ROS programmer for the manipulation task

Our robot is a differential drive platform equipped with the 5-DoF robot arm, driven by three XM430-W210-T and two XL430-W250-T Dynamixel servos. On the 5 link there is an end effector — the suction cup for the vacuum system. The objects of manipulation are cylinders 60 mm dia and 25 mm height. Cylinders might be mounted horizontally or vertically and the arm should place the suction cup perpendicularly to the cylinder’s base to grab it. I have attached a few drafts, which illustrates it. So, the program should accept a point (x,y,z) relative to the robot’s coordinate frame and orientation (0 or 1) — vertical or horizontal and then calculate the required joint velocities/angles for the desired trajectory and subsequently control the dynamixels to achieve the calculated motion. I think, that move-it would fit to the task, but if you have any ideas, do not hesitate to share:) All development should be implemented under ROS melodic, Debian 9. The program should be fully functional in the Gazebo simulator. The robot’s model could be developed or picked from the open-source community, according to zobov_moveit_1 draft