Add the correct URDF compatible with RViz

I am trying to implement obstacle avoidance by publishing obstacles to planning scene. However, since the urdf in RViz does not include the gripper part (due to URDF structure i guess) the obstacle avoidance is not precise, since collision with the gripper is not taken into consideration. 

So i would like to ask if someone can upload the correct URDF that contains the gripper too.
