text: import numpy as np
  
  class World_Component:
  	parent = None
  	def set_parent_matrix(self, par_matrix):
  		pass
  
  	
  class Mounted_Component(World_Component):
  	def set_parent(self, parent = None):
  		if isinstance(parent, Hanger_Component):
  			self.parent = parent 
  		if isinstance(self.parent, Hanger_Component):
  			self.set_parent_matrix(self.parent.resMatrix)
  	
  
  class Hanger_Component(Mounted_Component):
  	resMatrix = np.eye(4)
  	
  	
  