Verify that body_parentid and similar properties always go up the kinematic chain.
Verify that body_parentid and similar properties always go up the kinematic chain.

PiperOrigin-RevId: 467063831
Change-Id: I591c6a6f78178e9c2196cc94d7e622eba93d8191

deepmind/mujoco,deepmind/mujoco,deepmind/mujoco,deepmind/mujoco,deepmind/mujoco