Clarification for GraspableObject interface

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I agree grasping_msgs is underrated, undocumented and could use more explanation. That said, it offers a good flexible interface utilizing existing I/F types.

API doc on ROS Noetic (still supported until 2025, while the link in OP is EoLed Jade).

The msg package was presumably made with (but is not limited to be coupled with) simple_grasping package initially. With a proper configuration with the following command in ROS2, you can obtain the pose of detected objects. I added some basic usage in a PR simple_grasping!13 that is unmerged at the time of writing (Note I did so with ROS2 as it's 2023 now). Feel free to review and leave a review comments there. If your application uses MoveIt for the motion planning, using primitive_poses attribute may work well.

Btw I removed "Python" from the title of this question. ROS Action is programming language agnostic (in Python and C++). While yes it may be a bit tricky to access generated msg/action interfaces from each language, I assume that's not what troubled the OP.