fix: Newton up_axis string→Axis enum, add warp-lang to [isaac], platform-gate usd-core#50
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…orm-gate usd-core Port three GPU-blocker fixes from GPU test campaign (cagataycali/strands-gtc-nvidia#290): 1. Newton up_axis bug (BLOCKER): create_world() was setting up_axis on ModelBuilder as a string via attribute assignment, but Newton's up_vector property calls .to_vector() which requires an Axis enum. Fix: pass up_axis to ModelBuilder constructor (handles conversion). Applied to create_world(), _recreate_builder(), and replicate(). 2. Missing warp-lang in [isaac] extras: IsaacSimBackend.create_world() fails with 'No module named warp' without it. 3. usd-core aarch64 gating: no aarch64 wheels exist, blocking install on Jetson Thor. Added platform_machine marker. Tested: 73/73 tests pass.
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Mar 22, 2026
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Summary
Ports three GPU-blocker fixes validated in the GPU test campaign (cagataycali/strands-gtc-nvidia#290, 4 test campaigns across Thor sm_110 + Isaac Sim EC2 L40S).
PR #49 was closed because it targeted the pre-refactor file structure. This PR applies the same fixes to the current
devbranch (post-Newton backend split in #38).1. Newton
up_axisbug (BLOCKER)create_world()setsup_axisonModelBuilderas a string via attribute assignment. Newton'sup_vectorproperty then calls.to_vector()on that string →AttributeError: 'str' object has no attribute 'to_vector'.Fix: Pass
up_axisto theModelBuilderconstructor, which handles string→Axisenum conversion internally. Applied to:create_world()— primary builder creation_recreate_builder()— builder reset after failed loadsreplicate()— propagateup_axisto replicated builderThis unblocks all Newton stepping, robot loading, diffsim, sensors, and dual solver.
2. Missing
warp-langin[isaac]extrasIsaacSimBackend.create_world()fails withRuntimeError: Isaac Lab not available: No module named 'warp'. Addedwarp-lang>=1.0.0to the[isaac]extras.3.
usd-coreaarch64 platform gatingusd-corehas no aarch64 wheels, blockingpip install -e '.[isaac]'on Jetson Thor. Added:platform_machine != 'aarch64'.Testing
Changes
strands_robots/newton/newton_backend.py— 3 locations: passup_axistoModelBuilder()constructorpyproject.toml— addwarp-lang>=1.0.0to[isaac], platform-gateusd-core🤖 AI agent response. Strands Agents. Feedback welcome!