testspeed: fix _NCONMAX info#965
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erikfrey
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Jan 5, 2026
* Add ray with normal (#940) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Ray normal fixes (#960) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Small fixes * Ruff format * Simplify assert for vec3 * Add comment and adjust docstring * Fix bugs in ray hfield impl (#967) * clamp pair_friction with minmu (#969) * add --kernel_cache_dir pytest flag for warp kernel cache (#968) * fix _NCONMAX info (#965) * reuse xnorm (#959) * Expose rays through the public API. (#975) --------- Co-authored-by: Taylor Howell <taylorhowell@google.com> Co-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com>
erikfrey
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Feb 6, 2026
* Render (#836) * Integrate madrona_warp into mjwarp * Fix bug for <8 views * Move mesh construction to SAH, tile pixels * Change to registry to pass jax io test * Remove dist from bvh_query_ray * Add render context * Update testspeed * Add render context registry wrapper * Fix circular import * fix ray box and ambient lighting * Cleanup rc options in kernel * Small fix to static nlight * ray capsule fix * Fix testspeed merge artifact * Cleanup before PR into mjwarp * Remove global fovy, use cam 0 values * Cleanup bvh/render/ray * Fix capsule calc comment * Cleanup docstrings * Cleanup testspeed for render * Fix bug when no texid is set * Render hetero (#873) * Integrate madrona_warp into mjwarp * Fix bug for <8 views * Move mesh construction to SAH, tile pixels * Change to registry to pass jax io test * Remove dist from bvh_query_ray * Add render context * Update testspeed * Add render context registry wrapper * Fix circular import * fix ray box and ambient lighting * Cleanup rc options in kernel * Small fix to static nlight * ray capsule fix * Fix testspeed merge artifact * Cleanup before PR into mjwarp * Remove global fovy, use cam 0 values * Cleanup bvh/render/ray * Fix capsule calc comment * Cleanup docstrings * Cleanup testspeed for render * Fix bug when no texid is set * hetero camera support * Add heightfield support * Add flex mesh building * Add correct flex 2d mesh building * Fixes for downstream use * Rename output buffers to match mujoco style * Add flex support, improve render script * Add selective camera rendering support via cam_active parameter * Fix render output reading, fix bg color * Add more optimzed hfield mesh building * Add visual franka benchmark, fix merge artifacts * Add 3d flex rendering support * Add ellipsoid and cylinder primitives * Cleanup flex 2d and 3d rendering * Cleanup of bvh code * Fix 2d flex side triangle update * More cleanup for PR * More cleanup of naming, paranthesis, casts * Add correct frustrum calculation for rays * Ruff check * Fix naming, add todo * Update kernel arguments using analyzer * Remove comment * Remove visual assets * Add back camera * Remove stray 1, dim --------- Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com> * Render merge ray normal (#979) * Add ray with normal (#940) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Ray normal fixes (#960) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Small fixes * Ruff format * Simplify assert for vec3 * Add comment and adjust docstring * Fix bugs in ray hfield impl (#967) * Merge main into render branch (#980) * Add ray with normal (#940) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Ray normal fixes (#960) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Small fixes * Ruff format * Simplify assert for vec3 * Add comment and adjust docstring * Fix bugs in ray hfield impl (#967) * clamp pair_friction with minmu (#969) * add --kernel_cache_dir pytest flag for warp kernel cache (#968) * fix _NCONMAX info (#965) * reuse xnorm (#959) * Expose rays through the public API. (#975) --------- Co-authored-by: Taylor Howell <taylorhowell@google.com> Co-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com> * Fix render aspect ratio bug (#1002) * Update to new cam proj field * Fix frustrum aspect ratio * Render tests and cleanup (#1021) * ruff * Move render script to contrib * Add render tests * Move create render context into io.py * Cleanup bvh test, ruff * cleanup render_context_test * More cleanup * Render Cleanup 2 (#1037) * Update context to read from new mujoco fields * Add anyhit ray mesh query for fast shadows * Cleanup tests, msgs, comments * Render Cleanup 3 (#1063) * Fix naming, move mesh bvh build to bvh module * Add batched cam intrinsic for randomization * Fix indexing in render context * ruff * Render Cleanup 4 (#1064) * Fix failing tests with new batched cam fields * Move hfield bvh build to bvh module * Fix docstring * Render Cleanup 5 (#1075) * Fix flex rendering for multiple flex * Add flex bvh test * Render Cleanup - Textures (#1080) * Add cuda texture sampling * Fix textures and mesh sample, cleanup * ruff * Clean up texture processing kernel * Fix flipped texture uv * Remove nested texture kernel * Render Cleanup - Ray (#1081) * Add bvh accelerated ray * Move ray_bvh into ray * Remove ray_bvh_test and merge with ray_test * Use absolute import * Cleanup public API for render/bvh * Render Cleanup - types and io (#1103) * Move RenderContext to types * Cleanup flex fields and refit kernel * Use array in render context type * Fix all render related tests after refactor * Move packing to render util * Cleanup render file * Cleanup based on pr comments * Fix error with rc init * Fix flex render error (#1108) * Update _render_megakernel decorator (#1109) * Fix error for downstream mjlab * Fix ray none check * Change nested kernel to wp.kernel * Remove TODO * Revert uv.lock * Post merge cleanup and fixes * Add guards for bleeding edge features * Fix guards for mjtProjection * Fix failing test, post merge artifact * Fix failing tests for ray/render * Add more guards for mujoco < 3.4.1 * Ruff * Disable flex cpu test, fix leading dim * Add newline --------- Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com> Co-authored-by: Taylor Howell <taylorhowell@google.com> Co-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com>
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