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Okay, I understand your problem now, this task is slightly more complicated than simply producing a pose and sending it to Moveit.
Because of the rotational symmetry of the pen there are technically an infinite number of ways for the robot to grasp it, and although an arbitrarily chosen angle may work. The solution you really want, is to find which of these potential poses is the easiest for the arm to reach, and then move to that pose.
When I've looked at similar tasks in the past we computed 12 different poses, representing 12 evenly spaced rotations around the undefined axis and computed paths to all of them. We then chose the quickest of the motion plans as the 'easiest' grasp and executed that. The number 12 is fairly arbitrary here, you're trading processing time computing plans against the efficiency of the final motion you execute.
Hope this makes sense.
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