Consecutive tasks for one robot

I am trying to add consecutive tasks for one robot (say, first Pick and place, and then Follow target), and I’m trying to understand the logic of how do I initialize the second task correctly? The “set_up_scene” function wants to add a manipulator (but I already have one from the first task). And secondly, the target prim in Follow_target used to generate by itself in the standalone example, and here it looks like I have to initialize it manually?
Please anyone describe this to me.