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If you encounter issues with Vulkan (or other software that depends on Vulkan, such as omnigibson) where the GPU device cannot be found, you can resolve it with the following steps:
1

Step 1: Write the ICD file

bash
cat >> /etc/vulkan/icd.d/my_nvidia_icd.json <<EOF
{
    "file_format_version" : "1.0.0",
    "ICD": {
        "library_path": "/lib/x86_64-linux-gnu/libEGL_nvidia.so.0",
        "api_version" : "1.3.277"
    }
}
EOF
In the library_path above, the library should only be libEGL_nvidia, not libGLX_nvidia. The reason is that the server does not have a desktop environment and operates in headless mode, which requires the former. For details, you can refer to the NVIDIA Documentation.
2

Step 2: Verification

Install necessary dependencies:
bash
apt update && apt install -y vulkan-tools libvulkan1 libsm6 libegl1
Finally, execute vulkaninfo --summary to confirm:
bash
$ export VK_ICD_FILENAMES=/etc/vulkan/icd.d/my_nvidia_icd.json     # Explicitly specify the ICD file path
$ vulkaninfo --summary
...
Devices:
========
GPU0:
        apiVersion         = 4206869 (1.3.277)
        driverVersion      = 2308620416 (0x899ac080)
        vendorID           = 0x10de
        deviceID           = 0x2684
        deviceType         = PHYSICAL_DEVICE_TYPE_DISCRETE_GPU  <--- Here the device type is GPU, indicating it is correct. If the GPU is not recognized, it would be: PHYSICAL_DEVICE_TYPE_CPU
        deviceName         = NVIDIA GeForce RTX 4090            <--- Here you can see the correct GPU model is identified
        driverID           = DRIVER_ID_NVIDIA_PROPRIETARY
        driverName         = NVIDIA
        driverInfo         = 550.107.02
        conformanceVersion = 1.3.7.2
        deviceUUID         = 75219daa-2fe9-cefe-4994-1a598657b01f
        driverUUID         = 12adfef6-a92a-528b-8610-45df7fa0a5b8
...