# Description
Add `isaaclab demo nist`, a standalone ten-part NIST assembly demo
driven by an exported TorchScript policy. It runs independent boards
with Newton, supports headless playback and Newton GL or RTX viewing,
and resets each board on success, invalid state, or timeout.
- Select ten distinct parts once per run from the 19-asset catalog. On
reset, sample all loose parts in one 0.7 m square (`x=[0.15, 0.85] m`,
`y=[-0.35, 0.35] m`) with at least 0.1 m between centers. The robot
starts from the same home pose.
- Preserve the exported policy's observation history, mean actions, 100
Hz physics, and 25 Hz control without importing the RL training
packages.
- Add a floor and dome light for the standalone scene, a demo-browser
entry, and focused reset coverage.
**Assets:** The corrected board and exported actor are available under
the default public Isaac Lab 6.2 asset root. The actor downloads
automatically. There are no unmerged code dependencies.
```bash
uv run isaaclab demo nist --num_envs 16 --visualizer newton_gl
uv run --extra ovrtx isaaclab demo nist --num_envs 16 --visualizer newton_rtx
```
## Validation
- The public policy URL downloaded through `retrieve_file_path`, matched
the exported actor SHA-256, and loaded with `torch.jit.load`.
- The public board matched the corrected development board SHA-256. A
16-environment RTX run completed 8/8 boards successfully before manual
stop; this machine used the Warp solver fallback to avoid a CUDA JIT
linker error.
- After rebasing onto `develop`, focused NIST and demo-browser tests:
**4 passed, 3 skipped**. A one-step headless Newton run passed.
- A 16-environment Newton GL run rendered all workcells and completed
boards with the exported actor. A 16-environment Newton RTX run rendered
all workcells after lighting was added.
- The 1,024-environment headless run of the final 0.7 m layout was
stopped at about 100 simulated seconds: 831 of 871 completed first
episodes succeeded; 153 were still active. This is a partial result, not
a full-horizon success rate.
- `ISAACLAB_CHANGELOG_BASE_REF=upstream/develop uv run isaaclab -f`:
passed after rebase. The warning-free docs build passed before the final
reset-layout change, which did not alter documentation.
## Type of change
- New feature (non-breaking)
- Documentation update
## Release backport
- [ ] Backport this pull request to the active release branch after it
merges into `develop`
## Screenshots
## Checklist
- [x] I have read and understood the contribution guidelines
- [x] I have run the pre-commit checks with `uv run isaaclab -f`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings (authored SDF asset warnings
remain)
- [x] I have validated the changed behavior with focused coverage and
applied the test-audit criteria
- [x] I have added a changelog fragment for each touched source package
- [x] My name already exists in `CONTRIBUTORS.md`
