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HAL is a Grasshopper plugin for industrial robots programming supporting ABB, KUKA and Universal Robots machines. Its large library (154 components) allows designers to simulate, program, control and monitor simple or multi-robots cells in near real-time. With its special programming packs covering a large panel of native robot instructions, HAL facilitates the creation of advanced application structures including I/O management, error handling and multi-tasking. Specific tooling packs, for hotwire cutting, milling and pick & place, ease the programming process of innovative fabrication strategies.