CAD and downloads¶
Everything to download for the MSG gripper, at the versions these pages describe. The versions come from one
file, versions.yml, so this page changes with them; which versions work together is in
Versions and compatibility, and the faults known in each are on
Known issues.
Firmware and software¶
| What | Version | Download | How to install |
|---|---|---|---|
| The driver's firmware (STEPFOC), which is the gripper's firmware | 108 | the image stepfoc-firmware-V<number>.bin and its manifest in the releases; the source at the tag, STEPFOC firmware |
Firmware |
Bootloader and its host tool, host_tools/bl_flash.py |
stm32f103c-bootloader | Firmware: updating | |
| Motor GUI, the browser tool for the driver and the gripper | runs in the browser, always the latest | motorgui.com | Motor GUI |
Python library (Spectral-BLDC) |
the one in Versions and compatibility | Spectral-BLDC-Python, pip install Spectral-BLDC |
With Python |
| ROS 2 driver | main branch | source_robotics_msg_gripper_ros2 | With ROS 2 |
| CAN definitions (JSON, DBC) for this firmware release, and the frame tool | CAN frame tool and downloads | ||
| The legacy gripper GUI, a Python program | SSG-gripper-GUI |
The firmware's version link opens the source at exactly that release. Motor GUI and the ROS 2 driver have no releases these pages are tied to: Motor GUI is served in its latest version, the ROS 2 driver from its main branch.
CAD and build files¶
The latest files, on the main branch of the product repository; the gripper release these pages describe is 1.2 (2026-11-04).
| What | Where |
|---|---|
| STEP files of every part, by rail length and stepper length | STEP files in the product repository |
| Print files (3MF) for the body, the covers and the jaws | Print files |
| Jaw designs: solid, hollow, with a TPU pad | Gripper jaws attachment |
| Bill of materials | BOM.md, and on this site: Bill of materials |
| Assembly video | YouTube |
| Cable wiring diagrams | Building_cables.md |
| URDF and MJCF (MuJoCo) models, standalone and on PAROL6 and PAR6 | the msg_description guide; the files are in robot_descriptions |
More¶
| What | Where |
|---|---|
| The driver's documentation | docs.source-robotics.com/STEPFOC-docs |
| The driver's repository | STEPFOC-stepper-controller |
| CANvas USB-to-CAN adapter | CANvas-adapter |
| Safety warning and disclaimer | SAFETY_WARNING_AND_DISCLAIMER.md |
| This documentation | MSG-gripper-docs |
| Shop | source-robotics.com |
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