Can anyone please help me out on how to define the kinematics for a gripper for a pnp operation. Please do share a simple model file in order to understand how the links and joint connectivity are defined.
do you want to simulate the opening and closing of the gripper by Pick and Place operations?
You need to define your kinematics in the kinematic editor. First you need for each movable part to create a link. You create a block for each parts of your gripper, and you connect them with the desired axis and movement.
You need to work in the modeling scope of your gripper.