Closed-Loop Testing

Welcome to the Closed-Loop Testing user guide, covering the harness and workflows for both Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL).

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.

Getting Started

• Overview
• Prerequisites
• Quick Start Guide
• Step 2: Deploy VSS Warehouse
• Step 4: Deploy Halos SIL
• Step 5: Run Test Scenario
• Step 6: Monitor Safety Commands
• Step 7: View Camera Streams
• Quick Start Guide — 3D Perception

System Design

• Architecture

Isaac Sim Integration

• Isaac Sim Configuration
• Forklift ROS2 Action Graph

Overview

This documentation covers:

• System Overview: Understanding the simulation-based testing approach

• Prerequisites: Hardware and software requirements

• Quick Start (2D): Deploy and run SIL with 2D perception in 30 minutes

• Quick Start (3D): Deploy and run SIL with 3D Sparse4D perception

• Architecture: Detailed system design and data flow

• Components: Deep dive into Isaac Sim, Action Graph, and Communication Layer

Getting Help

If you encounter issues:

• Check the troubleshooting sections in each guide

• Review the component-specific documentation

• Contact the Halos development team

Related Documentation

• Integration Guide - HOISA Development Guide

• Safety Core Guide - HOISA User Guide

• Getting Started - HOISA Quick Start