Issues with Pepper 1.8 urdf for Gazebo and Rviz Implementation

Question

I have downloaded the Pepper v1.8 urdf using Aldebaran Documentation.

I have tried to visualize the model using rviz using ubuntu 20.04 and ros foxy, but it seems it is "broken".

The reason why I want a good urdf is that I want to simulate a SLAM strategy using Pepper robot and I need it to be v1.8 and spawn it in Rviz and Gazebo (I managed to at least display the robot and do basic stuff with previous version of Pepper, but newer version have better sensors).

Do you have the correct urdf? How can I fix my current version?

Thanks for the help

I tried also to manipulate the urdf, but I would really love to avoid write the all robot urdf by hand (especially the description of sensors and motors)