<?xml version="1.0"?>
<robot name="mock_robot">

  <!-- Base Link -->
  <link name="base_link"/>

  <!-- Link 1 -->
  <link name="link1"/>

  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="10.0" velocity="1.0" lower="-3.14" upper="3.14"/>
  </joint>

  <!-- Link 2 -->
  <link name="link2"/>

  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0.5 0 0" rpy="0 0 0"/> <!-- 0.5m offset -->
    <axis xyz="0 0 1"/>
    <limit effort="10.0" velocity="1.0" lower="-3.14" upper="3.14"/>
  </joint>

  <!-- Tool endpoint -->
  <link name="tool0"/>

  <joint name="tool0_fixed_joint" type="fixed">
    <parent link="link2"/>
    <child link="tool0"/>
    <origin xyz="0.3 0 0" rpy="0 0 0"/> <!-- TCP 0.3m from joint2 -->
  </joint>

</robot>
