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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 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)