The examples you give are different situations than "helpi"

When you say "helpi", you are also participating in the action. "Mi helpis konstrui paperaeroplanon" makes perfect sense. Yes, it is missing some information, just as "mi manĝas pomon" has a broader meaning than "Mi manĝas pomon en mia kuirejo", but the core meaning is the same.

The use of "al" in the sentence about the master and the servant makes a huge difference in the meaning, and it means that you can't remove "al la servisto" like you could remove the son from the sentence about the airplane or "she" from the sentence about the shoes.

"La mastro ordonis vesti sin" no longer makes sense. "Al la servisto" is a core piece of information that can't be left out; the sentence collapses without it. That isn't the case with the "helpi" sentences that you put forth.

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