Kinematic chain for Husky + UR5

After spending time with MoveIt!, I am trying to integrate ur5 with husky. This is how I am combining both of them in the URDF. While using the MoveIt setup assistant, I selected the kinematic chain starting from ur5_arm_base_link to ur5_arm_ee_link. This can be seen in the SRDF file : But when I am moving the manipulator group P2P, I have to give the target pose in `base_link` and not in `ur5_arm_base_link`. I want to eliminate the errors induced while calculating the transformations between the two, so I want the target pose to be in `ur5_arm_base_link`. Why is the kinematic chain being considered starting from `base_link` and how can I eliminate that?