How to Set Initial Conditions for a Mechanical Object

[MONArfi]

Hello,
I am currently working on a simulation project and I am facing a challenge regarding the initial conditions of a mechanical object. Specifically, I would like to load a mechanical object with a predefined initial angle (X degrees) for the tip point.

I would greatly appreciate it if you could provide insights or suggestions on how to set the initial condition of the mechanical object from the beginning for the tip point of a soft robot like a soft trunk.

Thank you in advance for your assistance.