Add sensor matrices to mjd_transitionFD.

- Also add missing `mj_jacSubtreeCom` to Python bindings.

PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84

introspect/functions.py

@@ -6980,7 +6980,19 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
              ),
+             FunctionParameterDecl(
+                 name='C',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='D',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+             ),
          ),
-         doc='Finite differenced state-transition and control-transition matrices dx(t+h) = A*dx(t) + B*du(t).   required output matrix dimensions:      A: (2*nv+na x 2*nv+na)      B: (2*nv+na x nu)',  # pylint: disable=line-too-long
+         doc='Finite differenced transition matrices (control theory notation)   d(x_next) = A*dx + B*du   d(sensor) = C*dx + D*du   required output matrix dimensions:      A: (2*nv+na x 2*nv+na)      B: (2*nv+na x nu)      D: (nsensordata x 2*nv+na)      C: (nsensordata x nu)',  # pylint: disable=line-too-long
      )),
 ])