Is it possible to get additional values from the objects in the scene?

[gadorneles]

I saw it's possible to obtain the position and orientation of an object using obs['obj_pos'], for example. However, I would like to expand that and get values I could only obtain with access to the mesh. For example, the specific position of a handle in a mug or a cap in a bottle. Is there a way this can be done? Would I need to calculate individually based on every mesh and its position?