How to read the vehicle CG coordinates from external file and change the vehicle coordinates accordingly in a simulation?

I want to run a simulation in carla environment, but instead of manual control or automatic control, I want to change the degree of freedom at vehicle CG at each time stamp based on the data read from an external file. I can use 'get_transform' to get a vehicle's CG coordinates but I want to modify them at each world.tick(). How can I do that?