Add insidesite sensor for detecting when an object is inside the volume of a site.

PiperOrigin-RevId: 780993257
Change-Id: Ie6eaa1cc2dc7734f154c55499ff6b918cd89ef00

Author: yuvaltassa

dm_control/mjcf/schema.xml

@@ -2573,6 +2573,17 @@
             <attribute name="body" type="reference" required="true"/>
           </attributes>
         </element>
+        <element name="insidesite" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="cutoff" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="site" type="reference" required="true"/>
+            <attribute name="objtype" type="keyword" required="true" valid_values="body xbody geom site camera"/>
+            <attribute name="objname" type="reference" required="true" reference_namespace="attrib:objtype"/>
+          </attributes>
+        </element>
         <element name="user" repeated="true" namespace="sensor">
           <attributes>
             <attribute name="name" type="identifier"/>