Enable distance sensing with SDF geoms

[dyackzan]

Resolves #2216

[google-cla]

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[yuvaltassa]

Thanks!

Can you do the CLA thing please? 🙏

[dyackzan]

Oh I thought I took care of it, is there something more I need to do? I see "✅ All contributors are covered under a CLA with Google" in the check output now: https://github.com/google-deepmind/mujoco/pull/2218/checks