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# 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](/halos/outside-in-safety/testing/sil/sil-2d), or [SIL — 3D Perception](/halos/outside-in-safety/testing/sil/sil-3d) 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 ](/halos/outside-in-safety/testing/srr) *(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.