The visual mesh roqsim_sensors/models/d435/meshes/d435.obj is converted (COLLADA -> OBJ, joined and
decimated to ~4k triangles for real-time rendering) from d435.dae in:

    https://github.com/IntelRealSense/realsense-ros
    (realsense2_description/meshes/d435.dae)

That repository (and this mesh) is licensed Apache License 2.0:

    Copyright 2023 RealSense, Inc.

    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file
    except in compliance with the License. You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software distributed under the
    License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
    either express or implied. See the License for the specific language governing permissions
    and limitations under the License.

The camera offset/orientation baked into roqsim_sensors/models/d435/d435.xml's `d435_color` camera
is derived from the same repository's realsense2_description/urdf/_d435.urdf.xacro (mesh-to-link
and color-optical-frame transforms), not measured off the mesh directly.

The inertial module's mount pose in d435.manifest.yaml's `imu` component comes from the same place:
realsense2_description/urdf/_d435i_imu_modules.urdf.xacro (the accel/gyro frame relative to
camera_link) put through the same mesh-to-link transform. The frame name it is stamped in
(camera_imu_optical_frame) is realsense2_camera's own, from that package's include/constants.h.