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Closed-Loop Testing

Software-in-Loop Testing

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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.

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