The answer will depend on what characteristic of the object is being measured: its mass, volume, surface area, colour, density etc.
All you need is a scale. you should use a scale that measures in grams.
A torsion balance, a.k.a. Cavendish balance.
graduated cylindergraduated cylinderSubmerge your solid in a liquid the liquid volume displaced is equal to your irregular solid volume.
L x W x H Lenght x Width x Hieght
If you have a ruler then you could measure the length width and height and then multiply them together. (LWH is the formula)
Density = Mass / Volume. There is not an instrument that will measure both so you will need to measure them separately and calculate the density.
This instrument is a balance.
A ruler no a better way is by dropping the cube in a liquid containg beaker displaced liquid will give you the volume
Any measure of length such as a ruler, yard stick, meter stick, tape measure, etc.
Precipitation is not an instrument, it is a weather phenomenon that refers to any form of water, liquid or solid, falling from the sky. Instruments used to measure precipitation include rain gauges for liquid precipitation and snow gauges for solid precipitation.
An instrument that measures heat and cold is called a thermometer.
Micrometers and calipers are the tools used in machine shops for measuring metal prior, during, and after machining.