apply a global transform to PyKDL.Chain / KDL::Chain


I'm curious to know if there is a method to apply a global transform, described in a Frame to a KDL.Chain. My use case is where robots are defined in base coordinates ( eg where base joint and the 1st joint intersect ) and it would be great to be able to have the chain follow a global transformation.

Something like PyKDL.addDelta( PyKDL.Chain, PyKDL.Frame ) would be helpful in this sense. Is there a way to achieve this?