[Alpenj]

Summary

• repair the working DAPIER Onshape assembly as five rigid subassemblies joined by four Revolute mates
• add a one-command working-document exporter and normalize joints to dof_base, dof_shoulder, dof_elbow, and dof_wrist_pitch
• scope XML normalization to joint attributes so mesh names such as base remain valid
• document the repaired working assembly and ignore generated working artifacts

Onshape repair

• inserted five validated subassemblies
• created eight hidden explicit mate connectors
• created four OK Revolute mates
• removed legacy mates and explicitly inserted flattened parts
• suppressed two legacy ParametricPartStudio features that regenerated 26 virtual SG90 instances
• confirmed one root node and four degrees of freedom
• saved rollback and validated Onshape Versions

Validation

• working-document export: four DOF, one root
• PyBullet: four expected joints, 240 simulation steps
• MuJoCo: four hinges, four position actuators, 240 simulation steps
• bash -n onshape/jdcobot100/export_working.sh
• python3 -m py_compile onshape/jdcobot100/normalize_joint_names.py
• git diff --check

Notes

The kinematic chain and engine loading are complete. Physical mass, center of mass, inertia, collision geometry, servo limits, friction, damping, and backlash remain advanced calibration work.