def from_urdf_file(cls, urdf_file, base_elements=None, last_link_vector=None, base_element_type="link", active_links_mask=None, name="chain"):
        """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]
        """
        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)
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]