Sim2Sim Height Scanner in mujoco

[codefunfun]

Hello,

Thanks to your help, I was able to easily train and deploy the G1 robot.
Additionally, I have been training the G1 robot in Isaac Lab by adding a Height Scanner as an observation.
I would now like to proceed with Sim2Sim transfer.
Could you please tell me how to add this Height scan to the policy's observation in Mujoco?

I tried to use this function in mujoco:

mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);

However, I failed.

Thank you.