Software-in-Loop Testing#
Welcome to the closed-loop testing guide, covering the Software-in-the-Loop (SIL) harness and its workflows.
Closed-loop testing enables end-to-end validation of the Halos safety system using Isaac Sim simulation before deploying to production hardware. This approach accelerates development, reduces costs, and enables testing of dangerous scenarios in a safe environment.
Two quick starts bring up the environment, differing only in the perception profile they drive. Start from SIL — 2D Perception, which uses the VSS 2D profile: one pipeline per camera, the simplest setup, and the highest frame rate. Use SIL — 3D Perception when you need the 3D (BEV) profile, where VSS groups several cameras into a single bird’s-eye sensor. Either way, return here afterwards for the architecture and component detail.
Quick Starts
System Design
Overview#
This documentation covers:
Quick Starts: Bring up the closed loop on 2D or 3D perception
SIL Overview: Understanding the simulation-based testing approach
SIL Prerequisites: Hardware and software requirements
SIL Architecture: Detailed system design and data flow
Components: Deep dive into Isaac Sim, the Action Graphs, and the forklift controller
Getting Help#
If you encounter issues:
Check the troubleshooting sections in each guide
Review the component-specific documentation
Contact the Halos development team