Hi,
Yes, it exists, its the action "AnimatorPlay", where you set the normalized time of the state you want to play, that's the only way I know this can be done ( a Unity API restriction).
but be careful, it's not reliable if your state has no transition, we heavily suffered last week on this because we wanted the animator state to "freeze" at the last frame of a state without transition, and it proved impossible, or else the technic isn't detailed anywhere.
Bye,
Jean