Isaac Sim 6.0 on IGX Thor

Robotics & Edge Computing IGX Systems IGX Thor Support
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1

Hi,

I am running Isaac Sim 6.0.0 on an NVIDIA IGX Thor Developer Kit.

System:

  • Device: NVIDIA IGX Thor Developer Kit
  • OS: Ubuntu 24.04.4 LTS
  • Architecture: aarch64
  • Driver: 580.00
  • Isaac Sim: 6.0.0

Problem:
Isaac Sim launches, but when I create a plane/cube/object, I only see the coordinate frame / transform gizmo. The mesh itself is not visible.

The viewport overlay shows Isaac Sim is rendering on:
NVIDIA Tegra NVIDIA Thor

Console errors include:
[Error] [omni.rtx] Failed to create NGX context
[Warning] [omni.rtx] Failed to create an Optix 7.5 adaptor on device 0
[Warning] [omni.rtx] Failed to initialize OptixDenoiserContext
[Error] [omni.rtx] Failed to create an Optix adaptor for device 0

nvidia-smi sees both GPUs:
GPU 0: NVIDIA Thor
GPU 1: NVIDIA RTX PRO 6000 Blackwell Max-Q Workstation Edition

The RTX PRO 6000 is visible in lspci:
0004:09:00.0 VGA compatible controller: NVIDIA Corporation Device 2bb4
Kernel driver in use: nvidia

/dev/dri/by-path also shows a render node for the RTX GPU:
platform-a808460000.pcie-pci-0004:09:00.0-render → ../renderD130

However, vulkaninfo --summary only enumerates:
GPU0: NVIDIA Tegra NVIDIA Thor

I tried:
VK_ICD_FILENAMES=/etc/vulkan/icd.d/nvidia_icd.json vulkaninfo --summary
VK_ICD_FILENAMES=/usr/lib/aarch64-linux-gnu/nvidia/nvidia_icd.json vulkaninfo --summary

Both still show only NVIDIA Tegra NVIDIA Thor.

I also tried PRIME offload:
__NV_PRIME_RENDER_OFFLOAD=1 \
__NV_PRIME_RENDER_OFFLOAD_PROVIDER=NVIDIA-G0 \
__GLX_VENDOR_LIBRARY_NAME=nvidia \
__VK_LAYER_NV_optimus=NVIDIA_only \
VK_ICD_FILENAMES=/etc/vulkan/icd.d/nvidia_icd.json \
vulkaninfo --summary

It still only shows NVIDIA Tegra NVIDIA Thor.

Also, /etc/vulkan/implicit_layer.d/ is empty.

When I launch Isaac Sim with:
./isaac-sim.sh --/renderer/activeGpu=1

it fails with:
GPU Foundation: Failed to create any GPU devices, including an attempt with compatibility mode.

Questions:

  1. Is Isaac Sim 6.0 Full GUI / RTX rendering officially supported on IGX Thor Developer Kit?
  2. How can I expose the RTX PRO 6000 Blackwell Max-Q as a Vulkan render device on IGX Thor?
  3. Is there a required NVIDIA driver / BSP / Xorg / Vulkan configuration to make Isaac Sim use the RTX PRO 6000 instead of the integrated NVIDIA Thor GPU?
  4. Is the current aarch64 Isaac Sim 6.0 release intended only for DGX Spark, or should IGX Thor with RTX PRO 6000 also be supported?

Thanks,

Michael

2

Hello @yuanfeng.mao!

Based on the title and content of your topic, it looks like it may receive better visibility and feedback in a different category. We took the liberty of moving it for you.

If this was an incorrect assessment, please send me a direct message.

Disclaimer: this moderation suggestion and message were generated with AI assistance.

3

Isaac SIM and Isaac Lab are not for IGX platform. IGX is an inferencing platform and not for simulation. We don’t support these SDK’s.

4

Please refer to the “Requirements for aarch64” section in the Isaac Sim 6.0 documentation: it states that “NVIDIA DGX™ Spark” is the only officially supported aarch64 system.

5

Thank you for your clarification.