Code to put in actor class to rotate a certain bone

I am trying to write code that will rotate certain bones of a vertical robot arm around either the y or z axis. This code will create variables that will be added to an animation blueprint. The only problem is, I’m not knowledgeable enough in Unreal and even C++ to know how to write the code that will have that functionality. Does anyone have any sample code to put in the actor class about how I could rotate certain bones like that?

with USkeletalMeshComponent, you can use Transform(Modify) Bone in blueprint.

with UPoseableMeshComponent, you can use GetBoneNames()and SetBoneRotationByName() in C++.