The visual mesh roqsim_sensors/models/d455/meshes/d455.obj is converted (binary STL -> OBJ, scaled
mm -> m and decimated to ~6k triangles for real-time rendering) from d455.stl in:

    https://github.com/IntelRealSense/realsense-ros
    (realsense2_description/meshes/d455.stl)

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 STL is exported in its native frame (identity axes: x = the ~124 mm long bar the sensors are
arrayed across, y = height ~29 mm, z = depth ~26 mm with the front glass at z=0 and +z the lens
outward normal), which already matches the d435/d415 mesh convention -- no reorientation was applied.

The `d455_color` camera offset baked into roqsim_sensors/models/d455/d455.xml is derived from the same
repository's realsense2_description/urdf/_d455.urdf.xacro (the color-optical-frame transform, mapped
from the URDF link frame into this mesh-local frame), not measured off the mesh directly.