Use Nucleus path for MPM teapot asset

Author: maxkra15

scripts/demos/newton_cup_pour_mpm.py

@@ -132,9 +132,7 @@
 CUP_ASSET_PATH = f"{CUP_BODY_PATH}/Asset"
 GROUND_PATH = "/World/Ground"
 VISUALS_PATH = "/World/Visuals"
-TEAPOT_USD_PATH = (
-    "/home/maximiliank/Work/IsaacLab/source/isaaclab_assets/isaaclab_assets/rand/teapot_hollow_separate_lid.usdc"
-)
+TEAPOT_USD_REL_PATH = "Mimic/nut_pour_task/nut_pour_assets/teapot_hollow_separate_lid.usdc"
 
 TABLE_TOP_Z = 0.85
 TABLE_HALF_EXTENTS = (0.85, 0.55, 0.03)
@@ -248,14 +246,18 @@ def cup_pose_at_time(sim_time: float) -> tuple[np.ndarray, np.ndarray, np.ndarra
 
 
 def get_teapot_usd_path() -> str:
-    """Return the local hollow teapot USD asset path."""
+    """Return a local path for the hollow teapot USD asset."""
+
+    from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
-    usd_path = os.path.abspath(args_cli.teapot_usd or TEAPOT_USD_PATH)
-    if not os.path.exists(usd_path):
+    usd_path = args_cli.teapot_usd or f"{ISAACLAB_NUCLEUS_DIR}/{TEAPOT_USD_REL_PATH}"
+    try:
+        return retrieve_file_path(usd_path)
+    except FileNotFoundError as exc:
         raise FileNotFoundError(
-            f"Teapot USD not found: {usd_path}. Pass --teapot-usd with the local hollow teapot asset path."
-        )
-    return usd_path
+            f"Teapot USD not found: {usd_path}. Upload the hollow teapot asset to the IsaacLab Nucleus path "
+            "or pass --teapot-usd with a local/Nucleus asset path."
+        ) from exc
 
 
 def _prune_mesh_to_largest_connected_component(mesh_prim) -> bool: