Unable to move goal gizmo in rviz MoveIt demo

edit

I created a MoveIt config with the setup wizard from my URDF. Why trying out the demo.launch I can plan to random goal positions, but I cannot specify goal positions manually by moving the gizmos. With earlier versions of the URDF, I was only to able to rotate the gizmos along the wrist axis. How do I need to specify my arm such that I can select goals to plan to freely?

The robot arm is a SCARA version, here my URDF:

<?xml version="1.0"?>
<robot name="rrbot" 
  xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- Constants for robot dimensions -->
  <xacro:property name="pole_offset" value="0.2" />
  <xacro:property name="pole_length" value="3" />
  <xacro:property name="pole_radius" value="0.05" />

  <xacro:property name="width1" value="0.1" />
  <xacro:property name="width2" value="0.1" />
  <xacro:property name="width3" value="0.1" />
  <xacro:property name="length1" value="-0.3" />
  <xacro:property name="length2" value="-0.7" />
  <xacro:property name="length3" value="-0.7" />

  <xacro:property name="overlap_1_2" value="0.1" />
  <xacro:property name="overlap_2_3" value="0.1" />

  <xacro:property name="pi_rad" value="3.14" />

  <!-- world link -->
  <link name="world"/>

  <!-- base_link and its fixed joint -->
  <joint name="joint_fix" type="fixed">
    <parent link="world"/>
    <child link="sbase_link"/>
  </joint>

  <link name="sbase_link">
    <collision>
      <origin xyz="0 0 ${pole_offset}" rpy="0 0 0"/>
      <geometry>
        <cylinder length="${pole_length}" radius="${pole_radius}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 ${pole_offset}" rpy="0 0 0"/>
      <geometry>
        <cylinder length="${pole_length}" radius="${pole_radius}"/>
      </geometry>
    </visual>

    <inertial>
      <origin xyz="0 0 ${pole_offset}" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <xacro:macro name="box_arm" params="name parent width length *origin">
    <joint name="${name}_rotation" type="revolute">
      <!-- <origin xyz="0 ${pole_radius + y + overlap_1_2} ${-0.5 * y}" rpy="0 0 0"/> -->
      <xacro:insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link"/>
      <axis xyz="0 0 1"/>
      <limit effort="1000" velocity="1000" lower="${-0.5* pi_rad}" upper="${0.5*pi_rad}"/>
    </joint>

    <link name="${name}_link">
      <collision>
        <origin xyz="0 ${0.5 * length} ${-0.5 * width}" rpy="0 0 0"/>
        <geometry>
          <box size="${width} ${length} ${width}"/>
        </geometry>
      </collision>

      <visual>
        <origin xyz="0 ${0.5 * length} ${-0.5 * width}" rpy="0 0 0"/>
        <geometry>
          <box size="${width} ${length} ${width}"/>
        </geometry>
      </visual>

      <inertial>
        <origin xyz="0 ${0.5 * length} ${-0.5 * width}" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
      </inertial>
    </link>
  </xacro:macro>

  <xacro:macro name="scara_arm" params="name min_z max_z ...