Closed-Loop Testing

Closed-loop verification of the Safety Core against a simulated scene. NVIDIA Isaac Sim drives a virtual warehouse, forklift, and workers, while the production software runs unchanged: the VSS Warehouse Blueprint for perception, the Safety Core for trust, fusion, and decisions, and the communication layer that returns the decision to the simulated forklift.

Bring the environment up from SIL — 2D Perception, or SIL — 3D Perception for the 3D (BEV) perception profile. The rest of the section covers what the harness does and does not simulate, its prerequisites and architecture, and the Isaac Sim components that drive the scene.

Bringing the loop up tells you it runs, not that it is right. The Regression Testing Reporter (Preview) answers the second question: it records Isaac Sim ground truth alongside the Safety Core decision on one timeline, then grades whether the alarm was raised and cleared at the right moment, per clip. It currently scores SIL runs.

• Software-in-Loop Testing
  • SIL — 2D Perception
  • SIL — 3D Perception
  • SIL Overview
  • SIL Architecture
  • Isaac Sim Configuration
  • Isaac Sim Action Graphs
  • Forklift Controller
  • Overview
  • Getting Help
  • Related Documentation
• Hardware-in-the-Loop Testing
  • Deploy the HIL Closed Loop
  • HIL Architecture
  • What HIL testing adds
  • SIL or HIL
  • What runs where
  • The safety decision: MUTE and UNMUTE
  • What you need
  • Next Steps
• Regression Testing Reporter (Preview)
  • Overview
  • Quick Start Guide
  • Architecture
  • Test Scenarios
  • Interpreting the Report
  • Debug Viewer
  • Where to start