def _determine_base_link(self):
        """Get the base link of the URDF tree by extracting all links without parents.
        In case multiple links could be root chose the first.

        Returns:
            str: Name of the base link.
        """
        link_names = [l.name for l in self.robot.links]

        for j in self.robot.joints:
            link_names.remove(j.child)

        if len(link_names) == 0:
            # raise Error?
            return None

        return link_names[0]
Get the base link of the URDF tree by extracting all links without parents.
        In case multiple links could be root chose the first.

        Returns:
            str: Name of the base link.
        
deploy/teleop/robot_control/dex_retargeting/yourdfpy.py