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There are a couple of options, along with some down sides.
You can use a spherically shaped force applier at the center of a "planet" to act as gravity. You'd also need to place a tag at the center, and look-at rotators on any objects that will be on the surface, to keep them pointed at the center.
Alternately, you could keep your character puppet at the "top" of the planet, and rotate the planet underneath to create the illusion of walking around it.
There's one major caveat; puppets don't like to be anything but upright. That means in the first option, all of your characters would have to be non-puppets. You can use a jointed character, but can't take advantage of the procedural animations. The second option eliminates the upright puppet issue for the player character, but not for other characters you might want on the planet.