Ready-to-use URDF and MuJoCo models for PAR6, PAROL6, MSG and SSG48. The grippers are available on their own or mounted on either robot. Robot packages also include flange-only and pneumatic configurations. Meshes, materials, collision geometry, joints and physical properties are included.
Start here: choose your robot or gripper below, then follow its download and opening instructions. You do not need to build the models from source.
| Model | Getting started | Available configurations |
|---|---|---|
| PAR6 | PAR6 guide | All six end-effector configurations, URDF and MuJoCo |
| PAROL6 | PAROL6 guide | All six end-effector configurations, URDF and MuJoCo |
| MSG gripper | MSG guide | Solid jaws (default), Soft TPU jaws; standalone or mounted |
| SSG48 gripper | SSG48 guide | Solid jaws (default), Fin-ray jaws; standalone or mounted |
| Robot / gripper | MuJoCo | URDF |
|---|---|---|
| PAR6 | par6_mujoco.zip | par6_urdf.zip |
| PAROL6 | parol6_mujoco.zip | parol6_urdf.zip |
| MSG (gripper only) | msg_mujoco.zip | msg_urdf.zip |
| SSG48 (gripper only) | ssg48_mujoco.zip | ssg48_urdf.zip |
- Download the ZIP for your robot or gripper and simulator from the table.
- Extract it and keep the whole extracted folder together.
- Open a
scene_*.xmlfile for MuJoCo, or apar6_*.urdf,parol6_*.urdf,msg_*.urdforssg48_*.urdffile for a URDF viewer. The robot guides list the exact files for every option.
The release page
also includes the dimensioned review PDF and checksums. For an online viewer,
upload one extracted model package, including its meshes/textures, rather than
this entire authoring repository. The source checkout contains the same models
under mujoco/ and urdf/.
There are eight independent packages: PAR6, PAROL6, MSG and SSG48, each in URDF and MuJoCo. The MSG/SSG48 downloads contain only the gripper and both of its jaw options. The robot downloads include all six mounted end-effectors. Choose a gripper guide below if you are working without an arm.
| Configuration | File suffix | Notes |
|---|---|---|
| Flange only | flange |
Physical mounting flange and TCP |
| MSG - Solid jaws | msg |
Default MSG jaws; includes camera frames |
| MSG - Soft TPU jaws | msg_tpu_glue |
Yellow honeycomb inserts and black holders |
| SSG48 - Solid jaws | ssg48 |
Default SSG48 jaws |
| SSG48 - Fin-ray jaws | ssg48_stock |
Alternate SSG48 jaws |
| Pneumatic gripper | pneumatic |
Two moving jaws, 3.5 mm travel per jaw |
The descriptive jaw names above are the public names. Existing file suffixes are kept for compatibility. TPU and Fin-ray jaws are currently simulated as rigid geometry; deformation is not modeled.
- Dimensioned review booklet: all twelve robot/tool configurations.
- PAR6 / PAROL6 kinematic comparison: axes, DH tables and wrist dimensions.
- Mass and inertia status: measured masses, RCB references and remaining estimates.
- SSG48 collision and grasp checks: jaw contacts and validation fixtures.
- MSG built-in camera: simulated views with both jaw options and a rendering example.
Robot packages include docs/DH.md, docs/DYNAMICS.md, docs/ACTUATION.md and
docs/KINEMATIC_REVIEW.md. Standalone gripper packages include their operating
instructions and docs/VALIDATION.md. Use those documents when integrating a model with a
controller. Tool COM/inertia, rotor inertia and some actuation parameters remain
estimates; simulation grip checks do not establish hardware grip force.
Open the product-specific folder in its hardware repository:
| Product | Guide folder |
|---|---|
| PAR6 | par6_description/ |
| PAROL6 | parol6_description/ |
| MSG | msg_description/ |
| SSG48 | ssg48_description/ |
Each contains a README, local previews and model download links. Hardware repositories do not include the model source or a descriptions submodule. Download and extract a model ZIP into your working directory to use it. All maintained model files live in this central repository.
Software projects that load models directly from their checkout can pin this repository as a submodule. See release and integration maintenance.
For recoloring examples and exact material/configuration names, start with the color and appearance guide. Badge/jaw palettes use HEX settings; general part colors currently use model material values.
The exported packages work independently. To regenerate them, change jaw colors, edit branding, or contribute a model, see the build guide, model details and authoring notes, and changelog. The build uses only the files in this repository.
Wondering what all the folders and files are? Read the repository guide for the package layout, editable inputs, build tools, reports and generated files. Most users only need one model package.
The models, meshes, artwork and documentation are licensed under CC BY 4.0. Credit Source Robotics, link the source/license and indicate changes when sharing. See attribution and license scope.
Authoring tools and ROS support code remain Apache-2.0. Releases through v2.14.0 retain their original licenses. Hardware, firmware and external dependencies keep their own licenses.