kinematic problem with an urdf loaded in move-it

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Good morning to everyone, I am having some problems with the "Robot model" built by move-it starting from a urdf I made.

The Urdf is this one:

    <?xml version="1.0"?>

<!--
DH for Racer_5L:
a = [0.05000, 0.3700, 0.05000,  0.00000,  0.00000,  0.0000]
d = [0.36500, 0.00000,0.00000,  0.38594,  0.00000,  0.0800]
alpha = [ -1.570796327, 0,-1.570796327, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, 0, 0, 0, 0, 0]
-->
<robot name="Racer5L" 
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro">


 <property name="pi" value="3.14159265" />

 <!-- Inertia parameters -->
  <property name="base_mass" value="4.0" /> <!-- Invented number, only matters for simulator -->
  <property name="shoulder_mass" value="3.7000" />
  <property name="upper_arm_mass" value="8.3930" />
  <property name="forearm_mass" value="2.2750" />
  <property name="wrist_1_mass" value="1.2190" />
  <property name="wrist_2_mass" value="1.2190" />
  <property name="wrist_3_mass" value="0.1879" />



<material name="gray">
    <color rgba="0.41 0.41 0.41 1"/>
</material>



<!--kinematic chain-->
 <link name="base" >
    <origin xyz="0 0 0"/>
 </link>

 <joint name="fixed" type="fixed">
    <parent link="base"/>
    <child link="base_link"/>
  </joint>

  <link name="base_link" >
    <visual>
      <geometry>
        <mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_1.stl" scale="0.01 0.01 0.01" />
      </geometry>
      <origin xyz="0.0 0.0 0" rpy="0 0 0.0 " />
      <material name="gray"/>
    </visual>
  </link>

<joint name="Ax_1" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.242"  />
    <axis xyz="0 0 1" />
    <parent link="base_link"/>
    <child link="link_1"/>
    <limit lower="-2.967059725" upper="2.967059725" effort="1" velocity="3.14"/>
</joint>

<link name="link_1">
    <visual>
      <geometry>
        <mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_2.stl" scale="0.01 0.01 0.01" />
      </geometry>
     <material name="gray"/>
     <origin rpy="0 0.0 0" xyz="0.0 0.0 -0.242"/>
    </visual>
</link>

<joint name="Ax_2" type="revolute">
    <origin xyz="0.0 -0.05 0.123" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <parent link="link_1" />
    <child link = "link_2" />
    <limit lower="-1.483529862" upper="2.356194488" effort="1" velocity="3.14"/>
</joint>


<link name="link_2">
    <visual>
      <geometry>
        <mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_3.stl" scale="0.01 0.01 0.01"/>
      </geometry>
      <origin xyz="0.0 0.05 -0.365" rpy="0 0 0"/>
     <material name="gray"/>
    </visual>
</link>

<joint name="Ax_3" type="revolute">
    <origin xyz="0 0 0.370" rpy="0 0 0" />
    <parent link="link_2" />
    <child link = "link_3" />
    <axis xyz="1 0 0" />
    <limit lower="-3.14159265" upper="1.134464012" effort="1" velocity="3.14"/>
</joint>

<link name="link_3">
    <visual>
      <geometry>
        <mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_4.stl" scale="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.05 -0.735"/>
     <material name="gray"/>
    </visual>
</link>

  <joint name="ee_fixed_joint" type="fixed">
    <parent link="link_3" />
    <child link = "ee_link" />
    <origin xyz="0.0 -0.1 0.05 ...