Expose mj_makeM as a sub-component.

PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626

python/mujoco/functions.cc

@@ -211,6 +211,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_tendon>(pymodule);
   Def<traits::mj_transmission>(pymodule);
   Def<traits::mj_crb>(pymodule);
+  Def<traits::mj_makeM>(pymodule);
   Def<traits::mj_factorM>(pymodule);
   DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM, "n")(
       pymodule,

python/mujoco/introspect/functions.py

@@ -1829,6 +1829,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Run composite rigid body inertia algorithm (CRB).',
      )),
+    ('mj_makeM',
+     FunctionDecl(
+         name='mj_makeM',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Make inertia matrix.',
+     )),
     ('mj_factorM',
      FunctionDecl(
          name='mj_factorM',