[wpilib] Add mechanism specific SetState overloads to physics sims (#5534)

wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h

@@ -64,6 +64,17 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
                       units::radian_t startingAngle,
                       const std::array<double, 1>& measurementStdDevs = {0.0});
 
+  using LinearSystemSim::SetState;
+
+  /**
+   * Sets the arm's state. The new angle will be limited between the minimum and
+   * maximum allowed limits.
+   *
+   * @param angle The new angle.
+   * @param velocity The new angular velocity.
+   */
+  void SetState(units::radian_t angle, units::radians_per_second_t velocity);
+
   /**
    * Returns whether the arm would hit the lower limit.
    *