I think that the mantle must be bothering Queen Camilla's shoulders/back. Notice how it is has been hauled up and draped over the arm of her chair to get more of the weight of it off the shoulder harness? A lined velvet mantle of that size weighs probably more than 20 lbs, they can be quite uncomfortable to wear for long periods.
His jacket is sort of a miniature officer's tunic without the insignia, though it does seem to have 3 decorative frogged bands across the front in the same fabric as the jacket.
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