#! /usr/bin/perl
sub on_sel_grab {
my $query = quotemeta $_[0]->selection;
$query =~ s/\n/\\n/g;
$query =~ s/\r/\\r/g;
system( "echo -en " . $query . " | xsel -ibp" );
}
I called it clipboard, saved it to /usr/lib64/urxvt/perl/, and enabled in ~/.Xdefaults:
urxvt*perl-ext-common: default,matcher,clipboard