Talk outline — section blueprint (P1, length-agnostic)

Spine: “nominal locked → ready for risk-aware.” Sections map to notes/talk_reservoir.md. Each section names its result + figure. Length sets how many sections survive (see § Scoping).

#	Section	Content (reservoir source)	Figure
1	Framing + terminology	free-FLYING (fully-actuated 6-DOF base) vs free-floating; mission = inspect target satellite, camera-as-EE; the “so what”: nominal characterised, ready for risk-aware	—
2	Mission & system	CoM orbits target on a spherical helix; base points z radially inward	`COM_orbit_still`, `mesh_GRO` (geometry — reusable)
3	Coordinated control	circumcentroidal Γ map; Giordano eq-34b cascade: inner CoM 3×3 decoupled, outer attitude+EE 9×9	(schematic / eq)
4	What advanced (progress)	deterministic POSE guidance (2 modes, complete coverage); analytic helix tangent (ripple gone); launch ramp	(optional)
5	★ Error floor + decomposition (HEADLINE)	derive \(\tilde{\boldsymbol x}_{ss}\); CoM loop ~1 mm exact vs operational floor ~0.104 m = multibody coupling. Floor is architectural, not a controller defect	current-gold p_e/p_c (REGEN)
6	Singularity handling	system operates at the conditioning floor (smin_median 0.0245 < 0.025); 4-layer defence (Tikhonov Γ, speed derate, damped J⁺ 3-tier, hold-last)	`Sigma_min` band (regen/illustrative)
7	★ The honest negative (rigor)	CoM-decouple: hierarchical Γ keeps \(v_c\) exact (108× coupling fix), floor invariant — a correctness win, not a performance lever	overlay_p_e (floor-invariance)
8	Open items → forward plan	initial spikes · mismatched duration · Tikhonov homogeneity · true-floor characterisation — the bridge to risk-aware	—
9	Risk-aware readiness	nominal locked; ANCHOR mode + scorer retained for the risk phase; next steps	—
B	Backup / defense	the 4 inconsistencies resolved; 7-DOF redundancy (future work); provenance appendix	—

Resolved (user, 2026-06-29)

§5 floors — present BOTH. (a) Theoretical floor: the idealized Coriolis-only limit \(\tilde{\boldsymbol x}_{ss}=-(\boldsymbol J_{\tilde x}^\top\breve{\boldsymbol K})^{-1}\breve{\boldsymbol C}\,\breve{\boldsymbol v}_d\) (perfect CoM tracking) — a standing pose error the outer loop must hold. (b) Operational floor: measured pe_median ≈ 0.104 m, pe_p99 ≈ 0.148 m. The gap between them = the forward-plan to risk-aware. (Not the 77 mm — different config.)
Length: ~20–30 min → full arc (§§1–9 + backup).
Figures: replot saved gold logs; reuse the deployed checkin reports — checkin-jun25-26.html = current gold (orbit-sync, 703 s, coverage 0.9972, singularity margin) covers §6 + mission story.
§7 placement — standalone “honest negative” section (the redemption rigor).
§4 — its own “progress since last time” section.

Figure map (per section)

§2 → locked/full_paper/{COM_orbit_still, mesh_GRO}.png (geometry, reusable)
§5 → REPLOT error-floor decomposition (CoM ~1mm vs EE ~0.104m) from saved gold logs (gap exists)
§6 → from checkin-jun25-26.html (singularity-margin / smin; current) — export static PNG
§7 → com_decouple_pitch/figures/overlay_p_e.png (floor invariance; valid for this claim)

Scoping (set once length is known)

~10 min lightning: 1 · 2 · 5 · 7 · 9 (+ backup). The floor decomposition + honest negative carry it.
~20–30 min update (assumed): 1–9 + backup. Full arc.
~45 min deep-dive: all + live derivation of \(\tilde{\boldsymbol x}_{ss}\) and the 4-layer σ_crit logic.