Lilo Brancato just robbed a place it wasn't anything to do with the mob.

Steve Schirripa wasn't even connected, he had met some associates but never connected.

I heard that Mike Imperioli had met a few associates and used how they talked and walked in the series.
Notice Mike's walk in The Sopranos it is clearly not the way he walks in real life. In Life In Mars Mike walks normally.

On a side note how did you find the finale of Underbelly?