All 3D Inventor KOP parts available on
www.autodesk.com/first are .ipt and .iam files for parts and assemblies native to Inventor. None of them are .stp files that I can see. Make sure you are a registered user on the FIRSTBASE site and you will have access to the files.
It gets a bit confusing because there are over 300 different download options and you really only need to down load the packages noted with the prefix "ALL".
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I have no idea how to open said files (preferably with autocad?)
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Are you saying you would prefer to open KOP parts in AutoCAD? Since AutoCAD is a 2D program, I suggest sticking with Inventor.
Inventor and AutoCAD are available for you to download once you are a registered user on FIRSTBASE