Base and tool transform along with dh_parameter of robot

[taranjitsinghdlr]

What if my base is transformed to say, 90 deg in Y direction adn so does homogenous transformation changes. How would I be able to add the base related geometry so that my dynamics would take care of the issue. Same with the tool transform

[taranjitsinghdlr]

I did the following:
T_base= sympy.Matrix([[0, 0, 1, 0], [1, 0, 0, 0], [1, 0, 0, 0], [0, 1, 0, 1]])
scara_geo.T[-1]= T_base*scara_geo.T[-1]

hope this is right and it helps