Use when substantially rewriting or realigning any thesis chapter to match the vehicle-manipulator-system scope, energy-based modelling story, port-Hamiltonian control framing, or the active revision plan.
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.Before changing any chapter file:
| Principle |
|---|
| What it means |
|---|
| 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. |
After finishing:
underactuated, floating-base, \bFBM\b, SE(3)\\times_{\\phi}, QP-free, principal.bundle.| 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 |
floating-base manipulator in Chapter 2 is correct prior-work context; the same phrase in Chapter 3 describing the proposed system is not.\label{} or \cite{} without running a build to check it resolves — even a quick build catches this before commit.# Progress section.