diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
index ae8531edacea24b495fac67c39fd50f51a927835..af808d1de3634821a761e2ae4bb3183aa1e2bcfd 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
@@ -113,6 +113,25 @@ namespace armarx::objpose
         objpose::fromIce(provided.localOOBB, localOOBB);
     }
 
+
+    std::optional<simox::OrientedBoxf> ObjectPose::oobbRobot() const
+    {
+        if (localOOBB)
+        {
+            return localOOBB->transformed(objectPoseRobot);
+        }
+        return std::nullopt;
+    }
+
+    std::optional<simox::OrientedBoxf> ObjectPose::oobbGlobal() const
+    {
+        if (localOOBB)
+        {
+            return localOOBB->transformed(objectPoseGlobal);
+        }
+        return std::nullopt;
+    }
+
 }
 
 namespace armarx
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h
index 78cbfbfc6bbe46bd0dc8c24995dfc33973f68e3b..d00e548b82bc9bdd72a46aeb997a6eb297e89ba4 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h
@@ -54,7 +54,15 @@ namespace armarx::objpose
         IceUtil::Time timestamp = IceUtil::Time::microSeconds(-1);
 
         /// Object bounding box in object's local coordinate frame.
+        /// @see oobbRobot(), oobbGlobal()
         std::optional<simox::OrientedBoxf> localOOBB;
+
+
+        /// Get the OOBB in the robot frame (according to `objectPoseRobot`).
+        std::optional<simox::OrientedBoxf> oobbRobot() const;
+        /// Get the OOBB in the global frame (according to `objectPoseGlobal`).
+        std::optional<simox::OrientedBoxf> oobbGlobal() const;
+
     };
     using ObjectPoseSeq = std::vector<ObjectPose>;