Thank you for such a beautiful lecture.
I was having some confusion about how the links were joined in the Mira URDF.
I think there should be 2 main links i.e. base and body (except the eyes and cameras etc.)
right? and now these 2 should be connected through three joints (i.e. for Roll,pitch and Yaw), but in the URDF File, you seem to only join the head and base through YAW joint only. why and how?
Plus please explain these lines:
Run RVIZ. The part about loading your own RVIZ is commented. The first time you launch this, just save the RVIZ config file and then you will have all that is needed.