Add teapot asset for Newton MPM demo

Author: maxkra15

.gitattributes

@@ -1,5 +1,6 @@
 *.usd filter=lfs diff=lfs merge=lfs -text
 *.usda filter=lfs diff=lfs merge=lfs -text
+*.usdc filter=lfs diff=lfs merge=lfs -text
 *.psd filter=lfs diff=lfs merge=lfs -text
 *.hdr filter=lfs diff=lfs merge=lfs -text
 *.dae filter=lfs diff=lfs merge=lfs -text

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 = "Props/Teapot/teapot_hollow_separate_lid.usdc"
 
 TABLE_TOP_Z = 0.85
 TABLE_HALF_EXTENTS = (0.85, 0.55, 0.03)
@@ -250,7 +248,12 @@ 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."""
 
-    usd_path = os.path.abspath(args_cli.teapot_usd or TEAPOT_USD_PATH)
+    if args_cli.teapot_usd is not None:
+        usd_path = os.path.abspath(args_cli.teapot_usd)
+    else:
+        from isaaclab_assets import ISAACLAB_ASSETS_DATA_DIR
+
+        usd_path = os.path.join(ISAACLAB_ASSETS_DATA_DIR, TEAPOT_USD_REL_PATH)
     if not os.path.exists(usd_path):
         raise FileNotFoundError(
             f"Teapot USD not found: {usd_path}. Pass --teapot-usd with the local hollow teapot asset path."

source/isaaclab_assets/changelog.d/max-newton-mpm-manager.rst

@@ -0,0 +1,4 @@
+Added
+^^^^^
+
+* Added a hollow teapot USD asset for the Newton MPM teapot-pour demo.

source/isaaclab_assets/data/Props/Teapot/teapot_hollow_separate_lid.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579c73e0e3a82976d7e8f99044bf4e1f322349448b051c10241c852157af3997
+size 3156287