Kinematic Chain and Component Composition: In order to capture the kinematic chain between hardware components
of a robot the transitive object property has Successor In Kinematic Chain can be used.
Examples for such successor relationships in kinematic chain are a hand being the successor of arm or a joint being the successor of link.
When using the URDF import module, an individual for each component is created and the successor relationships
are asserted in this way.
For example, in Fig. 2 each arrow corresponds to a hasSuccessorInKinematicChain assertion.
Due to the transitivity of property hasSuccessorInKinematicChain it is easy to obtain all successors of an arbitrary
component just by traversing the kinematic chain spanned by hasSuccessorInKinematicChain assertions.