The visual mesh roqsim_sensors/models/d415/meshes/d415.obj is converted (STL -> OBJ, decimated to
~12.7k triangles for real-time rendering, shipped in metres) from d415.stl in:

    https://github.com/IntelRealSense/realsense-ros
    (realsense2_description/meshes/d415.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 mesh keeps the source's native frame -- x = the ~99 mm long bar the lenses are arrayed across,
y = height ~23 mm, z = depth ~20 mm with +z the lens face's outward normal -- the same convention as
the d435 and d455 meshes, so no reorientation was applied.

The `d415_color` camera pose baked into roqsim_sensors/models/d415/d415.xml is placed on the front lens
face in that mesh-local frame; its `fovy` is the D415 colour vertical FOV from the datasheet, not a
value measured off the mesh.