Set geom_matid as a jax.Array for visual domain randomization. #2329

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Job	Run time
ubuntu-22.04-gcc-12	13m 26s
ubuntu-22.04-gcc-11	12m 32s
ubuntu-22.04-gcc-10	12m 3s
ubuntu-22.04-gcc-9	11m 18s
ubuntu-22.04-clang-14	13m 13s
ubuntu-22.04-clang-13	13m 44s
ubuntu-20.04-clang-12	12m 56s
ubuntu-20.04-clang-11	13m 38s
ubuntu-20.04-clang-10	13m 55s
macos-12	11m 39s
windows-2022	14m 34s
	2h 22m 58s