Update to new newton modelbuilder and experimental coupled solvers

[mmichelis]

Description

This pull request primarily refactors the codebase to update all references to experimental coupled solvers in the Newton physics engine, reflecting a recent renaming and reorganization of these classes and their import paths. Additionally, it standardizes the use of the xform parameter for shape transformations in shape-adding methods, replacing the previous use of separate pos and rot parameters. These changes improve code clarity, maintainability, and compatibility with upstream updates.

Key changes include:

Refactoring for Newton Coupled Solver Renaming and Import Path Updates

• Updated all imports and references from SolverProxyCoupled, SolverAdmmCoupled, and their related configs to the new names SolverCoupledProxy, SolverCoupledAdmm, and updated their import paths from newton.solvers.coupled_experimental to newton.solvers.experimental.coupled throughout the codebase. [1] [2] [3]
• Updated configuration docstrings and type annotations to refer to the new solver class names. [1] [2]
• Refactored all instantiations and method calls to use the new class names, including in factory methods and test cases. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12]

Shape Transformation API Standardization

• Replaced usage of separate pos and rot arguments with a single xform argument (representing the full transformation) in all shape-adding methods in coupled_builder.py and simulation.py. This affects spheres, boxes, capsules, and mesh shapes, ensuring consistent and modern API usage. [1] [2] [3] [4] [5]

These updates ensure the codebase remains compatible with the latest Newton solver APIs and improve the maintainability and readability of shape construction logic.

[coderabbitai]

Important

Review skipped

Auto reviews are disabled on base/target branches other than the default branch.

Please check the settings in the CodeRabbit UI or the .coderabbit.yaml file in this repository. To trigger a single review, invoke the @coderabbitai review command.

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro

Run ID: c13b7a78-666b-4579-a1bd-82de55863b93

You can disable this status message by setting the reviews.review_status to false in the CodeRabbit configuration file.

Use the checkbox below for a quick retry:

• 🔍 Trigger review

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests

---

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

_{Comment @coderabbitai help to get the list of available commands and usage tips.}