metadata
license: cc-by-nc-4.0
pretty_name: ChemLab-Assets
language:
- en
- zh
tags:
- chemistry
- laboratory
- robotics
- embodied-ai
- simulation
- 3d
- urdf
- isaac-lab
- digital-twin
size_categories:
- n<1K
configs:
- config_name: catalog
data_files:
- split: train
path: catalog/catalog.parquet
ChemLab-Assets
203 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
- [2026-10-17] v1.3.0: 5 new instruments (203 in total); 44 instruments rebuilt with more realistic 3D models.
- [2026-10-16] v1.2: 103 built-in reactions, now including light- and current-driven ones; richer reference data; instrument request form.
- [2026-10-15] v1.1: real reference data for 17 more instruments, a shared table of 200 compounds, 38 built-in reactions.
- [2026-10-14] v1.0: 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 | 203 commercial models from 119 manufacturers, in 16 capability domains |
| Geometry | GLB, URDF with primitive collision proxies, 15,258 per-part OBJ meshes, Blender sources |
| Articulation | 1,360 joints (936 prismatic, 393 revolute, 31 continuous): doors, sashes, lids, keys and knobs |
| Contracts | 15,054 components, 6,479 typed state slots, 4,822 capabilities with JSON-Schema arguments and declared errors |
| Interfaces | 667 readouts (displays, LEDs) and 2,547 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 | 3,501 cited sources; raw third-party documents are not redistributed |
| Simulation | all 203 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 203 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 | 13 | 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)) |
| Chromatography & Electrophoresis | 10 | TLC scanner (densitometer) (CAMAG TLC Scanner 4); Capillary electrophoresis system (SCIEX PA 800 Plus); Supercritical fluid chromatograph (SFC) (Agilent 1260 Infinity III SFC) |
| 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) |
| 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 203 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-091 | Chemiluminescence NO/NOx analyzer | ECO PHYSICS | nCLD 822 M | Elemental & Mass Spectrometry | 4 | 34 | 20 |
| CHEM-092 | TLC scanner (densitometer) | CAMAG | TLC Scanner 4 | Chromatography & Electrophoresis | 11 | 33 | 28 |
| CHEM-093 | Capillary electrophoresis system | SCIEX | PA 800 Plus | Chromatography & Electrophoresis | 4 | 48 | 18 |
| CHEM-094 | Supercritical fluid chromatograph (SFC) | Agilent | 1260 Infinity III SFC | Chromatography & Electrophoresis | 11 | 57 | 25 |
| CHEM-095 | Asymmetric-flow field-flow fractionation (AF4) system | Wyatt Technology | Eclipse AF4 | Chromatography & Electrophoresis | 2 | 25 | 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 |
Request an instrument
Missing an instrument from your lab? Open an instrument request and tell us the maker and model. Manuals, brochures, photos from several sides and a few lines on how you use it help us build an accurate model. Please only attach files you are allowed to share; for the manufacturer's public documents a link is enough.
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 203 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.mdlists 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. 804 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.jsonsays 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)
- About 100 built-in chemical reactions, including light- and current-driven ones (v1.2)
- At least 50 reference compounds for the FVS-6000 VCD spectrometer (40 now)
- 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 1.3.0}
}