[Changing] Use ref=link_com #2159
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YilingQiao
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Description
This is more intuitive for most of the applications (like RL). Link_origin is not a real physical stuff can be confusing.
For example, link_origin can move very fast (especially when link_origin is far away from the physical link) while the actual physics link is not moving too much.
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
Screenshots (if appropriate):
Checklist:
Submitting Code Changessection of CONTRIBUTING document.