Yes, there is a way
The following would place the skill "Attack" on the first action bar slot
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Source code
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1
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/run DragSkillButton(1,1) PickupAction(1)
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You can extend this to clear the cursor afterwards like this:
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Source code
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1
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/run DragSkillButton(1,1) PickupAction(1) if CursorHasItem() then DeleteCursorItem() end
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WARNING: if you would replace PickupAction in the example with another function so that there's a
real item on the cursor the item will get deleted without warning! So be aware with functions like PickupBagItem, PickupBankItem or PickupEquipItem!