Add functions for setting an mjsActuator to a specific shortcut type.

PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d

include/mujoco/mujoco.h

@@ -1501,6 +1501,38 @@ MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
 MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
 
 
+//---------------------------------- Set actuator parameters ---------------------------------------
+
+// Set actuator to motor, return error if any.
+MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
+
+// Set actuator to position, return error if any.
+MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
+                                    double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to integrated velocity, return error if any.
+MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
+                                       double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to velocity servo, return error if any.
+MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
+
+// Set actuator to activate damper, return error if any.
+MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
+
+// Set actuator to hydraulic or pneumatic cylinder, return error if any.
+MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
+                                    double bias, double area, double diameter);
+
+// Set actuator to muscle, return error if any.a
+MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
+                                  double range[2], double force, double scale, double lmin,
+                                  double lmax, double vmax, double fpmax, double fvmax);
+
+// Set actuator to active adhesion, return error if any.
+MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
+
+
 //---------------------------------- Assets --------------------------------------------------------
 
 // Add mesh.