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Robot model not showing in rviz

I am trying to work with this repository:

I did all the initial steps that are mentioned in the repo but have troubles showing the robot urdf in rviz. Since the people over there can't help I hope that someone here can point me in the right direction.

When I just want to load the urdf in rviz like this (in individual shells):

rosrun rviz rviz
roslaunch kuka_arm load_urdf.launch

I just see the gripper. You can see this in the first photo attached.

The urdf to me looks fine and there are no errors anywhere.

When I run the whole demo, like this:

rosrun kuka_arm

I can verify that the model is correctly loaded in gazebo as you can see in the second screenshot. I tried this on two computers, one in a VM, one natively and with integrated graphics and dedicated nvidia card.

Can anyone else please check the urdf and help me out in determining what the problem here is?

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