAND_DISABLE_WINDOWDECORATION=1
     # OpenGL settings
     - __GLX_VENDOR_LIBRARY_NAME=nvidia
-    - LIBGL_ALWAYS_SOFTWARE=0
+    - __NV_PRIME_RENDER_OFFLOAD=1
     # Gazebo paths
     - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
     - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models