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You're going to have to build a URDF of your building by following these tutorials. In order to use your .dae files, you will need to set them as the mesh for <geometry>.

<link name="left_gripper">
  <visual>
    <geometry>
      <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
    </geometry>
  </visual>
</link>