Simscape Multibody initial condition

I like to use Simscape Multibody to simulate in 3 dimension a solid body subjected to external forces. How can I specify the initial condition for the solid? Thanks.

Answer 1

[Jason Chen]

Nicolas Schmit of Mathworks told me the following: Connect the solid to the world frame using a 6DOF joint, and specify the initial conditions in the 6DOF joint. Full credit goes to him.