I notice even though setting the /origin xyz=“0 0 0” rpy=“0 0 0”/ for the visual part of any link, the link will shift to the desired position by specifying the correct origin position in the part with respect to the parent link.
So I wonder if it is true that we can set any link with /origin xyz=“0 0 0” rpy=“0 0 0”/, as long as we know the position and orientation of the child link with respect to the parent link.