The audience seemed to understand what was going on with the Star Trek elements of the show. as far as I could tell. This was a Halloween event, so the crowd and performers were all in costume - which wasn't too different from a normal night at the Chamber, where the atmosphere was very 90s goth, when goth was still somewhat sincere and hadn't become such a tired cliche. It wasn't unusual on a normal night for someone to be completely zipped into a body bag writhing around in the lobby.
Faux Picard ended up in little black shorts. It was a really fun little performance piece, but my memory fails me on too many specific details. I used to go to the Chamber a lot so the details of one show or another kind of run together. I vaguely remember the girl covered Picard in liquid latex, so he was suffocating for a moment before he freed himself. There was some basic bondage, she had him tied up, whipped him a little, the usual, but there was a lot more theatricality to it, as they were performing a story with characters. The Borg's costume looked good, very authentic Borg Queen -ish look, lots of pale skin and prosthetic Borg implants. The guy looked good as a Picard stand in, lean and bald, but he was probably just in his early to mid 20s.
Sorry teacake, there was no bathrobe. The scene ended with the Borg dragging Picard off to be assimilated.