add markdownlint GitHub Actions workflow

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

.github/workflows/markdownlint.yml

@@ -0,0 +1,22 @@
+name: markdownlint
+
+on:
+  push:
+    paths:
+      - "**.md"
+      - ".markdownlint.json"
+  pull_request:
+    paths:
+      - "**.md"
+      - ".markdownlint.json"
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4
+        with:
+          node-version: "22"
+      - run: npm install -g markdownlint-cli2
+      - run: markdownlint-cli2 "**/*.md"

.markdownlint.json

@@ -0,0 +1,7 @@
+{
+  "MD013": {
+    "line_length": 120,
+    "tables": false,
+    "code_blocks": false
+  }
+}

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
 

README.md

@@ -33,7 +33,7 @@ nodes:
 ## Configuration
 
 | Env Variable | Default | Description |
-|--------------|---------|-------------|
+| ------------ | ------- | ----------- |
 | `ROBOT_IP` | `192.168.1.192` | Robot IP address |
 | `DEFAULT_SPEED` | `30` | Movement speed (mm/s) |
 | `DEFAULT_UNITS` | `mm` | Position units (mm or m) |
@@ -61,7 +61,7 @@ Access at `http://localhost:8080/`
 Interactive docs at `http://localhost:8080/docs`
 
 | Method | Endpoint | Description |
-|--------|----------|-------------|
+| ------ | -------- | ----------- |
 | GET | `/` | Web control interface |
 | GET | `/api/status` | Robot status (connected, errors) |
 | GET | `/api/pose` | Current TCP pose |
@@ -76,7 +76,7 @@ Interactive docs at `http://localhost:8080/docs`
 ### Vacuum Gripper (when `VACUUM_ENABLED=true`)
 
 | Method | Endpoint | Description |
-|--------|----------|-------------|
+| ------ | -------- | ----------- |
 | GET | `/api/vacuum` | Get vacuum status |
 | POST | `/api/vacuum/on` | Turn vacuum on |
 | POST | `/api/vacuum/off` | Turn vacuum off |