URDF file with outdated/incorrect settings

[d-kleine]

I am currently working on integrating the new calibration for the SO-ARM 101 into a simulation environment. I have encountered issues with the so101_new_calib.urdf file, which contains outdated or incorrect settings that affects compatibility and visualization in URDF viewers:

• The URDF includes <hardwareInterface> tags for actuators, which were removed in ROS 1 and are no longer supported in some viewers:
  

  SO-ARM100/Simulation/SO101/so101_new_calib.urdf

  Lines 346 to 350 in 608122e

  	<actuator name="motor6">
  	<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  	<mechanicalReduction>1</mechanicalReduction>
  	</actuator>
  	</transmission>

(there are most actuators affected by this issue)

• A gripper_frame_joint is defined as a fixed link, but it serves no functional purpose for the robot’s operation:
  

  SO-ARM100/Simulation/SO101/so101_new_calib.urdf

  Lines 302 to 307 in 608122e

  	<joint name="gripper_frame_joint" type="fixed">
  	<origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="0 3.14159 0"/>
  	<parent link="gripper_link"/>
  	<child link="gripper_frame_link"/>
  	<axis xyz="0 0 0"/>
  	</joint>

• The revolute joint for the shoulder pan (between the base and the rotation pitch) seems to be broken, resulting in an incomplete kinematic representation of the robot.
  

  SO-ARM100/Simulation/SO101/so101_new_calib.urdf

  Lines 433 to 440 in 608122e

  	<!-- Joint from base to shoulder -->
  	<joint name="shoulder_pan" type="revolute">
  	<origin xyz="0.0388353 -8.97657e-09 0.0624" rpy="3.14159 4.18253e-17 -3.14159"/>
  	<parent link="base_link"/>
  	<child link="shoulder_link"/>
  	<axis xyz="0 0 1"/>
  	<limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
  	</joint>

You can see most of these issues also in the OnShape file shared in the URDF file:
https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800

It would be great if the URDF file for the new calib could be fixed to ensure accurate simulation results.