The feature, motivation and pitch

The mjx.ray function is great to get depth images in MJX and it is used in the recently added rangefinder, but the handling of hfield geoms is currently not supported. To add this, one would need to port the mj_rayHfield function to mjx.

This feature would be highly appreciated to enable depth rendering in hfield environments / terrains for learning robot locomotion.

Alternatives

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Additional context

No response