UR5 CAD and joint frames:
UniversalRobots / Universal_Robots_ROS2_Description
Commit 0eb1a861f7772fceb38510d90fa2f98ec668070c (rolling)
https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
UR5 meshes and configuration are distributed under BSD-3-Clause.
Full license retained in assets/ur5/LICENSE.txt.
Official nominal DH parameters:
https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/

Rendering: Three.js 0.187.0, MIT; license in assets/three/LICENSE.txt.
https://threejs.org/

Robot mesh scale is unchanged from official COLLADA meter units.
URDF link transforms and nominal DH chain agree to numerical precision.
The simulated nozzle is a generic 100 mm TCP tool, not the user's actual dispensing head.
UR5 nominal kinematics; no robot-specific calibration or hardware sensor input.
Robot collision checking, rigid-body dynamics, dosing flow/volume and actual controller behavior are not validated by this visualization.
Washer outer/inner diameters: user-provided 328 / 220 mm. Thickness 20 mm is demonstrative and editable.
Site controls affect only this browser simulation, not a physical robot or URSim controller.