What's the minimum GPU configuration to use Isaac gym?

I try to test Isaac gym’s example(joint monkey) on my 2060 with driver 370, but there is no response as long as I open the simulation.
The head output is :
WARNING: Forcing CPU pipeline.
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: disabled
MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

Am I misconfigured in some way ?

Oh, I understand,
Using this setting :
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json

2060 should work fine with Isaac Gym, although the latest release requires a driver version of 470+.