Robotic vision policies trained on photorealistic synthetic imagery fail when the real world presentsa texture, a shadow or a reflection the renderer never produced. We argue the fault is the representation rather than the realism: a policy that consumes photographs must learn to ignore appearance, when it could instead be handed a representation from which appearance has already been removed. We describe a chained architecture in which a perception stage converts camera input into a non-photorealistic line drawing paired with a semantic map, and a control policy consumes only that abstraction. Decoupling perception from control allows each to be trained independently [4], and abstract intermediate representations such as sketches are known to preserve spatial grounding while discarding visual distraction [5].The contribution is an open simulator that makes the architecture testable end to end: it generatesthe aligned multi-modal corpus the interface requires — photorealistic, line art, object index and metric depth from one viewpoint — carries a physically grounded robot with an optional rigid-body contact backend, imports externally authored scenes and assets [3], and executes the real control firmware against the simulated plant at two distinct fidelities: a value-level seam fast enough for the training loop, and an offline register-level gate in which the same commands are driven through emulated I2 C peripherals, H-bridges and a serial lidar protocol [11]. The second catches a class of defect the first cannot represent, and we quantify the divergence between them. We report a perception result on 479 samples, a multi-label scene-description head trained from labels the renderer already knew, and a control policy cloned from a privileged expert that reaches its goal in 8/8 held-out scenes while seeing only the abstraction.Every number is reported beside the score of doing nothing, and we record the two hypotheses about thecontrol bottleneck that measurement destroyed, together with two measurement choices the register-level gate itself invalidated.