Adding meshes to detected transform

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OS: Ubuntu 18.04.2 DISTRO: Melodic

I have a small custom mobile robot with a Intel Realsense d435i on it to perform machine vision tasks such as object recognition and grasping. The node I've written to accomplish this classifies objects it comes across on a course and puts out a transform of the object's pose. It publishes the transform as "large_box_1", "large_box_2", etc. When I pull the RobotModel in RVIZ, I'm able to load a robot description I've described in the URDF.

What I'd like to do is take the meshes for the "large_box" I've created, and overlay them on the transforms in RVIZ. This would give better visualization of how accurately the robot is classifying these poses. How would I set this up?