---
license: other
license_name: see-upstream
tags:
  - robotics
  - manipulation
  - eden
---

# eden_dextoolbench

The twelve DexToolBench hand-tool meshes — two variants per tool category — packaged for
[Eden](https://github.com/Kashu7100/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](https://github.com/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.