code: def find_next_link(root, current_joint, next_link_name):
      
      has_next = False
      next_link = None
  
      # If no next link, find it automatically
      if next_link_name is None:
          # If the name of the next link is not provided, find it
          next_link_name = current_joint.find("child").attrib["link"]
  
      for urdf_link in root.iter("link"):
          if urdf_link.attrib["name"] == next_link_name:
              next_link = urdf_link
              has_next = True
      return has_next, next_link
docs: Find the next link in the URDF tree
  
      Parameters
      ----------
      root
      current_joint: xml.etree.ElementTree
          The current URDF joint
      next_link_name: str
          Optional : The name of the next link. If not provided, find it automatically as the first child of the joint.