The coordinate of the physical end points of each link

[ommmid]

The joint frame from urdf is not necessarily located at the end of parent link, so its information does not give the coordinate of the end point of the link. I am looking for a relative transformation between the physical end points of each link. I mean the start and end points where link get connected to other links and the physical joints exist. This information does not seem to be extractable from urdf::ModelInterface. I understand I can get these info from the CAD files like *.dae but is there anyways to have access to this geometry info of each link through urdf?