We've been experimenting with running Isaac Lab 2.x on H100 GPUs, which NVIDIA doesn't officially support for Isaac Sim due to the lack of RT cores.

We managed to get headless RL training and visualization working without an RTX GPU and tested it by training a Unitree G1 walking policy.

I couldn't find many guides covering this setup, so I documented our approach, including the issues we ran into.

Here's the demo and setup: https://x.com/kyry_D/status/2113087784827392223

I'm curious if anyone has tried something similar or knows of a better approach. Are there any existing solutions or guides I've missed?