Dynamic environment settings

[DannyChen1994]

I'm attempting the task of humanoid robot grasping. During the process, I would like to set the distance between the robot and the target to be dynamic. There are two ways to accomplish this, one is to set the environment into regular motion, such as moving a table where cubes are placed. The other way is to modify the base of the robot to be in motion.

In which function in task.py can I modify this? Which api function should be used to achieve this.

Best regards,
Danny