How to modify the fixed joint position using pybullet API

[Wraythh]

Hi, I'm very new to pybullet. So please forgive me for my simple question.
I want to modify the 'origin xyz' term of a fixed joint in my urdf file, like this
<joint name="l_hip_g" type="fixed"> <origin xyz="0 0.035 0" rpy="0 0 0" /> <parent link="body_link" /> <child link="l_hip_g_link" /> <axis xyz="0 0 0" /> </joint>
I wanna know which API can I use to achieve this during the program is running.
I notice that the pybullet_utils has the urdfEditor.py. But it's kind of complicated to create a lot of urdf files.
So if anyone knows how to achieve this, please let me know. Thank you !