# How to get joint coordinates of each joint?

**URL:** <https://forum.universal-robots.com/t/how-to-get-joint-coordinates-of-each-joint/14942>\
**Category:** Technical Questions\
**Created:** [June 17, 2021, 4:11am UTC](https://forum.universal-robots.com/t/how-to-get-joint-coordinates-of-each-joint/14942 "2021-06-17T04:11:01Z")\
**Posts on this page:** 1\
**Showing post:** 3

<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [June 17, 2021, 9:19am UTC](https://forum.universal-robots.com/t/how-to-get-joint-coordinates-of-each-joint/14942/3 "2021-06-17T09:19:33Z")

</div>

Hi @engineer,

Welcome to the UR community!

they are not directly accessible, the content of the configuration files, described [here](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745)

> [@Moment of inertia UR3 UR5 UR10](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745):
>
> I am building a robot mobility platform and I need to understand the maximum moment of inertia for all three robots. I thought I would ask here first and if the information is unavailable, then I will calculate and hope that my calculations are correct. Thanks, Jerry Stokely

Will provide you with the information to make the forward kinematic calculations.

Can you elaborate on your use case?

Best regards  
Ebbe

---

_[View the full topic](https://forum.universal-robots.com/t/how-to-get-joint-coordinates-of-each-joint/14942)._