When working with StandardTetrahedralFEMForceField I can set the initial position of the nodes (the position of the nodes in time t=0), setting the attribute “position” of the corresponding MechanicalObject.
The rest position (that can be set in the attribute “rest_position” of the Mechanical Object) is the position where the volume won’t move, i.e. the position that the volume tends to take when it is displaced.