Robot meshes not visible in rviz [Windows11, WSL2]

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Hi, I am using ROS Noetic on Ubuntu 20.04 Windows11 WSL2. When I try to load my robot into rviz or into the MoveIt setup, no meshes are visible. I don't get any errors at all. Here is a picture of rviz( you can only see the two boxes which are the gripper pads): Here is the URDF file of the robot:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from kortex_description/robots/gen3_robotiq_2f_140.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="gen3_robotiq_2f_140">
  <!-- Run the macros -->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
      <mass value="1.697"/>
      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="shoulder_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
      <mass value="1.377"/>
      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="continuous">
    <origin rpy="-3.1416 0.0 0.0" xyz="0 0 0.15643"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="39" velocity="1.3963"/>
  </joint>
  <link name="bicep_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.5E-05 -0.208207 -0.01889"/>
      <mass value="1.262"/>
      <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_2" type="revolute">
    <origin rpy="1.5708 ...