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librviz isn't really designed to be a model viewer; it's designed as a robotics data visualizer.
In theory, you could visualize a model by publishing it as a Marker, or by creating a URDF with your model and visualizing that, but both of those involve some additional overhead in addition to using the rviz qt widget.
A quick google search turns up a tutorial on Loading a 3D model in Qt, which is much closer to what you're asking for.