diff --git a/AGENTS.md b/AGENTS.md
index 6e1f426..d8d9021 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -4,7 +4,11 @@ This file provides guidance to AI coding assistants when working with code in th
 
 ## What this is
 
-A dora-rs Python node that interfaces with a UFactory Lite6 robot arm. On each tick it reads joint angles and TCP pose from the robot and publishes them as dora outputs. It also accepts JSON commands (home, move_to, move_to_pose, vacuum_on/off) via a `command` input. A FastAPI REST server with a web UI runs in a background thread for manual control. The robot control wrapper lives in `dora_ulite6/main.py` as the `ULite6Helper` class, and the dora event loop is the `main()` function in the same file.
+A dora-rs Python node that interfaces with a UFactory Lite6 robot arm. On each tick it reads joint angles
+and TCP pose from the robot and publishes them as dora outputs. It also accepts JSON commands
+(home, move_to, move_to_pose, vacuum_on/off) via a `command` input. A FastAPI REST server with a web UI
+runs in a background thread for manual control. The robot control wrapper lives in `dora_ulite6/main.py`
+as the `ULite6Helper` class, and the dora event loop is the `main()` function in the same file.
 
 ## Build
 
@@ -21,15 +25,18 @@ dora up
 dora start dataflow.yml
 ```
 
-Robot behavior is configured through environment variables (see README.md for the full list: ROBOT_IP, DEFAULT_SPEED, DEFAULT_UNITS, API_HOST, API_PORT, VACUUM_ENABLED, INIT_MODE, etc.).
+Robot behavior is configured through environment variables (see README.md for the full list:
+ROBOT_IP, DEFAULT_SPEED, DEFAULT_UNITS, API_HOST, API_PORT, VACUUM_ENABLED, INIT_MODE, etc.).
 
 ## Architecture
 
 - **`dora_ulite6/main.py`** -- Single-file implementation containing:
-  - `ULite6Helper`: Wraps the xArm Python SDK for motion control (go_home, move_to_pose, get_current_position, get_joint_angles_deg, get_pose_matrix, vacuum gripper, status, reset).
+  - `ULite6Helper`: Wraps the xArm Python SDK for motion control (go_home, move_to_pose,
+    get_current_position, get_joint_angles_deg, get_pose_matrix, vacuum gripper, status, reset).
   - `MoveToRequest` / `MoveToPoseRequest`: Pydantic models for API validation.
   - `create_api()`: FastAPI app factory with REST endpoints and embedded HTML/JS web UI for manual control.
-  - `main()`: Dora event loop. Starts FastAPI in a daemon thread, then processes `tick` (publishes joint_pose and tcp_pose) and `command` (executes robot actions and publishes status) inputs.
+  - `main()`: Dora event loop. Starts FastAPI in a daemon thread, then processes `tick` (publishes
+    joint_pose and tcp_pose) and `command` (executes robot actions and publishes status) inputs.
 - **`dora_ulite6/__init__.py`** -- Package marker.
 - **`pyproject.toml`** -- Package metadata, dependencies, and entry point.
 - **`dataflow.yml`** -- Example dora dataflow using the git: source format.
@@ -37,12 +44,14 @@ Robot behavior is configured through environment variables (see README.md for th
 ## Key APIs
 
 - **dora Python API** (`dora`): `Node()`, `node.send_output()`, event iteration via `for event in node`.
-- **xArm SDK** (`xarm.wrapper.XArmAPI`): `connect()`, `motion_enable()`, `set_mode()`, `set_state()`, `set_position()`, `move_gohome()`, `get_position()`, `get_servo_angle()`, `set_vacuum_gripper()`.
+- **xArm SDK** (`xarm.wrapper.XArmAPI`): `connect()`, `motion_enable()`, `set_mode()`, `set_state()`,
+  `set_position()`, `move_gohome()`, `get_position()`, `get_servo_angle()`, `set_vacuum_gripper()`.
 - Output data is sent as PyArrow arrays with metadata dicts.
 
 ## Tools
 
-- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage issues, pull requests, and other repository operations.
+- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage issues,
+  pull requests, and other repository operations.
 
 ## Rules