MATLAB File Help: HebiKinematics/setBaseFrame
  setBaseFrame sets the relationship between the world and the
  first body in the kinematic configuration.
    This method expects a 4x4 homogeneous transform that 
    describes the relationship between the world frame and the 
    frame of the first body. All kinematics are expressed in 
    the world frame.  Units of XYZ translation are in [m].
      % Shift the base frame of the kinematics by .5 meters 
      % in the +x direction.
      newBaseFrame = eye(4);
      newBaseFrame(1:3,4) = [.5; 0; 0];
      setBaseFrame( newBaseFrame );
See also
Method Details
Access public
Sealed false
Static false