TYPO3 EXT:form prefill a form field with an id of the current object defined in the object table (not uid)

I have a small form in TYPO3 V12 that generates a request for more information on the current object, I'd like to prefill a form field with the id of the object so that it is send with the request, I could not find how to do this.

update: the code of thomas (with a small correction) works but it gives a url parameter (the uid of the object), I need to get a defined object_id from the tx_myext_object_table

With help of my friend Paul Beck I Figured out how to do a proper database search with typoscript, this script produces the result I was looking for:

plugin.tx_form {
    settings {
        formDefinitionOverrides {
            <formName> {
                renderables {
                    <indexOfPage> {
                        renderables {
                            <indexOfRenderable> {
                                defaultValue = CONTENT
                                defaultValue {
                                    table = tx_myext_domain_model_object
                                    select {
                                        pidInList = <objectStoragePid>
                                        uidInList = TEXT
                                        uidInList.data = GP:<urlParam>
                                    }
                                    renderObj = TEXT
                                    renderObj.field = object_id
                                    intval = 1
                                    wrap = #|
                                    if {
                                        isTrue = 1
                                        isTrue.data = GP:<urlParam>
                                    }
                                }
                            }
                        }
                    }
                }
            }
        }
    }
}