Exercise U1-2 : Wrong solution?

When I load the U1-2 solution (mira_geometric.urdf), in my opinion, some axis are wrong. Look at what the pitch do:

This is what I did:

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You are totaly right!
In the URDF of the geometry it seems that the last geometru of the face you be turned 90 degrees so that the pitch would indeed lower the head!

I’ll post it as an improvement minur bug and we will correct iit asap.

Thanks a lot