Hi H,
The Rigid Transform block always operates relative to the base frame. If you have a parameterization that is relative to the global frame, you need to apply two transforms: one to transform the base frame orientation to be aligned with the World Frame, and then apply a transform to create the new frame using the offset expressed in the World Frame.
This is probably easiest to understand if you use two Rigid Transform blocks. One to reorient Base -> World, and then a second one to translate to the desired location. If the orientation of the Base frame was important to retain, you would need to apply a third transform to orient the Follower frame to match the original Base frame.
This requirement is common in vehicle suspensions, where the hardpoint locations throughout the set of linkages are all relative to a single reference frame. I usually use mask initializations to handle all the orientation changes. You can see a rather elaborate example in the Simscape Vehicle Templates.
Thanks,
--Steve
