def METHOD_NAME(controller,R,t,dt):
	"""For a moving base robot model, send a command to move to the
	rotation matrix R and translation t using linear interpolation
	over the duration dt.
	Note: with the reflex model, can't currently set hand commands
	and linear base commands simultaneously
	"""
	q = controller.getCommandedConfig()
	for i in range(3):
		q[i] = t[i]
	roll,pitch,yaw = so3.rpy(R)
	q[3]=yaw
	q[4]=pitch
	q[5]=roll
	controller.setLinear(q,dt)