[FEATURE] Collect depth mask on LOG event

[ncudlenco]

Is your feature request related to a problem? Please describe.
Depth masks provide additional context for scene analysis and are useful for research and downstream tasks. These should be collected on LOG events if possible.

Describe the solution you'd like
Automatically capture and save a depth mask when a LOG event is triggered.

Acceptance Criteria

• Depth mask is collected

Additional context
Should be implemented where supported by the simulation engine and hardware.