diff --git a/protomotions/simulator/newton/simulator.py b/protomotions/simulator/newton/simulator.py
index 1077048ea..6ca5d49cf 100644
--- a/protomotions/simulator/newton/simulator.py
+++ b/protomotions/simulator/newton/simulator.py
@@ -367,7 +367,7 @@ def _setup_robot(self) -> None:
         self.robot_view = ArticulationView(
             self.model,
             pattern="robot",
-            include_joints=self._newton_dof_names.keys(),
+            include_joints=list(self._newton_dof_names.keys()),
             include_links=self._body_names,
         )
 
diff --git a/protomotions/tests/test_newton_python3_compat.py b/protomotions/tests/test_newton_python3_compat.py
new file mode 100644
index 000000000..cab4b8005
--- /dev/null
+++ b/protomotions/tests/test_newton_python3_compat.py
@@ -0,0 +1,29 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+import ast
+from pathlib import Path
+
+
+NEWTON_SIMULATOR = (
+    Path(__file__).resolve().parents[1] / "simulator" / "newton" / "simulator.py"
+)
+
+
+def test_newton_articulation_view_receives_joint_name_sequence():
+    tree = ast.parse(NEWTON_SIMULATOR.read_text(), filename=str(NEWTON_SIMULATOR))
+    include_joints_values = [
+        keyword.value
+        for node in ast.walk(tree)
+        if isinstance(node, ast.Call)
+        and isinstance(node.func, ast.Name)
+        and node.func.id == "ArticulationView"
+        for keyword in node.keywords
+        if keyword.arg == "include_joints"
+    ]
+
+    assert len(include_joints_values) == 1
+    value = include_joints_values[0]
+    assert isinstance(value, ast.Call)
+    assert isinstance(value.func, ast.Name)
+    assert value.func.id == "list"
diff --git a/protomotions/train_agent.py b/protomotions/train_agent.py
index 0eca32d9c..b091dd063 100644
--- a/protomotions/train_agent.py
+++ b/protomotions/train_agent.py
@@ -290,6 +290,10 @@ def create_parser():
 
 # Parse arguments first (argparse is safe, doesn't import torch)
 import argparse  # noqa: E402
+import faulthandler  # noqa: E402
+
+faulthandler.enable()
+
 from protomotions.utils.cli_utils import parse_bool  # noqa: E402
 
 parser = create_parser()
@@ -304,6 +308,9 @@ def create_parser():
 # Now safe to import everything else including torch
 from pathlib import Path  # noqa: E402
 import logging  # noqa: E402
+
+logging.basicConfig(level=logging.INFO, format="%(levelname)s:%(name)s: %(message)s")
+
 from protomotions.utils.hydra_replacement import get_class  # noqa: E402
 import importlib.util  # noqa: E402
 import shutil  # noqa: E402