algorithmic modeling for Rhino


HAL Robotics Framework

Today is a very exciting day for all of us here at HAL Robotics.
It has been a long two years in the making but we are proud to be finally taking the first public step towards the 

1.0 release of the HAL Robotics Framework.

Ready for testing and available to download today are the 1.0-beta versions of the Core feature-set and the Grasshopper client application.
This means that from right now you will be able to test and break work-in-progress versions of:

  • Accurate real-time simulation 
  • Trajectory diagnosis including detection of out-of reach and singular positions
  • Motions specified in Cartesian or joint spaces
  • Simulation of blended motions
  • Online preset catalogs accessible from within Grasshopper, of robotstools and controllers ready to drop in to your scripts
  • Program translation to ABB RAPIDKUKA KRL or Universal Robots URScript
  • Lightweight installer which allows you to add, remove and update extensions to the framework with ease
  • Cloud-based licenses to share between you own computers or your whole organisation
  • User interface adapting to the level of control you require


With that we shall let you get started but don’t forget, this is public now so by all means spread the word to anyone you think may also be interested in testing out this new toolkit.

Happy programming,
The HAL Robotics Team

Location: London
Members: 103
Latest Activity: Nov 25, 2020


The first thing you'll need to do to get going is create an account on our WIP user-space. This will give you access to a trial and serve as an access to your licenses, either personal or shared. Once you create your account and verify your email address you'll find the link for the installer, which you are now free to download, and a couple of pages that may come in handy if you need to administer your licenses or organisational memberships. It's now time to install the framework. There is no need to uninstall your previous HAL Robot Programming & Control installation if you have one, the framework will run in parallel to help you migrate your existing projects. 

Once you've run the installer and selected the extensions you want to install I suggest you head over to our Getting Started playlist on YouTube which will talk you through the basics of the interface, how the new components work and what goes where to create your first executable toolpath. We will be adding more detailed tutorials over the next few weeks so please subscribe (or just check back there every so often) for walkthroughs, guides, tips and tricks directly from the team that created the software.

Discussion Forum

Configuring Controller

Hi - just installed Hal and trying to connect to my IRC5 controller for an ABB 120. The simulation is working fine but it doesn't seem to be speaking to the physical controller. I am assuming the…Continue

Started by James Charlton Nov 25, 2020.

How to sync HAL with Firefly/Arduino?

Hey There. Thank you guys for developing HAL. Things are much easier using it!A quick question: is there any way to sync Arduino/Firefly with HAL?I have a tool attached to my robot and I need to…Continue

Tags: IRC5, Arduino, ABB, Firefly, Robot

Started by Mehdi FarahBakhsh May 15, 2019.

Changing status bit on Kuka robots 2 Replies

Hi Thibault, I am having problems changing the status bit in HAL. I changed the Flip settings, which works fine in the simulation but nothing is changed in the code generation. How can I make the…Continue

Tags: HAL

Started by Erik Parr. Last reply by Erik Parr Oct 7, 2015.

Spline Movement 2 Replies

Hi Thibault,I'm tyring out the simple path example. Is there anyway I can generate Spline movement command for kuka robot? It's much faster than Line movement command especially when there are many…Continue

Started by Kada Liao. Last reply by Kada Liao Aug 7, 2014.

Comment Wall

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Comment by bxsqrym on March 3, 2012 at 6:29

ok,I will try,thanks very much!!

Comment by Thibault Schwartz on March 3, 2012 at 6:24

bsqrym --> Gripper models can be found on any manufacturer website (Schunk, AGI, RAD, OMiL, Fabco, Ginmatic, etc.).

The "tool" input needs the name of the defined tool (as declared in the tooldata) you are using to reach your targets.

Please note that HAL0.03 (coming soon, maybe today) will be released with a detailed manual.

Comment by bxsqrym on March 3, 2012 at 5:26

     hi,hal is very usefull,could you tell me where could I get the model of something like the gripper,also,in your video,the component of RAPIDGenerator,how to set the input named Tool,I mean the string,where should i get it?



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