The minimum disc thickness is stamped into the disk, usually on the inside next to where it mounts on the hub where you can't see it without removing the disc. But... the disc specs (diameter, max and min thickness, bolt hole pattern and diameter etc.), for just about any car, can be found online. Same for pads.
If you want to check the thickness yourself a cheap plastic vernier caliper is good enough for 0.05mm (stainless ones are better). If the discs are too lipped just hold something against the disc and deduct from the reading.
www.amazon.co.uk/Vernier-120mm-Calipers-Measuring-Micrometer/dp/B0BZ4FK7QD/
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