| Dependency or asset | Version / digest | License checked | Owner | Exit path |
|---|---|---|---|---|
| ROS 2 Jazzy | pending | pending | Linux | pinned container |
| Gazebo Harmonic | pending | pending | Linux + Simulation | single simulator baseline |
| MoveIt 2 | ros-jazzy-moveit 2.12.4 |
Apache-2.0 (checked 2026-08-08) | Motion | fixed validated trajectory |
| UR description (arm URDF/xacro) | ros-jazzy-ur-description |
BSD-3-Clause (code) — OK | Motion | primitive-only description |
| UR meshes (visual/collision STL/DAE) | shipped in ur_description/meshes |
PROPRIETARY: "Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation" — NOT open-source; distribution unverified | Motion + Legal | drop visual meshes / use primitive collision geometry, or swap to Panda (config-only, see ADR-0004) |
| Robotiq 2F-85 gripper (description) | ros-jazzy-robotiq-description |
BSD (checked 2026-08-08) | Motion | primitive-only gripper description |
| TRAC-IK kinematics plugin | ros-jazzy-trac-ik-kinematics-plugin |
BSD (upstream trac_ik) — reconfirm at pin | Motion | fall back to KDL (ships with MoveIt) |
| OpenCV / AprilTag | pending | pending | Perception Owner | known-object baseline |
| Ollama runtime image | sha256:b88c73ace3e115f8ec53dc8761ae1c0aabfa675406e3681786b98757ce050f42 |
Apache-2.0 (verify at release) | Runtime + Integration | localhost-only endpoint and internal network |
| Qwen2.5 0.5B weights | qwen2.5:0.5b (397 MB pulled locally) |
pending model-card review | Runtime + Product | remove model profile and use template runner |
| Lucide icons | 0.468.0 | ISC (apps/dashboard/vendor/LUCIDE-LICENSE.txt) |
Interaction | replace with text labels |
Model weights, CAD, mesh, images, audio and code are reviewed separately.