Validate repaired Onshape 4DOF export

.gitignore

@@ -5,3 +5,5 @@
 **/*.part
 onshape/jdcobot100/assets/
 onshape/jdcobot100/jdcobot100.urdf
+onshape/jdcobot100/jdcobot100.xml
+onshape/jdcobot100/scene.xml

onshape/jdcobot100/README.md

@@ -4,49 +4,63 @@ This directory contains reproducible `onshape-to-robot` configurations for the
 jdcobot100 four-DOF arm. Credentials are read from environment variables and
 must never be committed.
 
-The root configs point at the in-progress DAPIER assembly. It currently exports
-zero joints because the parts are separate root nodes and the revolute mates
-have not been added yet. The `reference/` configs point at the completed
-four-joint assembly used by the JD-edu exercise and provide the expected
-topology:
+The root configs point at the repaired DAPIER assembly. On 2026-08-03 it was
+rebuilt around five subassemblies and verified to export one rooted, four-joint
+kinematic tree. The `reference/` configs point at the JD-edu exercise assembly
+used as the topology reference:
 
 ```text
 base_sub_assembly
-  -> dof_base (Onshape mate: base_shoulder)
+  -> dof_base
 shoulder_sub_assembly
-  -> dof_shoulder (Onshape mate: shoulder_arm1)
+  -> dof_shoulder
 arm_1_sub_asssembly
-  -> dof_elbow (Onshape mate: arm1_arm2)
+  -> dof_elbow
 arm_2_sub_asssembly_copy_1
-  -> dof_wrist_pitch (Onshape mate: arn2_end_arm)
+  -> dof_wrist_pitch
 end_arm_sub_assembly
 ```
 
 The local credentials file is loaded from
-`~/.config/onshape-to-robot/env`. Regenerate and normalize both reference
+`~/.config/onshape-to-robot/env`. Regenerate and normalize the repaired working
 models with:
 
+```bash
+onshape/jdcobot100/export_working.sh
+```
+
+Regenerate and normalize both reference models with:
+
 ```bash
 onshape/jdcobot100/export_reference.sh
 ```
 
-To inspect the unfinished DAPIER workspace directly:
+To inspect the repaired DAPIER workspace directly without normalization:
 
 ```bash
 onshape-to-robot --safe onshape/jdcobot100/config.json
 onshape-to-robot --safe onshape/jdcobot100/config.mujoco.json
 ```
 
 The first export generates `jdcobot100.urdf`; the second generates
-`jdcobot100.xml`. Meshes are written below `assets/`. The wrapper then maps the
-Onshape mate names to the stable simulator names shown above.
+`jdcobot100.xml`. Meshes are written below `assets/`. The working wrapper maps
+the exporter names `base`, `shoulder`, `elbow`, and `wrist_pitch` to the stable
+simulator names shown above. The raw Onshape mate names are `dof_base`,
+`dof_shoulder`, `dof_elbow`, and `dof_wrist_pitch`; onshape-to-robot removes the
+`dof_` prefix while exporting.
+
+The repaired Onshape assembly contains eight hidden explicit mate connectors
+and four Revolute mates. Two legacy `ParametricPartStudio` features remain
+suppressed so that they do not regenerate the old flattened servo instances.
 
 Run the headless engine checks with the Python environment installed for
 `onshape-to-robot`:
 
 ```bash
 ~/.local/share/uv/tools/onshape-to-robot/bin/python \\
-  onshape/jdcobot100/validate_models.py
+  onshape/jdcobot100/validate_models.py \\
+  --urdf onshape/jdcobot100/jdcobot100.urdf \\
+  --mjcf onshape/jdcobot100/jdcobot100.xml
 ```
 
 The check loads the URDF in PyBullet and the MJCF in MuJoCo, verifies all four

onshape/jdcobot100/export_working.sh

@@ -0,0 +1,21 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+script_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+credential_file="${XDG_CONFIG_HOME:-${HOME}/.config}/onshape-to-robot/env"
+exporter="${ONSHAPE_TO_ROBOT_BIN:-${HOME}/.local/bin/onshape-to-robot}"
+
+if [[ -f "${credential_file}" ]]; then
+    # shellcheck disable=SC1090
+    source "${credential_file}"
+fi
+
+: "${ONSHAPE_API:?ONSHAPE_API is not set}"
+: "${ONSHAPE_ACCESS_KEY:?ONSHAPE_ACCESS_KEY is not set}"
+: "${ONSHAPE_SECRET_KEY:?ONSHAPE_SECRET_KEY is not set}"
+
+"${exporter}" --safe "${script_dir}/config.json"
+"${exporter}" --safe "${script_dir}/config.mujoco.json"
+python3 "${script_dir}/normalize_joint_names.py" \
+    "${script_dir}/jdcobot100.urdf" \
+    "${script_dir}/jdcobot100.xml"

onshape/jdcobot100/normalize_joint_names.py

@@ -5,9 +5,16 @@
 
 import argparse
 from pathlib import Path
+import xml.etree.ElementTree as ET
 
 
 JOINT_NAME_MAP = {
+    # Current DAPIER assembly. onshape-to-robot removes the dof_ prefix.
+    "base": "dof_base",
+    "shoulder": "dof_shoulder",
+    "elbow": "dof_elbow",
+    "wrist_pitch": "dof_wrist_pitch",
+    # Original JD-edu reference assembly.
     "base_shoulder": "dof_base",
     "shoulder_arm1": "dof_shoulder",
     "arm1_arm2": "dof_elbow",
@@ -16,24 +23,31 @@
 
 
 def normalize(path: Path) -> None:
-    """Replace quoted joint identifiers without touching link or mesh names."""
-    contents = path.read_text(encoding="utf-8")
-
-    for old_name, new_name in JOINT_NAME_MAP.items():
-        old_token = f'"{old_name}"'
-        new_token = f'"{new_name}"'
-        if old_token in contents:
-            contents = contents.replace(old_token, new_token)
-
-    missing = [
-        new_name
-        for new_name in JOINT_NAME_MAP.values()
-        if f'"{new_name}"' not in contents
-    ]
+    """Normalize joint attributes without changing links, meshes, or materials."""
+    tree = ET.parse(path)
+    root = tree.getroot()
+
+    for element in root.iter():
+        if element.tag == "joint":
+            name = element.attrib.get("name")
+            if name in JOINT_NAME_MAP:
+                element.attrib["name"] = JOINT_NAME_MAP[name]
+
+        for attribute in ("joint", "joint1", "joint2"):
+            name = element.attrib.get(attribute)
+            if name in JOINT_NAME_MAP:
+                element.attrib[attribute] = JOINT_NAME_MAP[name]
+
+    joint_names = {
+        element.attrib["name"]
+        for element in root.iter("joint")
+        if "name" in element.attrib
+    }
+    missing = sorted(set(JOINT_NAME_MAP.values()) - joint_names)
     if missing:
         raise ValueError(f"{path}: normalized joints not found: {', '.join(missing)}")
 
-    path.write_text(contents, encoding="utf-8")
+    tree.write(path, encoding="unicode", xml_declaration=True)
     print(f"normalized {path}")