HAL allows you to create custom end-effectors from any Rhino geometry, and to plug them to your robot in a few clicks.

HAL provides solvers and programming tools for tracks and rotary tables.

HAL provides a complete library of utilities, allowing you to quickly generate, edit and debug tool paths for single or multiple robots.

The Inverse Kinematics solver embedded in HAL supports clouds of robots, and allows to quickly detect and solve singularities (arm & wrist), reachability problems, and end-effector abnormal reorientations.

HAL provides a powerful collision solver, allowing you to compute collisions between the different robot mechanical joints, the end-effector, the environment, the manufactured part and additional objects of the workspace.

HAL includes a complete selection of ABB robots presets, and give you the opportunity to create your own robot models.

HAL allows you to build complex programs by using both the Advanced Programming and the I/O Management Packs, which are covering a vast selection of RAPID methods and functions.

HAL allows you to quickly generate a basic robot task using the raw outputs of the Post-Processor.

HAL provides a powerful ABB RAPID post-processor, generating instructions in the robot native language directly from the geometry of your tool path and your custom end effectors.

HAL allows you to upload and directly control the execution of the robot tasks from Grasshopper, without the need to use any external softwares.

With HAL, you can now use your mobile phone or your tablet as an improved TeachPendant. The default TouchOSC-based modular interface can be entirely customized depending on your needs.

The “Multi-Robot Pack” allows you to quickly generate synchronous & asynchronous tasks for multi-robots setups managed by Multi-Move controllers.

HAL provides a complete library of utilities, allowing you to quickly generate, edit and debug tool paths for single or multiple robots.

The Inverse Kinematics solver embedded in HAL supports clouds of robots, and allows to quickly detect and solve singularities (arm & wrist), reachability problems, and end-effector abnormal reorientations.

The Forward Kinematics Solver included in HAL is fully compatible with multi-robot setups, and allows you to quickly and precisely detect wrist and arm singularities.

HAL includes a complete selection of ABB robots presets, and give you the opportunity to create your own robot models.

A powerful tool orientation solver is embedded into HAL, allowing you to find optimal tool positions within seconds.

HAL provides a powerful set of utilities to help you to program robotized hot wire cutting strategies, and to quickly set and calibrate you cutter.

HAL can generate multi-layered roughing tool paths, making use of different cutting, withdrawal and approach speeds in order to minimize the cutting time.

HAL can generate multi-layered finishing tool paths, improving the surface quality of your prototypes.

HAL provides utilities to quickly generate pick n’ place tasks with a minimal amount of code.