ChemLab-Assets

198 simulation-ready chemistry laboratory instruments
part-level geometry · working joints · executable behaviour models · machine-readable contracts

Zirui Song · Jiadong Zhang · Jiahao Zhang · Xiaosong Ma · Xiaojun Chang · Xiuying Chen
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)

News

• [2026-10-15] v1.1 released. More instruments now return results based on real published data instead of placeholder values:
  • 18 new reference-data libraries (e.g. GC, IR, NMR, XRD, titration) and 32 expanded ones.
  • A shared table of 200 common compounds, linked to the instruments that can measure each of them.
  • 38 built-in chemical reactions (up from 8) for heating and reaction equipment.
• [2026-10-14] v1.0 released. 198 simulation-ready laboratory instruments.

Overview

Agents that work in a chemistry lab need more than meshes. They need to know that a fume-hood sash travels 673 mm and stops at 457 mm, that moving a balance's draft-shield door restarts its stability check, and which quantities a policy may observe and which are hidden ground truth kept for evaluation. ChemLab-Assets ships that knowledge with the geometry.

Each asset is one specific commercial instrument, chosen from a survey of 200 instruments and modules used in university chemistry teaching and research, and built from published brochures, manuals and papers. The models reproduce documented behaviour; they are not manufacturer CAD and have not been calibrated against physical units.

This dataset holds everything: models, contracts, runtimes, tests and the catalog. The code is mirrored on GitHub; see also the Project website.

At a glance

Instruments	198 commercial models from 115 manufacturers, in 16 capability domains
Geometry	GLB, URDF with primitive collision proxies, 14,492 per-part OBJ meshes, Blender sources
Articulation	1,328 joints (909 prismatic, 388 revolute, 31 continuous): doors, sashes, lids, keys and knobs
Contracts	14,272 components, 6,282 typed state slots, 4,701 capabilities with JSON-Schema arguments and declared errors
Interfaces	648 readouts (displays, LEDs) and 2,348 interface points (place, grasp, ports)
Behaviour	a Python runtime per instrument: time-stepped process models behind describe / read / invoke / poll, agent and evaluator views, seeded noise
Provenance	3,382 cited sources; raw third-party documents are not redistributed
Simulation	all 198 converted to USD and stepped in NVIDIA Isaac Lab through the Matterix framework

Gallery

Chemical fume hood Esco Lifesciences Frontier Acela EFA-5UDUVW-9	Gas chromatograph (S/SL inlet + FID) Agilent 7890B	Analytical balance METTLER TOLEDO XPR204E	Lab sample-transfer robot arm Brooks Automation PreciseFlex 400
Rotary evaporator IKA RV 10 digital V	High-resolution Orbitrap mass spectrometer Thermo Fisher Scientific Orbitrap Exploris 120	Scanning electron microscope JEOL JSM-IT200 LA	Freeze dryer BUCHI Lyovapor L-250 Pro
Automated liquid-handling robot Opentrons Flex (1-channel 5–1000 µL)	Benchtop NMR spectrometer Magritek Spinsolve 80 Carbon	Inert-atmosphere glovebox Inert PureLab HE 2GB	Atomic force microscope Park Systems NX10

Browse all 198 in 3D, with joint sliders and part-by-part annotations, in the 3D explorer.

Instruments by domain

Domain	Instruments	Examples
Thermal, Mechanical & Transport	23	Pin-on-disk tribometer (Anton Paar TRB³); Coating scratch tester (Anton Paar RST 300); Nanoindentation tester (Anton Paar HIT 300)
Basic Metrology & Sample Handling	16	Analytical balance (METTLER TOLEDO XPR204E); Halogen moisture analyzer (METTLER TOLEDO HX204); Oscillating U-tube density meter (Anton Paar DMA 5002)
Lab Environment & Utilities	16	Muffle furnace (Nabertherm L 9/11/SKM); Tube furnace (controlled atmosphere) (Carbolite Gero TF1 12/60/300); Heating/refrigerated circulator (JULABO CORIO CD-200F)
Extraction, Purification & Drying	15	Rotary evaporator (IKA RV 10 digital V); Freeze dryer (BUCHI Lyovapor L-250 Pro); Lab spray dryer (BUCHI Mini Spray Dryer S-300)
Particles, Pores & Interfaces	15	Solid-surface streaming-potential analyzer (Anton Paar SurPASS 3); Gas pycnometer (true density) (Anton Paar Ultrapyc 5000); Gas physisorption surface-area & pore analyzer (Anton Paar Autosorb 6100)
Molecular Spectroscopy & Structure	14	Circular dichroism spectrometer (JASCO J-1500); Time-domain NMR relaxometer (Bruker minispec mq20); Spectrofluorometer (JASCO FP-8350)
Digestion & Solid Sample Prep	13	Graphite block digestion system (SCP SCIENCE DigiPREP MS); Planetary ball mill (RETSCH PM 100); Vibratory sieve shaker (RETSCH AS 200 control)
Thin-Film & Functional Materials	13	Vibrating-nozzle encapsulator (BUCHI Encapsulator B-390); Spin coater (Ossila Spin Coater V3); Dip coater (Ossila Dip Coater V2)
Elemental & Mass Spectrometry	12	Organic elemental (CHNS) analyzer (Elementar vario EL cube); Total organic carbon analyzer (Shimadzu TOC-L CSH); Atomic absorption spectrometer (Analytik Jena contrAA 800 D)
Microscopy, Imaging & Diffraction	12	Scanning electron microscope (JEOL JSM-IT200 LA); Transmission electron microscope (JEOL JEM-1400Flash); Small-angle X-ray scattering system (Anton Paar SAXSpace)
Biochemical & Wet-Chemistry Assays	11	Microplate washer (Agilent BioTek 405 TS (96-tube manifold)); Gel electrophoresis system (Bio-Rad Mini-PROTEAN Tetra + power supply); Gel & blot imager (Thermo Fisher Scientific iBright FL1500)
Automation & Gas/Liquid Supply	11	Automated powder dosing system (METTLER TOLEDO Quantos Q2 + XPE206DR); Automated liquid-handling robot (Opentrons Flex (1-channel 5–1000 µL)); Automated microplate heat sealer (Azenta Life Sciences Automated Roll Heat Sealer (a4S))
Reaction & Molecular Synthesis	9	Microwave synthesis reactor (Anton Paar Monowave 400); Electro-organic synthesis system (IKA ElectraSyn 2.0); Photochemical reactor (HepatoChem PhotoRedOx Box UV-Vis)
Electrochemistry & Titration	7	Automatic potentiometric titrator (Metrohm OMNIS Professional Titrator); Karl Fischer coulometer (Metrohm 899 Coulometer); Potentiostat / electrochemical workstation (Gamry Reference 620)
Chromatography & Electrophoresis	6	Gas chromatograph (Agilent 8890B GC); HPLC system (Agilent 1260 Infinity III LC); Ion chromatograph (Thermo Fisher Scientific Dionex Integrion HPIC)
Analytical Sampling & Interfaces	5	Headspace autosampler (48-vial tray) (Agilent 8697); Purge-and-trap autosampler (Teledyne Tekmar Atomx XYZ); Laser ablation sampling system (Teledyne CETAC Analyte Excite+)

All 198 instruments

CHEM ID	Instrument	Maker	Model	Domain	Joints	State slots	Capabilities
CHEM-001	Analytical balance	METTLER TOLEDO	XPR204E	Basic Metrology & Sample Handling	16	22	9
CHEM-002	Halogen moisture analyzer	METTLER TOLEDO	HX204	Basic Metrology & Sample Handling	5	14	8
CHEM-003	Oscillating U-tube density meter	Anton Paar	DMA 5002	Basic Metrology & Sample Handling	4	17	9
CHEM-004	Digital refractometer	Anton Paar	Abbemat Advanced 5201	Basic Metrology & Sample Handling	5	19	10
CHEM-005	pH / DO / conductivity meter	Metrohm	914 pH/DO/Conductometer	Basic Metrology & Sample Handling	3	44	14
CHEM-006	Automatic melting-point system	METTLER TOLEDO	MP70	Basic Metrology & Sample Handling	4	26	10
CHEM-007	Water-activity meter	AQUALAB	4TE	Basic Metrology & Sample Handling	10	27	13
CHEM-008	Magnetic hotplate stirrer	IKA	Plate RCT digital	Basic Metrology & Sample Handling	8	33	33
CHEM-009	Incubated orbital shaker	IKA	KS 4000 i control	Basic Metrology & Sample Handling	14	33	14
CHEM-010	Refrigerated multipurpose centrifuge	Eppendorf	5910 Ri	Basic Metrology & Sample Handling	2	23	15
CHEM-011	Forced-convection drying oven	BINDER	FD 56	Basic Metrology & Sample Handling	7	25	32
CHEM-012	Vacuum drying oven	BINDER	VD 56	Basic Metrology & Sample Handling	7	10	6
CHEM-013	Ultrasonic cleaning bath	Elma	Elmasonic S60H	Basic Metrology & Sample Handling	8	56	15
CHEM-014	Benchtop turbidimeter	Hach	TL2300 EPA	Basic Metrology & Sample Handling	2	26	11
CHEM-015	Microwave synthesis reactor	Anton Paar	Monowave 400	Reaction & Molecular Synthesis	3	32	13
CHEM-016	Electro-organic synthesis system	IKA	ElectraSyn 2.0	Reaction & Molecular Synthesis	2	40	12
CHEM-017	Photochemical reactor	HepatoChem	PhotoRedOx Box UV-Vis	Reaction & Molecular Synthesis	3	36	15
CHEM-018	Micro high-pressure stirred reactor	Parr Instrument	4591	Reaction & Molecular Synthesis	9	22	10
CHEM-019	Continuous-flow chemistry system	Syrris	Asia Discovery	Reaction & Molecular Synthesis	4	38	13
CHEM-020	Continuous-flow hydrogenation reactor	ThalesNano	H-Cube Pro	Reaction & Molecular Synthesis	5	41	17
CHEM-021	Parallel reaction station (4 independent zones)	Radleys	Mya 4	Reaction & Molecular Synthesis	4	92	15
CHEM-022	Automated microwave peptide synthesizer	CEM	Liberty Blue 2.0	Reaction & Molecular Synthesis	2	34	13
CHEM-023	Oligonucleotide synthesizer	Cytiva	ÄKTA oligosynt	Reaction & Molecular Synthesis	3	31	12
CHEM-024	Rotary evaporator	IKA	RV 10 digital V	Extraction, Purification & Drying	5	26	12
CHEM-025	Freeze dryer	BUCHI	Lyovapor L-250 Pro	Extraction, Purification & Drying	3	34	15
CHEM-026	Lab spray dryer	BUCHI	Mini Spray Dryer S-300	Extraction, Purification & Drying	2	26	16
CHEM-027	Critical point dryer	Tousimis	Autosamdri-815 Series B	Extraction, Purification & Drying	2	30	13
CHEM-028	Pressurized solvent extractor	BUCHI	SpeedExtractor E-916	Extraction, Purification & Drying	4	33	14
CHEM-029	Centrifugal partition chromatograph	Gilson	CPC 250	Extraction, Purification & Drying	3	28	10
CHEM-030	Tangential-flow ultrafiltration module	Sartorius	Vivaflow 200	Extraction, Purification & Drying	1	33	10
CHEM-031	Automated solid-phase extraction workstation	Biotage	Extrahera Classic	Extraction, Purification & Drying	0	30	12
CHEM-032	Supercritical fluid extractor	Supercritical Fluid Technologies	SFT-110	Extraction, Purification & Drying	3	30	13
CHEM-033	Flow liquid–liquid extraction module	Syrris	Asia FLLEX	Extraction, Purification & Drying	2	42	15
CHEM-034	Automated flash chromatography system	Biotage	Selekt (UV, single bed)	Extraction, Purification & Drying	3	55	15
CHEM-035	Lab electrodialysis stack	PCCell	ED 64002 + BED1-2 Basic	Extraction, Purification & Drying	3	28	14
CHEM-036	Centrifugal vacuum concentrator	Genevac / SP Industries	miVac 2 Duo	Extraction, Purification & Drying	9	22	13
CHEM-037	High-efficiency lab fractional distillation unit	PILODIST	PILODIST 104	Extraction, Purification & Drying	4	24	15
CHEM-038	Short-path wiped-film molecular still	UIC	KDL1 Basic	Extraction, Purification & Drying	5	30	17
CHEM-039	Graphite block digestion system	SCP SCIENCE	DigiPREP MS	Digestion & Solid Sample Prep	2	24	13
CHEM-040	Planetary ball mill	RETSCH	PM 100	Digestion & Solid Sample Prep	8	24	13
CHEM-041	Vibratory sieve shaker	RETSCH	AS 200 control	Digestion & Solid Sample Prep	16	24	20
CHEM-042	Rotary sample divider	RETSCH	PT 100	Digestion & Solid Sample Prep	15	25	21
CHEM-043	Rotor–stator disperser	IKA	T 25 digital ULTRA-TURRAX	Digestion & Solid Sample Prep	4	30	16
CHEM-044	Probe ultrasonic processor	Sonics	VCX 750	Digestion & Solid Sample Prep	25	34	19
CHEM-045	Planetary centrifugal mixer	THINKY	ARE-310	Digestion & Solid Sample Prep	10	33	14
CHEM-046	UV digester	Metrohm	909 UV Digester	Digestion & Solid Sample Prep	10	31	17
CHEM-047	Microwave acid digestion system	Anton Paar	Multiwave 7101	Digestion & Solid Sample Prep	1	16	14
CHEM-048	Automatic Kjeldahl distillation & titration unit	VELP	UDK 159	Digestion & Solid Sample Prep	6	34	18
CHEM-049	Acid hydrolysis unit	BUCHI	HydrolEx H-506	Digestion & Solid Sample Prep	10	25	19
CHEM-050	Automated fusion bead maker	Malvern Panalytical / Claisse	LeNeo	Digestion & Solid Sample Prep	6	20	15
CHEM-051	Hydraulic pellet press	Specac	Atlas Manual 15T	Digestion & Solid Sample Prep	9	27	16
CHEM-052	Vibrating-nozzle encapsulator	BUCHI	Encapsulator B-390	Thin-Film & Functional Materials	8	30	23
CHEM-053	Spin coater	Ossila	Spin Coater V3	Thin-Film & Functional Materials	15	13	14
CHEM-054	Dip coater	Ossila	Dip Coater V2	Thin-Film & Functional Materials	15	18	19
CHEM-055	Automated doctor-blade coater	Ossila	Doctor Blade Coater	Thin-Film & Functional Materials	16	21	20
CHEM-056	Slot-die coater	Ossila	Slot-Die Coater V2	Thin-Film & Functional Materials	17	29	24
CHEM-057	Lab twin-screw extruder	Thermo Fisher Scientific	Process 11	Thin-Film & Functional Materials	5	32	24
CHEM-058	Materials inkjet printer	FUJIFILM Dimatix	DMP-2850	Thin-Film & Functional Materials	4	28	23
CHEM-059	Electrospinning system	Linari Nanotech	RT Advanced	Thin-Film & Functional Materials	14	33	21
CHEM-060	Microfluidic nanoparticle formulation system	Cytiva / Precision NanoSystems	NanoAssemblr Ignite	Thin-Film & Functional Materials	9	35	20
CHEM-061	Fluid-bed granulator / coater	Glatt	Mini-Glatt	Thin-Film & Functional Materials	12	33	25
CHEM-062	Sputter & carbon coater	Quorum Technologies	Q150T ES Plus	Thin-Film & Functional Materials	7	28	18
CHEM-063	Chemical vapour deposition system	LABOAO	CVD-LTF12P50	Thin-Film & Functional Materials	10	34	16
CHEM-064	Atomic layer deposition system	Arradiance	GEMStar XT-SP (PEALD / thermal ALD)	Thin-Film & Functional Materials	8	31	21
CHEM-065	Circular dichroism spectrometer	JASCO	J-1500	Molecular Spectroscopy & Structure	2	25	18
CHEM-066	Time-domain NMR relaxometer	Bruker	minispec mq20	Molecular Spectroscopy & Structure	1	21	17
CHEM-067	Spectrofluorometer	JASCO	FP-8350	Molecular Spectroscopy & Structure	2	25	19
CHEM-068	Benchtop NMR spectrometer	Magritek	Spinsolve 80 Carbon	Molecular Spectroscopy & Structure	1	24	17
CHEM-069	Benchtop EPR spectrometer	Bruker	Magnettech ESR5000	Molecular Spectroscopy & Structure	1	21	19
CHEM-070	Digital polarimeter	JASCO	P-4200	Molecular Spectroscopy & Structure	2	23	20
CHEM-071	UV-Vis spectrophotometer	Hach	DR6000	Molecular Spectroscopy & Structure	1	14	14
CHEM-072	FT-IR spectrometer	JASCO	FT/IR-4700	Molecular Spectroscopy & Structure	1	18	13
CHEM-073	Raman microscope	JASCO	NRS-5500	Molecular Spectroscopy & Structure	4	26	23
CHEM-074	Stopped-flow kinetics spectrometer	Applied Photophysics	SX20	Molecular Spectroscopy & Structure	6	30	19
CHEM-075	Time-resolved fluorescence (TCSPC) spectrometer	Edinburgh Instruments	FLS1000	Molecular Spectroscopy & Structure	4	26	18
CHEM-076	Femtosecond transient absorption spectrometer	Ultrafast Systems	HELIOS	Molecular Spectroscopy & Structure	4	25	17
CHEM-077	Vibrational circular dichroism spectrometer	JASCO	FVS-6000	Molecular Spectroscopy & Structure	4	32	22
CHEM-078	Circularly polarized luminescence spectrometer	JASCO	CPL-300	Molecular Spectroscopy & Structure	5	29	22
CHEM-079	Organic elemental (CHNS) analyzer	Elementar	vario EL cube	Elemental & Mass Spectrometry	5	31	23
CHEM-080	Total organic carbon analyzer	Shimadzu	TOC-L CSH	Elemental & Mass Spectrometry	40	32	29
CHEM-081	Atomic absorption spectrometer	Analytik Jena	contrAA 800 D	Elemental & Mass Spectrometry	10	41	33
CHEM-082	ICP optical emission spectrometer	Shimadzu	ICPE-9800	Elemental & Mass Spectrometry	3	36	33
CHEM-083	ICP mass spectrometer	Shimadzu	ICPMS-2030	Elemental & Mass Spectrometry	5	37	30
CHEM-084	Energy-dispersive XRF spectrometer	Shimadzu	EDX-7200	Elemental & Mass Spectrometry	3	33	29
CHEM-085	Total organic halogen (AOX/TOX) analyzer	Analytik Jena	multi X 2500	Elemental & Mass Spectrometry	8	38	37
CHEM-086	Direct mercury analyzer	Milestone	DMA-80 evo	Elemental & Mass Spectrometry	5	38	34
CHEM-087	Residual gas analyzer	Stanford Research Systems	RGA100	Elemental & Mass Spectrometry	2	40	34
CHEM-088	High-resolution Orbitrap mass spectrometer	Thermo Fisher Scientific	Orbitrap Exploris 120	Elemental & Mass Spectrometry	4	37	37
CHEM-089	Inert-gas fusion O/N/H analyzer	LECO	ONH836	Elemental & Mass Spectrometry	4	36	35
CHEM-090	Stable isotope-ratio mass spectrometer	Elementar	isoprime precisION	Elemental & Mass Spectrometry	2	21	30
CHEM-096	Gas chromatograph	Agilent	8890B GC	Chromatography & Electrophoresis	50	22	56
CHEM-097	HPLC system	Agilent	1260 Infinity III LC	Chromatography & Electrophoresis	1	24	15
CHEM-098	Ion chromatograph	Thermo Fisher Scientific	Dionex Integrion HPIC	Chromatography & Electrophoresis	2	21	16
CHEM-099	GPC/SEC system	Agilent	1290 Infinity II GPC/SEC	Chromatography & Electrophoresis	3	25	18
CHEM-100	GC–ion mobility spectrometer	G.A.S.	FlavourSpec25 GC-IMS	Chromatography & Electrophoresis	4	29	20
CHEM-101	Automatic potentiometric titrator	Metrohm	OMNIS Professional Titrator	Electrochemistry & Titration	2	34	15
CHEM-102	Karl Fischer coulometer	Metrohm	899 Coulometer	Electrochemistry & Titration	11	26	10
CHEM-103	Potentiostat / electrochemical workstation	Gamry	Reference 620	Electrochemistry & Titration	0	21	10
CHEM-104	Scanning electrochemical microscope	CH Instruments	CHI920D	Electrochemistry & Titration	3	29	16
CHEM-105	Electrochemical quartz crystal microbalance	CH Instruments	CHI440C	Electrochemistry & Titration	1	19	17
CHEM-106	Freezing-point osmometer	KNAUER	K-7400S	Electrochemistry & Titration	2	24	17
CHEM-107	Rotating ring-disk electrode rotator	Pine Research	WaveVortex 10	Electrochemistry & Titration	4	30	22
CHEM-108	Headspace autosampler (48-vial tray)	Agilent	8697	Analytical Sampling & Interfaces	1	24	14
CHEM-109	Purge-and-trap autosampler	Teledyne Tekmar	Atomx XYZ	Analytical Sampling & Interfaces	7	25	20
CHEM-110	Laser ablation sampling system	Teledyne CETAC	Analyte Excite+	Analytical Sampling & Interfaces	6	22	23
CHEM-111	Multi-shot pyrolyzer (GC inlet)	Frontier Laboratories	EGA/PY-3030D	Analytical Sampling & Interfaces	4	22	22
CHEM-112	Thermal desorber	Markes International	UNITY-xr	Analytical Sampling & Interfaces	6	27	26
CHEM-113	Solid-surface streaming-potential analyzer	Anton Paar	SurPASS 3	Particles, Pores & Interfaces	7	29	26
CHEM-114	Gas pycnometer (true density)	Anton Paar	Ultrapyc 5000	Particles, Pores & Interfaces	6	33	25
CHEM-115	Gas physisorption surface-area & pore analyzer	Anton Paar	Autosorb 6100	Particles, Pores & Interfaces	8	49	33
CHEM-116	Mercury intrusion porosimeter	Anton Paar	PoreMaster 60	Particles, Pores & Interfaces	7	27	28
CHEM-117	DLS & zeta-potential analyzer	Anton Paar	Litesizer DLS 701	Particles, Pores & Interfaces	6	31	29
CHEM-118	Laser-diffraction particle sizer	Anton Paar	PSA 1190	Particles, Pores & Interfaces	9	31	28
CHEM-119	Dynamic image analyzer (particle shape)	Anton Paar	Litesizer DIA 700	Particles, Pores & Interfaces	7	31	29
CHEM-120	Force tensiometer	Biolin Scientific	Sigma 700	Particles, Pores & Interfaces	7	30	32
CHEM-121	Optical contact-angle meter	Biolin Scientific	Theta Flex	Particles, Pores & Interfaces	8	33	38
CHEM-122	Temperature-programmed chemisorption analyzer	Micromeritics	AutoChem III	Particles, Pores & Interfaces	6	36	37
CHEM-123	Dynamic vapour sorption analyzer	Surface Measurement Systems	DVS Resolution	Particles, Pores & Interfaces	6	40	37
CHEM-124	Powder rheometer	Freeman Technology / Micromeritics	FT4 Powder Rheometer	Particles, Pores & Interfaces	6	39	33
CHEM-125	Capillary flow porometer	POROMETER	POROLUX Revo	Particles, Pores & Interfaces	3	28	34
CHEM-126	Dispersion stability analyzer	Microtrac	TURBISCAN LAB	Particles, Pores & Interfaces	5	28	29
CHEM-127	Langmuir / Langmuir–Blodgett trough	Biolin Scientific KSV NIMA	Medium L&LB Trough	Particles, Pores & Interfaces	7	36	34
CHEM-128	Pin-on-disk tribometer	Anton Paar	TRB³	Thermal, Mechanical & Transport	6	42	39
CHEM-129	Coating scratch tester	Anton Paar	RST 300	Thermal, Mechanical & Transport	6	44	39
CHEM-130	Nanoindentation tester	Anton Paar	HIT 300	Thermal, Mechanical & Transport	6	38	33
CHEM-131	Differential scanning calorimeter	TA Instruments	DSC 2500	Thermal, Mechanical & Transport	5	43	36
CHEM-132	Thermogravimetric analyzer	TA Instruments	TGA 5500	Thermal, Mechanical & Transport	4	48	40
CHEM-133	Dynamic mechanical analyzer	TA Instruments	DMA 850	Thermal, Mechanical & Transport	5	43	41
CHEM-134	Thermomechanical analyzer	TA Instruments	TMA 450	Thermal, Mechanical & Transport	3	50	47
CHEM-135	Laser/light flash thermal diffusivity analyzer	NETZSCH	LFA 467 HyperFlash	Thermal, Mechanical & Transport	4	54	47
CHEM-136	Transient plane source thermal-conductivity analyzer	Hot Disk	TPS 2500 S	Thermal, Mechanical & Transport	4	25	25
CHEM-137	Rotational & oscillatory rheometer	Anton Paar	MCR 503	Thermal, Mechanical & Transport	3	26	28
CHEM-138	Isothermal microcalorimeter	TA Instruments	TAM IV	Thermal, Mechanical & Transport	2	25	31
CHEM-139	Thermoelectric (Seebeck) tester	Linseis	LSR-3	Thermal, Mechanical & Transport	5	32	31
CHEM-140	Broadband dielectric spectrometer	Novocontrol Technologies	Alpha-T	Thermal, Mechanical & Transport	3	27	30
CHEM-141	Hall-effect measurement system	Lake Shore Cryotronics	MeasureReady M91 FastHall	Thermal, Mechanical & Transport	4	36	31
CHEM-142	Automated four-point-probe sheet-resistance mapper	Signatone	QuadPro2	Thermal, Mechanical & Transport	5	34	29
CHEM-143	Vibrating sample magnetometer	Lake Shore Cryotronics	8604 VSM	Thermal, Mechanical & Transport	5	34	32
CHEM-144	Universal testing machine	Shimadzu	AGS-10kNXD	Thermal, Mechanical & Transport	6	35	28
CHEM-145	Pendulum impact tester	ZwickRoell	HIT5P	Thermal, Mechanical & Transport	4	31	27
CHEM-146	Melt flow indexer	ZwickRoell	Mflow	Thermal, Mechanical & Transport	9	43	36
CHEM-147	Oxygen transmission-rate analyzer	AMETEK MOCON	OX-TRAN 2/22 L	Thermal, Mechanical & Transport	8	55	31
CHEM-148	Adiabatic (ARC) reaction calorimeter	NETZSCH	MMC 315 Nexus	Thermal, Mechanical & Transport	3	30	24
CHEM-149	Heat-flow reaction calorimeter	METTLER TOLEDO	RC1mx + HFCal	Thermal, Mechanical & Transport	5	57	37
CHEM-150	Oxygen bomb calorimeter	IKA	C 6000 isoperibol	Thermal, Mechanical & Transport	3	43	44
CHEM-151	Scanning electron microscope	JEOL	JSM-IT200 LA	Microscopy, Imaging & Diffraction	12	64	48
CHEM-152	Transmission electron microscope	JEOL	JEM-1400Flash	Microscopy, Imaging & Diffraction	21	77	59
CHEM-153	Small-angle X-ray scattering system	Anton Paar	SAXSpace	Microscopy, Imaging & Diffraction	13	76	54
CHEM-154	X-ray photoelectron spectrometer	Kratos / Shimadzu	AXIS Supra+	Microscopy, Imaging & Diffraction	10	67	49
CHEM-155	3D laser-scanning profilometer microscope	KEYENCE	VK-X3000 / VK-X3100	Microscopy, Imaging & Diffraction	7	51	38
CHEM-156	Micro X-ray computed tomography	Bruker	X4 POSEIDON	Microscopy, Imaging & Diffraction	7	60	46
CHEM-157	Spectroscopic ellipsometer	J.A. Woollam	alpha-SE	Microscopy, Imaging & Diffraction	5	39	37
CHEM-158	Atomic force microscope	Park Systems	NX10	Microscopy, Imaging & Diffraction	12	54	56
CHEM-159	Scanning tunneling microscope	Nanosurf	NaioSTM	Microscopy, Imaging & Diffraction	3	36	52
CHEM-160	Powder X-ray diffractometer	Rigaku	MiniFlex600	Microscopy, Imaging & Diffraction	3	25	14
CHEM-161	Single-crystal X-ray diffractometer	Rigaku Oxford Diffraction	XtaLAB Synergy-R	Microscopy, Imaging & Diffraction	11	44	55
CHEM-162	Polarizing microscope	Evident / Olympus	BX53-P	Microscopy, Imaging & Diffraction	14	47	34
CHEM-163	Microplate washer	Agilent BioTek	405 TS (96-tube manifold)	Biochemical & Wet-Chemistry Assays	3	36	26
CHEM-164	Gel electrophoresis system	Bio-Rad	Mini-PROTEAN Tetra + power supply	Biochemical & Wet-Chemistry Assays	8	36	37
CHEM-165	Gel & blot imager	Thermo Fisher Scientific	iBright FL1500	Biochemical & Wet-Chemistry Assays	3	24	32
CHEM-166	CO₂ cell-culture incubator	Eppendorf	CellXpert C170i	Biochemical & Wet-Chemistry Assays	5	57	46
CHEM-167	Real-time qPCR system	Bio-Rad	CFX Opus 96	Biochemical & Wet-Chemistry Assays	3	40	35
CHEM-168	Flow cytometer & cell sorter	BD Biosciences	FACSAria III	Biochemical & Wet-Chemistry Assays	10	105	69
CHEM-169	Isothermal titration calorimeter	Malvern Panalytical	MicroCal PEAQ-ITC	Biochemical & Wet-Chemistry Assays	5	58	45
CHEM-170	Surface plasmon resonance system	Cytiva	Biacore T200	Biochemical & Wet-Chemistry Assays	7	66	64
CHEM-171	Respirometric BOD system	WTW (Xylem)	OxiTop-i	Biochemical & Wet-Chemistry Assays	30	45	33
CHEM-172	Segmented continuous-flow analyzer	SEAL Analytical	AA500	Biochemical & Wet-Chemistry Assays	11	29	40
CHEM-173	Multi-mode microplate reader	BMG LABTECH	CLARIOstar Plus	Biochemical & Wet-Chemistry Assays	5	22	37
CHEM-174	Automated powder dosing system	METTLER TOLEDO	Quantos Q2 + XPE206DR	Automation & Gas/Liquid Supply	3	20	12
CHEM-175	Automated liquid-handling robot	Opentrons	Flex (1-channel 5–1000 µL)	Automation & Gas/Liquid Supply	4	15	10
CHEM-176	Automated microplate heat sealer	Azenta Life Sciences	Automated Roll Heat Sealer (a4S)	Automation & Gas/Liquid Supply	1	22	9
CHEM-177	Automated tube decapper/recapper	Azenta Life Sciences	IntelliXcap S1 46-0001	Automation & Gas/Liquid Supply	8	13	6
CHEM-178	Lab sample-transfer robot arm	Brooks Automation	PreciseFlex 400	Automation & Gas/Liquid Supply	4	15	9
CHEM-179	2D-barcode rack reader	Azenta Ziath	DP5 Mirage	Automation & Gas/Liquid Supply	1	16	7
CHEM-180	Gas mass-flow controller	Alicat Scientific	MC, 1 SLPM full scale, Rev6	Automation & Gas/Liquid Supply	7	25	11
CHEM-181	Electronic back-pressure controller	Bronkhorst	EL-PRESS P-702CV	Automation & Gas/Liquid Supply	1	18	9
CHEM-182	Multi-position gas stream-selection valve	VICI Valco	EUTA-2SD6MWE	Automation & Gas/Liquid Supply	1	8	3
CHEM-183	Controlled evaporator & mixer	Bronkhorst	CEM W-202A	Automation & Gas/Liquid Supply	1	20	21
CHEM-184	Programmable syringe pump	New Era Pump Systems	NE-1000 Multi-Phaser	Automation & Gas/Liquid Supply	12	31	35
CHEM-185	Muffle furnace	Nabertherm	L 9/11/SKM	Lab Environment & Utilities	7	12	10
CHEM-186	Tube furnace (controlled atmosphere)	Carbolite Gero	TF1 12/60/300	Lab Environment & Utilities	6	14	5
CHEM-187	Heating/refrigerated circulator	JULABO	CORIO CD-200F	Lab Environment & Utilities	6	15	4
CHEM-188	Chemistry vacuum pumping unit	VACUUBRAND	PC 3001 VARIO select	Lab Environment & Utilities	3	12	7
CHEM-189	Inert-atmosphere glovebox	Inert	PureLab HE 2GB	Lab Environment & Utilities	2	27	10
CHEM-190	Lab ultrapure water system	ELGA LabWater	PURELAB flex 3	Lab Environment & Utilities	6	26	8
CHEM-191	Laboratory glassware washer	Miele	PLW 6111	Lab Environment & Utilities	7	20	8
CHEM-192	Steam autoclave	Tuttnauer	3870ELV-D	Lab Environment & Utilities	5	19	24
CHEM-193	Biological safety cabinet	Esco Lifesciences	AC2-4S8-TU	Lab Environment & Utilities	9	30	24
CHEM-194	Helium leak detector	INFICON	UL1000 Fab	Lab Environment & Utilities	6	28	26
CHEM-195	Trace-moisture dew-point transmitter	Vaisala	DMT152	Lab Environment & Utilities	1	25	21
CHEM-196	Laboratory hydrogen generator	PEAK Scientific	Precision Hydrogen Trace 500	Lab Environment & Utilities	2	23	21
CHEM-197	Ultra-low temperature freezer	Eppendorf	CryoCube F570n	Lab Environment & Utilities	12	35	34
CHEM-198	Constant climate (T/RH) chamber	BINDER	KBF 115	Lab Environment & Utilities	3	33	33
CHEM-199	Chemical fume hood	Esco Lifesciences	Frontier Acela EFA-5UDUVW-9	Lab Environment & Utilities	11	32	32
CHEM-200	Solvent purification system	Inert	PureSolv MD 7	Lab Environment & Utilities	27	67	23
—	Gas chromatograph (S/SL inlet + FID)	Agilent	7890B	Chromatography & Electrophoresis	50	0	16
—	Analytical balance	OHAUS	Pioneer PX224/E	Basic Metrology & Sample Handling	16	0	7
—	Portable precision balance	OHAUS	Scout SPX2201	Basic Metrology & Sample Handling	15	0	7

Quick start

1. Get the data. Everything (about 1.5 GB), or one instrument plus the code:

pip install -U huggingface_hub
hf download MBZUAI/ChemLab-Assets --repo-type dataset --local-dir ChemLab-Assets
pip install -r ChemLab-Assets/requirements.txt   # NumPy 2.0–2.3, SciPy, Pillow, OpenCV, CoolProp, pytest

hf download MBZUAI/ChemLab-Assets --repo-type dataset --local-dir ChemLab-Assets \
    --include "assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/*" "scripts/*" "examples/*"

catalog/catalog.csv gives every instrument's folder, so any subset can be fetched the same way. Run the test suite with python -m pytest from the dataset root (tests that re-hash cached third-party source files skip themselves, because those files are not redistributed).

2. Run an instrument. The fume hood below starts with an uncalibrated airflow monitor. The robot raises the sash, sees a low reading, measures the opening with an anemometer and calibrates the monitor. It never sees the true face velocity (0.299 m/s), which is an evaluator-only slot. Full script: examples/quickstart_fume_hood.py.

from asset_runtime import esco_efa5uduvw as rt   # run from the repo root with scripts/ on sys.path

hood = rt.EscoEfa5uduvwRuntime("hood_01")
hood.register_principal("lab", "evaluator")    # sets up the world, sees hidden truth
hood.register_principal("robot", "agent")      # sees what a policy may see
lab, robot = hood.session("lab"), hood.session("robot")

call(lab, "plant.configure", **rt.PLANT_EXAMPLE)        # 295.15 K, 101.325 kPa
call(lab, "exhaust.configure", **rt.EXHAUST_EXAMPLE)    # building exhaust, damper half open
call(robot, "sash.set", height_m=0.457)                  # raise to the 18-inch stop
call(lab, "sim.step", dt_s=30.0)
show("before calibration")

v = call(robot, "anemometer.measure")["face_velocity_m_s"]
call(robot, "monitor.calibrate", reference_m_s=round(v, 3))
call(lab, "sim.step", dt_s=10.0)
show("after calibration")

before calibration   reading 0.28 m/s   alarm low
anemometer           0.309 m/s
after calibration    reading 0.31 m/s   alarm none

3. Load it in a simulator. URDF mesh paths are relative, so any URDF loader works from the asset folder. All 198 URDFs load with yourdfpy:

import yourdfpy
hood = yourdfpy.URDF.load("assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/model.urdf")
hood.update_cfg({"sash_joint": 0.45})   # raise the sash 450 mm
hood.show()

For Isaac Lab, convert model.urdf with the Isaac Lab URDF importer. GLB files keep the Z-up asset frame; rotate −90° about X in Y-up viewers (the catalog's glb_up column says which files need it).

What an asset contains

assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/
├── asset.contract.json      # the contract: components, joints, state slots, capabilities, sources, limitations
├── model.glb                # viewing (asset frame: Z up, front faces −Y)
├── model.urdf               # simulators: links, joints with limits, primitive collision proxies
├── meshes/                  # one OBJ + MTL per functional part (78 files here)
├── textures/                # panel, label and screen textures drawn for the model
├── model.blend              # Blender source with named parts
├── geometry_manifest.json   # parts, frames, dimensions and joint layout
├── collision_proxies.json   # primitive colliders per part
├── instrument_model.json    # runtime parameters (this instrument)
├── vapour_templates.json    # reference data used by the runtime (53 vapour sources)
└── 说明.md                  # notes on the model and its data (Chinese)

scripts/asset_runtime/esco_efa5uduvw.py   # the behaviour runtime
tests/test_asset_esco_efa5uduvw.py        # its tests

The contract is the centre of each asset. It names every functional component and binds it to meshes and colliders; lists state slots with type, unit, range, origin (setpoint, sensor, derived, process truth) and visibility (agent, evaluator, debug); defines capabilities with JSON-Schema arguments, preconditions, state effects, declared errors and a verification level for process, host, scene, robot and hardware; and records mechanisms, ports, sources and limitations. The specification is in skills/chemistry-lab-assets/references/contract.md and the call protocol in protocol.md (both in Chinese); the validator is skills/chemistry-lab-assets/scripts/asset_tool.py.

Provenance, licences and limits

• Sources. Each state slot and capability lists the sources it rests on: manufacturer documents for dimensions, ranges and limits; papers, standards and open databases for the measurements behind instrument outputs; explicit assumptions where neither exists. Raw third-party documents (PDF manuals, brochures, application notes, papers, spectra files, photos) are not redistributed; contracts keep the citations and derived values.
• Licences. Code is MIT (LICENSE). Models, contracts and data are CC BY-NC 4.0 (LICENSE-ASSETS.md). Some data files carry their source's terms (CC BY-SA, non-commercial, or rights reserved by the publisher); NOTICE.md lists every one with its source.
• Trademarks. Product and company names identify the modelled instrument only. This project is not affiliated with or endorsed by any manufacturer.
• Limits. 786 capabilities are declared but marked unsupported. No capability claims robot-contact or real-hardware validation. Treat the assets as documented, testable behaviour models for embodied-AI research, not as certified digital twins.
• Build records. Contracts list the files of the original build (validation logs, review records, cached source documents). Those are not part of the release; release_manifest.json says which artifacts ship.

To-Do List

• Real reference data for every instrument that measures samples (v1.1)
• Shared compound table linked to the instruments (v1.1)
• At least 50 reference materials for the last 6 instruments
• More chemical reactions (about 100) for synthesis and flow-chemistry equipment
• Calibrated reaction rates
• Data recorded on the exact instrument models
• Validation with real robots and hardware

Citation

@misc{song2026chemlabassets,
  title        = {ChemLab-Assets: Simulation-Ready Chemistry Laboratory
                  Instruments with Executable Behaviour Contracts},
  author       = {Song, Zirui and Zhang, Jiadong and Zhang, Jiahao and
                  Ma, Xiaosong and Chang, Xiaojun and Chen, Xiuying},
  year         = {2026},
  howpublished = {\url{https://huggingface.co/datasets/MBZUAI/ChemLab-Assets}},
  note         = {Dataset, release 1.1}
}