Skip to content

Add skybox rendering to the Batch Renderer#1308

Merged
thowell merged 3 commits into
google-deepmind:mainfrom
StafaH:skybox_texture
Apr 24, 2026
Merged

Add skybox rendering to the Batch Renderer#1308
thowell merged 3 commits into
google-deepmind:mainfrom
StafaH:skybox_texture

Conversation

@StafaH

@StafaH StafaH commented Apr 23, 2026

Copy link
Copy Markdown
Collaborator

Adds skybox rendering using the skybox texture loaded from the XML

Comment thread mujoco_warp/_src/render.py Outdated
sc = -rx
tc = -ry

s = (sc / ma + 1.0) * 0.5

Copy link
Copy Markdown
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

should we use safe division here and the line below?

Comment thread mujoco_warp/_src/render.py Outdated
t_min = 0.5 * face_width_inv
t = wp.clamp(t, t_min, 1.0 - t_min)

v = (float(face) + t) / 6.0

Copy link
Copy Markdown
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

/ 6.0 -> wp.static(1.0 / 6.0) *

@thowell

thowell commented Apr 23, 2026

Copy link
Copy Markdown
Collaborator

this is great! thanks @StafaH

@StafaH

StafaH commented Apr 24, 2026

Copy link
Copy Markdown
Collaborator Author

Done, thanks @thowell

@thowell thowell merged commit 1e05a2d into google-deepmind:main Apr 24, 2026
10 checks passed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet

Projects

None yet

Development

Successfully merging this pull request may close these issues.

2 participants