The visual mesh

    roqsim_sensors/models/robin_w1g/meshes/robin_w1g_body.obj  (dark wedge housing + rear connector)

is derived from Seyond's own Robin W1G CAD model: the official STEP assembly
`robin-w1g.stp` (ISO-10303-21, Creo/PTC export; header FILE_NAME
'S-900-000084_A_ENCLOSURE2024121_ASM', 2024-12-19, PTC Creo Parametric) -- published
by Seyond Inc. among the Robin W1G product resources at
https://www.seyond.com/product/robin-w1g/ . Only the ~0.1 m sensor housing is kept; the
CAD's ~29 m context/aiming solid (Open CASCADE material `mat_10`) is dropped.

The sensor's FOV is NOT a mesh here: `spawn_sensor` synthesises it at build time as a
translucent, bounded 120deg (H) x 70deg (V) angular sector from the datasheet angles in
robin_w1g.manifest.yaml, so no FOV geometry is derived from or redistributed with the CAD.

Conversion pipeline (no geometry authored by hand):

    STEP -> OBJ    Open CASCADE tessellation via `cascadio`
                   (tol_linear=0.1 mm, tol_angular=0.5 rad)
    OBJ  -> OBJ    Blender: split by CAD material, the ~29 m context solid dropped, the
                   housing joined, reframed CAD->sim (sim_x=-cad_z, sim_y=-cad_x,
                   sim_z=+cad_y so the window faces +x and height is +z), scaled mm -> m,
                   base dropped to z=0 (housing centred on x=y=0), decimated (~8k tris),
                   exported axes 1:1 with Z up.

The underlying CAD geometry is Seyond Inc.'s and its copyright remains with Seyond; it is
redistributed here only as a decimated simulation asset for the Robin W1G sensor model.
Refer to Seyond's terms for the original CAD. If Seyond's terms do not permit
redistribution of this derived mesh, remove this .obj file and the mesh geom in
robin_w1g.xml -- the `seyond_robin_w1g` capture plugin does not need it (it casts from
the `robin_w1g` site), and a primitive-only housing can stand in.