Panopticon

One vault, two wikis, for a free-flying space manipulator — a fully-actuated,
6-DOF base carrying a redundant arm. Free-flying, not free-floating: the base
is actively controlled, not left to drift under the arm’s reaction forces. That one
distinction reshapes the dynamics and the control problem across everything here, so
every source is read for which regime it assumes.

The two wikis

Wiki	What it holds
Research	Literature — sources, topics, and named results (the equations layer)
Code	Implementation — the Pinocchio guidance & control code

Start in Research for the theory, or Code
for the implementation. The graph view (top-right) shows how notes connect across both.