moveit urdf interactive marker wrong

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I built an urdf file. After I import it in Moveit. Something strange happen, the interactive marker if far from the end effector. I chose the blue part as the end effector.

my urdf file:

  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

  <!--Add foot link and joint-->

  <link name="foot_link">
    <inertial>
      <mass value="2.0"/>
      <origin xyz="0.001 0 0.0105"/>
      <inertia ixx="0.30001741" ixy="0.0000153" ixz="0.00046281" iyy="0.23544531" iyz="0.0000075" izz="0.45009496"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
    </collision>


  </link>

    <joint name="base_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0 0"/>
            <parent link="base_link"/>
    <child link="foot_link"/>
    </joint>

  <!--Add bottom link and joint-->

  <link name="bottom_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.00815 -0.03197"/>
      <inertia ixx="0.42001813" ixy="0.01595140" ixz="-0.01346958" iyy="0.2076409" iyz="-0.04424777" izz="0.3086055"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
    </collision>
   </link>

 <joint name="foot_to_bottom" type="revolute">
    <origin xyz="0 0 0.03239"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.57080" upper="1.57080" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
    <dynamics damping="1.0"/>
    <parent link="foot_link"/>
    <child link="bottom_link"/>
  </joint>

<!--Add waist link and joint-->

  <link name="waist_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 -0.004"/>
      <inertia ixx="0.59406143" ixy="-0.001822" ixz="0.00029123" iyy="0.0630125" iyz="-0.01748062" izz="0.56529446"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
    </collision>

  </link>

 <joint name="bottom_to_waist" type="revolute">
    <origin xyz="-0.06924 0 0.07845"/>
    <axis xyz="1 0 0"/>
     <limit effort="1000.0" lower="-0.52360" upper="0.52360" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
    <dynamics damping="1.0" friction="10"/>
    <parent link="bottom_link"/>
    <child link="waist_link"/>
  </joint>

<!--Add chest link and joint-->

  <link name="chest_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 0.130 ...