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You can't. That is not supported in RViz.

I'd use a tool like Blender or Meshlab.

You can't. That is not supported in RViz.

I'd use a tool like Blender or Meshlab.

Edit: if with "links" you mean nr of links in the model / scene, then counting the nr of TF frames in your scene could give you that information, albeit a bit indirectly.

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