eden_dextoolbench

The twelve DexToolBench hand-tool meshes — two variants per tool category — packaged for Eden and consumed by eden.options.objects.dextoolbench.

<tool>/
  <tool>.obj                  visual mesh (+ material.mtl, material_0.png)
  <tool>.urdf                 upstream URDF — uses a PyBullet <inertial><density> tag
  <tool>_decomposed.urdf      explicit mass/inertia + CoACD convex collision parts
  <tool>_collision/           the convex decomposition

Category	Variants
brush	blue_brush, red_brush
eraser	flat_eraser, handle_eraser
hammer	claw_hammer, mallet_hammer
marker	sharpie_marker, staples_marker
screwdriver	long_screwdriver, short_screwdriver
spatula	flat_spatula, spoon_spatula

Load the _decomposed.urdf variant. Genesis' URDF parser cannot read the plain <tool>.urdf: it declares inertia via the PyBullet <inertial><density> extension with no explicit <mass>/<inertia>, which raises AttributeError: 'NoneType' object has no attribute 'attrib'.

Provenance

Assets originate from DexToolBench, obtained via tylerlum/simtoolreal ("SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation"). Files are verbatim copies of assets/urdf/dextoolbench/<category>/<tool>/ from that repository (which ships the convex decompositions and _decomposed.urdf files), flattened to <tool>/ here.

No licence file accompanied the upstream assets, so no licence is asserted here — refer to the upstream projects for terms, and treat this mirror as a convenience copy for reproducing the SimToolReal port rather than a licence grant.