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[BUG FIX] update RigidEntity.get_link() as id no longer exists in RigidLink #477

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ziyanx02 wants to merge 2 commits into Genesis-Embodied-AI:main from ziyanx02:main

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[BUG FIX] update RigidEntity.get_link() as id no longer exists in RigidLink #477

update get_joint

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