Assuming the Relying Party Trust is a SAML2 Service Provider, the URL to perform an IDP initiated sign-in you can use the following URL:
https://<URL ADFS FARM>/adfs/ls/idpinitiatedsignon.aspx?LoginToRP=<RPT Identifier>
Where URL ADFS FARM is the result of this command:
(Get-ADFSProperties).HostName
And where RPT Identifier is one of the identifier of the relyin party trust you want:
Get-ADFSRelyingPartyTrust | Format-Table Name,Identifier