code: def from_urdf_file(cls, urdf_file, base_elements=None, last_link_vector=None, base_element_type="link", active_links_mask=None, name="chain"):
          
          if base_elements is None:
              base_elements = ["base_link"]
  
          links = URDF_utils.get_urdf_parameters(urdf_file, base_elements=base_elements, last_link_vector=last_link_vector, base_element_type=base_element_type)
          # Add an origin link at the beginning
          return cls([link_lib.OriginLink()] + links, active_links_mask=active_links_mask, name=name)
docs: Creates a chain from an URDF file
  
          Parameters
          ----------
          urdf_file: str
              The path of the URDF file
          base_elements: list of strings
              List of the links beginning the chain
          last_link_vector: numpy.array
              Optional : The translation vector of the tip.
          name: str
              The name of the Chain
          base_element_type: str
          active_links_mask: list[bool]