Most, if not all, of it is, yes.
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No it wasn't.
I love Lucy was the first show to be taped in front of a live audienceI Love Lucy was the first show sitcom to be taped filmed in front of a live audience.I Love Lucy was on film, therefore it was filmed. Tape was primitive in the 1950s and generally not used if it even existed at the time of I Love Lucy at all.
When she walked purposefully to the front of the room, and the audience grew immediately quiet?
The song that you should sing in front of an audience is one that you know very well. There is a chance that you may get nervous so if you are comfortable with the song, you are less likely to mess up.
Yes they actually sometimes talk directly to the audience.