Add access to AABB

source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp

 #include "ObjectFinder.h"
 
 #include <SimoxUtility/filesystem/list_directory.h>
+#include <SimoxUtility/json.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -207,6 +209,21 @@ namespace armarx
         return file(".obj");
     }
 
+    PackageFileLocation ObjectInfo::boundingBoxJson() const
+    {
+        return file(".json", "_bb");
+    }
+
+    simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
+    {
+        nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+        nlohmann::json jaabb = j.at("aabb");
+        auto min = jaabb.at("min").get<Eigen::Vector3f>();
+        auto max = jaabb.at("max").get<Eigen::Vector3f>();
+
+        return simox::AxisAlignedBoundingBox(min, max);
+    }
+
     bool ObjectInfo::checkPaths() const
     {
         namespace fs = std::filesystem;

source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h

@@ -4,6 +4,10 @@
 
 #include <ArmarXCore/core/logging/Logging.h>
 
+namespace simox
+{
+    struct AxisAlignedBoundingBox;
+}
 
 namespace armarx
 {
@@ -82,6 +86,11 @@ namespace armarx
         PackageFileLocation simoxXML() const;
         PackageFileLocation wavefrontObj() const;
 
+        PackageFileLocation boundingBoxJson() const;
+
+        simox::AxisAlignedBoundingBox aabb() const;
+
+
         /**
          * @brief Checks the existence of expected files.
          * If a file is does not exist, emits a warning returns false.