SimReady Assets

Alfa Laval's manufacturer-certified CAD models are free in STEP and other formats via 3Dfindit, spanning heat exchangers, pumps, valves and instrumentation for layout, collision and clearance studies.

Amphenol's on-site SnapEDA Viewer provides symbols, footprints and 3D models for 21,000+ connector part numbers across 15+ PCB formats.

Grundfos's Product Center offers free per-model CAD/BIM drawing downloads, with BIM assets as type catalogues covering all variants and a BIM Apps add-in for Revit.

KSB provides digital product data for pumps and valves — VDI 3805 records, Revit families and multi-CAD files via PARTcommunity (DWG/STEP and more) — integrated with mainstream planning software.

Molex product pages serve to-scale 3D models per part number (STEP AP242, SolidWorks, Creo and more), with multi-format symbol and footprint ECAD data on selected parts.

Phoenix Contact provides 3D CAD models and EPLAN macro data across the portfolio — 2D dimension drawings and 3D cabinet-layout macros included — plus a 3D terminal-strip configurator that emits a BOM.

Schneider Electric product pages serve CAD files and BIM model archives across switchgear, UPS and power supplies, with further distribution via TraceParts and BIMobject.

SnapMagic Search serves symbols, footprints and 3D models across 1.1M parts and 10M assets in 15+ PCB design formats, backing 391K+ products built with its parts.

Spirax Sarco's official 3D CAD library serves models for 2,500+ steam and fluid part numbers (DWG/ACIS SAT/STEP) with batch download, plus AutoCAD 2D drawing libraries and the CASSIO toolset.

WAGO ships 2D/3D CAD models plus symbols and footprints in 20+ EDA formats, with interfaces for EPLAN, WSCAD, ZUKEN, AutoCAD Electrical and more.

Weidmüller provides per-product STEP, DXF and DWG CAD data plus EPLAN Data Portal, WSCAD Universe and PARTcommunity engineering-data entry points.

Emerson's Rosemount, Fisher and Micro Motion brands offer 3D CAD models — Fisher control valves as direct STEP downloads, the rest via 3D Content Central (registration).

Endress+Hauser provides 2D drawings and 3D models for its flow, level, pressure, temperature and analytical instruments per order code via W@M (account needed).

Samtec offers STEP/IGES and ~100 formats for nearly its whole connector range, free with no login, as L1 rigid geometry; SI EM models need a separate request.

TE Connectivity ships STEP/IGES and ECAD models on product pages (free Library Loader) and 16M+ verified symbols, footprints and 3D models via Ultra Librarian.

Würth Elektronik gives free, no-registration CAD, EDA and simulation models for passives, EMC and connectors; REDEXPERT simulates 36+ component modules.

ALOHA is a low-cost bimanual teleoperation platform and demonstration dataset: ~10 fine tasks with ~50 human demos each, four RGB views, 14-DoF joint at 50Hz, under MIT.

Mobile ALOHA adds a wheeled base to ALOHA for whole-body mobile manipulation; the official TFDS release has 276 episodes under CC-BY 4.0 data licensing.

RoboSet is a real multi-task manipulation dataset: Franka plus Robotiq in kitchen scenes, 28,500 trajectories across 38 tasks and 12 skills, under MIT.

RoboTurk is a crowdsourced real teleoperation dataset: 54 remote users drove a Sawyer on three long-horizon tasks, 2,144 demos / 111 hours, with MIT code licensing.

UMI uses a handheld gripper plus GoPro to collect in-the-wild human demos and reconstructs robot-agnostic action trajectories via SLAM; the official Hub totals about 774GB under MIT.

AgiBot World provides more than one million bimanual teleoperated trajectories (about 43.8TB) from 100 robots and 100+ replicated scenes, with visual-tactile and dexterous hand data under CC BY-NC-SA terms.

DROID provides 76k in-the-wild teleoperated trajectories / 350 hours over 564 scenes and 86 tasks on unified hardware in RLDS form, with CC-BY 4.0 data licensing.

Autodesk's official CAD research dataset: ~20k real user designs yield assembly, reconstruction and segmentation subsets with joints and per-face labels; research use only.

Open X-Embodiment unifies 60 source datasets into RLDS form with 1M+ real trajectories, 22 embodiments and 527 skills under a mixed Apache-2.0 / CC-BY licensing.

Parker Virtual Engineer: enter the duty cycle, get a sized model and generated 3D CAD for that exact configuration; the cylinder tool offers 109 output formats.

RH20T provides 110,000+ contact-rich manipulation sequences over 147 tasks, fusing vision, force, torque, audio and fingertip tactile sensing, with per-subset CC BY-SA and non-commercial licensing.

RoboMIND provides 107k multi-embodiment teleoperated trajectories over 479 tasks and 96 object classes, with 5k failure demonstrations, an Isaac Sim digital twin and Apache-2.0 licensing.

The CAx Download Manager within Siemens' unified SiePortal: STEP/U3D 3D data, wiring diagrams and EPLAN macros for the full industrial range after registration.

The pneumatics leader's 2D/3D CAD library, distributed free via CADENAS PARTcommunity, outputs mainstream 3D formats per full part number across 20+ categories.

The largest 3D model marketplace (now Shutterstock), officially 1.5M+ models; geometry and textures only, no mass, collision or joints — level L0.

Dassault/SOLIDWORKS free 3D CAD community: millions of supplier-certified parts and assemblies, native CAD and STEP download, L0 geometry-ready.

Abaqus three-manual set (Example/Verification/Benchmark) provides 75+ detailed cases and verified cases against exact solutions, with input files shipped in the installation.

Ansys verification manuals provide hundreds of test cases with full input data and reference solutions, downloadable per release to verify solver results locally.

Bosch Rexroth offers free CAD (STEP/IGES) for linear motion, pneumatics and hydraulics; its sizing tools generate whole-axis 3D models plus calculations — L1, registration required, not redistributable.

BridgeData V2 has 60,096 real WidowX manipulation trajectories across 24 environments and 13 skills, each with a natural-language instruction, open under CC BY 4.0.

CADENAS free manufacturer-certified 3D CAD catalog portal (PARTcommunity/3DfindIT): 7,500+ catalogs, millions of models, native CAD and STEP download.

CalculiX is an open-source 3D structural FEM program; its distribution ships test cases and a GitHub community repo adds nonlinear/section/RVE examples, free to build and run.

COMSOL's Application Gallery gathers 1,000+ multiphysics tutorial and demo models across electrical, structural, acoustics, fluid, thermal and chemical fields as a simulation starting point.

deal.II is a C++ open-source FEM library with 50+ progressive tutorial programs and a code gallery covering everything from mesh generation to adaptive multigrid.

DexYCB provides 1,000 human grasp sequences with ~4.6M RGB-D images across 8 views, per-frame MANO hand parameters and 6D object poses, under CC BY-NC.

Elmer FEM is an open-source multiphysics finite element suite with GUI/non-GUI tutorials and 200+ verification cases across thermal, electrical, fluid and solid fields.

FEATool bundles 35+ automated multiphysics tutorial models, replayable in one click and exportable to OpenFOAM/SU2/FEniCS scripts, with full features behind a commercial license.

Festo Design Tool 3D exports native CAD assemblies of cylinders and accessories (STEP / IGES / multiple native CAD formats) with mates and mass properties — L1, not redistributable.

Gmsh provides 21 t-series tutorials and 7 x-series API tutorials covering geometry construction through STEP import and partitioning, released under the GPL.

Google Scanned Objects has 1,030 scanned household items (17 categories, 13 GB), each already an SDF model with mass, friction and inertia.

igus CAD library covers cable carriers, drylin linear and polymer bearings; free STEP/IGES/DWG downloads with no registration and Click2CAD direct push — L1, not redistributable.

McMaster-Carr 700,000+ industrial part CAD library (STEP/SLDPRT/Parasolid/IGES), free download, in-house maintained, L1 rigid-body geometry, commercial use restricted.

MFEM ships 41 numbered examples and a dozen physics miniapps (electrostatics, magnetostatics, EM, Joule heating, Navier-Stokes) under BSD-3, a standard on-ramp for PDE solvers.

MISUMI factory-automation standard-part 3D CAD (80 sextillion configurations), free STEP after registration, configurable geometry with mass, L1 rigid-body ready.

PhysicsNeMo (formerly Modulus) examples cover 20+ use cases and 30+ case directories across PINNs, neural operators and GNNs, under Apache-2.0.

PartNet-Mobility has 2,346 3D articulated models (46 categories, 14K+ movable parts) with kinematic/dynamic annotations, SAPIEN-compatible, by non-commercial request.

RLBench offers 100 hand-designed manipulation tasks with unlimited motion-planned demonstrations, standard protocol 18 tasks/249 variations on a Franka Panda in CoppeliaSim.

RoboTHOR provides 89 apartment scenes and 731 object instances, some physically built in the real world, purpose-built for studying sim-to-real transfer.

ShapeNet is a large-scale 3D CAD shape repository (~3M models); ShapeNetCore has 55 categories ~51,300 clean models with size/material/weight estimates, download by registration.

Simcenter Nastran ships 800+ .dat verification cases, each with model data and bench values, usable for solver self-checks and version regression.

Sketchfab: 8M+ published models, 700,000+ CC-downloadable, with PBR materials and glTF/GLB, but no mass, collision or joints — an L0 geometry and visual asset source.

SKF offers free CAD (native 3D / neutral 3D / 2D) across eight bearing, seal and lubrication categories with extractable mass, but officially warns geometry is not precise and dimensions must come from its site.

ThreeDWorld is an MIT-led open-source multi-modal physical simulation platform with ~2,500 objects/200 categories and 500+ PBR materials, supporting rigid/soft/cloth/fluid and real-time audio.

The YCB Object and Model Set has 80 everyday objects (meshes + RGB-D scans + real mass/dimensions), the benchmark for robotic grasping and 6D pose (YCB-Video uses 21); digital data is public.

AI2-THOR / ProcTHOR generates house-scale interactive scenes procedurally, with stateful objects for navigation and manipulation research.

Code_Aster ships thousands of structural verification cases with meshes, constitutive models, loads and boundary conditions — GPL, covering statics, dynamics, fatigue and fracture.

FEniCS tutorials give complete weak forms, boundary conditions and meshes — the most common baseline for surrogate models and PINNs.

The official Gazebo online library: tens of thousands of community models and worlds, mostly with SDF/URDF and collision bodies; per-model licenses vary.

GrabCAD is the largest CAD geometry community: huge volume, geometry only, no materials, mesh or boundary conditions — cleanup required before simulation.

GRUtopia provides 100k annotated interactive scenes across 89 categories, composable into city-scale environments, with an LLM-driven NPC system.

HM3D offers 1,000 scanned real-space reconstructions: faithful geometry, no physics properties, so collision and mass must be supplied before manipulation.

Assets and sample scenes bundled with Isaac Sim, with physics, material and sensor configuration, ready for Omniverse and Isaac Lab workflows.

Open-sourced SimReady USD assets from Lightwheel: apartment, kitchen, mixer and stove sets under CC BY-NC 4.0, usable directly in Isaac Sim.

ManiSkill ships 2,000+ objects and 40+ manipulation tasks with GPU-parallel simulation and rendering above 30,000 FPS; assets are CC BY-NC 4.0.

MOOSE modules ship hundreds of multiphysics cases (thermal-mechanical-neutronics) with meshes and material models — LGPL, ideal for energy and nuclear baselines.

DeepMind-curated MJCF robot models with full dynamics, joint limits and actuators — Apache-2.0, ready to run in MuJoCo.

The NASA CRM is the standard public aerodynamics benchmark: wing-body geometry and meshes with wind-tunnel data for CFD and surrogate validation.

NVIDIA launched this OpenUSD simulation-ready asset library with Hugging Face on 2026-10-21: robot arms, grippers, warehouse and cooling equipment, free and ungated.

Objaverse 1.0 is an upstream pool of ~800k 3D objects: geometry and textures only, no physics — mass and collision must be supplied before simulation.

OmniGibson / BEHAVIOR-1K offers 1,000 everyday activities and large interactive scene sets with articulated furniture, suited to long-horizon household tasks.

OpenFOAM tutorial cases ship geometry, mesh, materials, boundary conditions and solver controls — the most complete run-as-is CFD asset set.

PyFR high-order (flux reconstruction) cases with mesh and full configuration — BSD licensed, GPU-capable, suited to high-fidelity turbulence baselines.

RoboCasa365 ships 2,500+ kitchen scenes, 3,200+ interactive objects and articulated furniture, with 600+ hours of human and 1,600+ hours of synthetic demonstrations.

A commercial Isaac Sim asset library: 2,000+ rigid, articulated, deformable and liquid assets across seven categories, open and paid items combined.

Official entry point for the SimReady specification and validation tooling: requirements, features, profiles and validation, plus pre-validated sample content.

The SimScale public project library offers complete geometry, mesh, materials and boundary conditions, clonable in one click — cloud CAE cases that run as-is.

SU2 TestCases and tutorials include mesh, properties and full configuration with regression checks — LGPL, good for aerodynamics and heat transfer baselines.

TraceParts offers standard-part and supplier catalogue models at massive scale: clean geometry, often with material grades, but no mesh or load cases.

ROS-Industrial URDF and meshes for the UR family: full kinematic chains, joint limits and inertial data, BSD licensed, ready for simulation and real robots.