dm_control: Import of refs/pull/492/head

PiperOrigin-RevId: 668504806
Change-Id: Iaa8e3b94fe2c8b379b67b0f2ed1b29764a937554

Author: kevinzakka

dm_control/mjcf/schema.xml

@@ -2625,35 +2625,35 @@
             <attribute name="name" type="identifier"/>
             <attribute name="noise" type="float"/>
             <attribute name="user" type="array" array_type="float"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
-            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="cutoff" type="float" required="true"/>
+            <attribute name="geom1" type="reference" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" reference_namespace="body"/>
+            <attribute name="body2" type="reference" reference_namespace="body"/>
           </attributes>
         </element>
         <element name="normal" repeated="true" namespace="sensor">
           <attributes>
             <attribute name="name" type="identifier"/>
             <attribute name="noise" type="float"/>
             <attribute name="user" type="array" array_type="float"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
-            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="cutoff" type="float" required="true"/>
+            <attribute name="geom1" type="reference" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" reference_namespace="body"/>
+            <attribute name="body2" type="reference" reference_namespace="body"/>
           </attributes>
         </element>
         <element name="distance" repeated="true" namespace="sensor">
           <attributes>
             <attribute name="name" type="identifier"/>
             <attribute name="noise" type="float"/>
             <attribute name="user" type="array" array_type="float"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
-            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="cutoff" type="float" required="true"/>
+            <attribute name="geom1" type="reference" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" reference_namespace="body"/>
+            <attribute name="body2" type="reference" reference_namespace="body"/>
           </attributes>
         </element>
       </children>

dm_control/mjcf/test_assets/robot_arm.xml

@@ -141,6 +141,8 @@
     <torque name="wristtorque" site='wristsite'/>
     <force name="baseforce" site='basesite'/>
     <torque name="basetorque" site='basesite'/>
+    <distance body1="b_finger_3" body2="b_finger_2" cutoff="0.1"/>
+    <distance geom1="finger_knuckle_3" geom2="finger_knuckle_2" cutoff="0.1"/>
   </sensor>
 
   <actuator>