What are judo mats made from?

i am thinking of between 100-300 years ago because judo was founded when the samurai's had wars.

The mats used in judo are called Tatami. Tatamis are traditionally 0.9x1.8m, and made of rice straws. Today, the tatamis are usually either 1x1, 1x1.5 or 1x2m, and made of compressed foam.

Judo matts are at least 2 inches thick

There are various colors but I am aware that Green on the outside and Yellow on the inside is traditional.

Normally a low density Polyurethane (foam) covered in vinyl.