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The package you installed is probably not the correct one: note how the error message mentions moveit_simple_grasps, not simple-grasping.

The former may be found here: moveit_simple_grasps.

The latter here: simple_grasping.

Now I have already installed this package via apt:

 % sudo apt-get install ros-kinetic-simple-grasping

but I am getting the same error as mentioned before.

The package you installed is probably not the correct one: note how the error message mentions moveit_simple_grasps, not simple-grasping.

The former may be found here: moveit_simple_grasps.

The latter here: simple_grasping.