@classmethod
def from_rotation(cls, rotation, point=[0, 0, 0]):
    """Constructs a frame from a ``Rotation``.

        Parameters
        ----------
        rotation : :class:`Rotation`
            The rotation defines the orientation of the frame.
        point : list of float, optional
            The origin of the frame.
            Defaults to [0, 0, 0].

        Returns
        -------
        :class:`compas.geometry.Frame`
            The constructed frame.

        Examples
        --------
        >>> from compas.geometry import Rotation
        >>> f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
        >>> R = Rotation.from_frame(f1)
        >>> f2 = Frame.from_rotation(R, point=f1.point)
        >>> f1 == f2
        True
        """
    xaxis, yaxis = rotation.basis_vectors
    return cls(point, xaxis, yaxis)
