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As mentioned in the other answer already, you need to use the explicit style:

request = GenerateSemanticMap()
request.map.header.frame_id = "map"
request.map.objects = [SemMapObject(id=1, type='Cupboard')]
request_sem_map(request)

Note that the code above is not complete. The slot objects should contain a list of all objects and I didn't put all required initializers in the construction of SemMapObject. Also note that in contrast to normal ROS standards, the pose is a flat array representing a 4x4 homogeneous transformation matrix, row based instead of a geometry_msgs/Pose. In the code above, it will be a list with 16 numbers.