I successfully retrieved the data using
but has requires to know the name of the appropriate model. Also, this
returns (e.g.) "geom pose: (0.00,0.00,0.00) size: [50.00,25.00]" but the
"geom pose" seems to be alwyays zero. Is it possible to compute the
"bounding box" (xmin, xmax, ymin, ymax) in *global* coordinates?