display table tag implicitly exposes row number named id_rowNum where id is specified in display table tag.
In your scenario:
<display:table name="sample" id="sample" class="display-table" style="width:100%;">
<display:column title="Row Number" >
<c:out value="${sample_rowNum - 1}"/>
</display:column>
...
</display:table>
Also make sure to include core tag as:
<%@ taglib prefix="c" uri="http://java.sun.com/jsp/jstl/core" %>
You can find more information about implicit objects of display table tag here.