<?xml version="1.0"?>
<robot name="painting_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="0.5" lower="-1.57" upper="1"/>
  </joint>

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

  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0.4 0 0" rpy="0 0 0"/> <!-- 400.00mm from base -->
    <axis xyz="0 0 1"/>
    <limit effort="10.0" velocity="0.5" lower="0.02" upper="2.8"/>
  </joint>

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

  <joint name="tool0_fixed_joint" type="fixed">
    <parent link="link2"/>
    <child link="tool0"/>
    <origin xyz="0.25025 0 0" rpy="0 0 0"/> <!-- TCP 250.25mm from joint2 -->
  </joint>

</robot>
