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when I manually try to move the robot with the interactive marker, the marker simply does not move towards y-axis.
The interactive marker, as used by the MoveIt RViz plugin, is a 6 DoF marker.
It's inherently impossible for a 5 DoF robot to reach all the poses a 6 DoF marker can assume.
That's the immediate cause of the behaviour you observe.
I thought the marker is not moving because I commanded the robot to move to an unreachable position,
Indeed.
But note: you're not commanding anything yet. The marker only alters the Goal State.
however since the Query panel succeeded to bring the robot to that position, I am clueless.
Using the <random valid> option from the dropdown instructs the MoveIt RViz plugin to chose a random joint space pose for the selected group.
As joint space poses will always be reachable -- no matter the nr of DoF -- this will work.
No IK is involved there, which would explain why you cannnot use the marker, but can set a random joint space pose successfully.
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