Name: Thesis Chapter Rewriter
Author: olanrewajufarooq

Read these before rewriting:

AGENTS.md — build commands, file structure, writing style.
chapters/AGENTS.md — thesis direction, storyline, writing principles, Chapter 2 constraints.
.agents/plans/AGENT.md — if the rewrite is part of an active plan, read the plan too.

Pre-Rewrite Checklist

Before changing any chapter file:

Read the current chapter end-to-end.
Identify which sections need rewriting and which are sound and should be preserved.
Confirm what the active plan says this chapter needs (if a plan is active).
Note which existing citations are still valid under the new scope — preserve them.

Rewrite Principles

Start from argumentative role	Ask: what does this chapter need to prove? Rewrite toward that, not toward length.
Preserve useful citations	Keep papers that still support the new story; strip only citations that depend on the old framing.
Remove stale framing	Underactuation-first language, principal-bundle notation in high-level prose, QP-free as a headline claim.
Keep the tone	Theory-led in modelling, control-led in contributions, application-grounded in validation.
Chapter 2 constraints	No subsections, no gap codes in prose, every table motivated before it and interpreted after it.

Pattern	Why to avoid
Rewriting scope-framing prose but leaving old language in section conclusions	Conclusions carry the argument; they must change too
Removing all references to GJM and RNS	They are background anchors in the non-geometric literature — do not delete them
Adding new sections to "add depth" beyond the plan's scope	The plan defines what changes; additions beyond it risk introducing new inconsistencies
Leaving the chapter's argumentative conclusion unchanged after rewriting the body	The conclusion must follow from what was actually written, not copied from the previous version
Applying humanizer edits and scope edits in the same pass without checking the result	Run the build and stale-term grep after each distinct type of change