diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
index 8c70a93aac07dae51aa5b82014038e009f2a8cd1..348a5b25419813a22717f71c92d0c3484042361c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -25,6 +25,11 @@ namespace armarx
     {
     }
 
+    void ObjectInfo::setLogError(bool enabled)
+    {
+        this->_logError = enabled;
+    }
+
     std::string ObjectInfo::package() const
     {
         return _packageName;
@@ -100,7 +105,10 @@ namespace armarx
         }
         catch (const std::exception& e)
         {
-            ARMARX_ERROR << e.what();
+            if (_logError)
+            {
+                ARMARX_ERROR << e.what();
+            }
             return std::nullopt;
         }
 
@@ -113,10 +121,10 @@ namespace armarx
         simox::AxisAlignedBoundingBox aabb(min, max);
 
         static const float prec = 1e-4f;
-        ARMARX_CHECK_LESS_EQUAL((aabb.center() - center).norm(), prec) << aabb.center().transpose() << "\n" << center.transpose();
-        ARMARX_CHECK_LESS_EQUAL((aabb.extents() - extents).norm(), prec) << aabb.extents().transpose() << "\n" << extents.transpose();
-        ARMARX_CHECK_LESS_EQUAL((aabb.min() - min).norm(), prec) << aabb.min().transpose() << "\n" << min.transpose();
-        ARMARX_CHECK_LESS_EQUAL((aabb.max() - max).norm(), prec) << aabb.max().transpose() << "\n" << max.transpose();
+        ARMARX_CHECK_LESS_EQUAL((aabb.center() - center).norm(), prec) << aabb.center().transpose() << "\n" << center.transpose() << "\n" << id();
+        ARMARX_CHECK_LESS_EQUAL((aabb.extents() - extents).norm(), prec) << aabb.extents().transpose() << "\n" << extents.transpose() << "\n" << id();
+        ARMARX_CHECK_LESS_EQUAL((aabb.min() - min).norm(), prec) << aabb.min().transpose() << "\n" << min.transpose() << "\n" << id();
+        ARMARX_CHECK_LESS_EQUAL((aabb.max() - max).norm(), prec) << aabb.max().transpose() << "\n" << max.transpose() << "\n" << id();
 
         return aabb;
     }
@@ -130,7 +138,10 @@ namespace armarx
         }
         catch (const std::exception& e)
         {
-            ARMARX_ERROR << e.what();
+            if (_logError)
+            {
+                ARMARX_ERROR << e.what();
+            }
             return std::nullopt;
         }
 
@@ -147,9 +158,21 @@ namespace armarx
                                        ori.col(2) * extents(2));
 
         static const float prec = 1e-3f;
-        ARMARX_CHECK_LESS_EQUAL((oobb.center() - pos).norm(), prec) << oobb.center().transpose() << "\n" << pos.transpose();
-        ARMARX_CHECK(oobb.rotation().isApprox(ori, prec)) << oobb.rotation() << "\n" << ori;
-        ARMARX_CHECK_LESS_EQUAL((oobb.dimensions() - extents).norm(), prec) << oobb.dimensions().transpose() << "\n" << extents.transpose();
+        ARMARX_CHECK(oobb.rotation().isApprox(ori, prec)) << oobb.rotation() << "\n" << ori << "\n" << id();
+        // If the object is too large, the above precision will trigger a false positive.
+        if (extents.squaredNorm() < 1e5f * 1e5f)
+        {
+            ARMARX_CHECK_LESS_EQUAL((oobb.center() - pos).norm(), prec)
+                    << VAROUT(oobb.center().transpose())
+                    << "\n" << VAROUT(pos.transpose())
+                    << "\n" << VAROUT(extents.norm())
+                    << "\n" << VAROUT(id());
+            ARMARX_CHECK_LESS_EQUAL((oobb.dimensions() - extents).norm(), prec)
+                    << VAROUT(oobb.dimensions().transpose())
+                    << "\n" << VAROUT(extents.transpose())
+                    << "\n" << VAROUT(extents.norm())
+                    << "\n" << VAROUT(id());
+        }
         return oobb;
     }
 
@@ -176,12 +199,18 @@ namespace armarx
             }
             catch (const nlohmann::json::exception& e)
             {
-                ARMARX_WARNING << "Failed to parse JSON file " << file.absolutePath << ": \n" << e.what();
+                if (_logError)
+                {
+                    ARMARX_WARNING << "Failed to parse JSON file " << file.absolutePath << ": \n" << e.what();
+                }
                 return std::nullopt;
             }
             catch (const std::exception& e)
             {
-                ARMARX_WARNING << "Failed to read file " << file.absolutePath << ": \n" << e.what();
+                if (_logError)
+                {
+                    ARMARX_WARNING << "Failed to read file " << file.absolutePath << ": \n" << e.what();
+                }
                 return std::nullopt;
             }
 
@@ -201,12 +230,18 @@ namespace armarx
 
         if (!fs::is_regular_file(simoxXML().absolutePath))
         {
-            ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
+            if (_logError)
+            {
+                ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
+            }
             result = false;
         }
         if (!fs::is_regular_file(wavefrontObj().absolutePath))
         {
-            ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
+            if (_logError)
+            {
+                ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
+            }
             result = false;
         }
 
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 10dbd5a08fd04c710cec3c41030357cc70c2243d..634944e4cc52379977f784c370f48af1e84ed28d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -50,6 +50,9 @@ namespace armarx
         virtual ~ObjectInfo() = default;
 
 
+        void setLogError(bool enabled);
+
+
         std::string package() const;
 
         std::string dataset() const;
@@ -114,6 +117,8 @@ namespace armarx
 
         ObjectID _id;
 
+        bool _logError = true;
+
     };
 
     std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs);