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As gvdhoorn says, you have to add the description to your URDF/XACRO file. It can be accomplished in many ways. One way would be to do the following in your main launch pipeline:

param name="robot_description" command="$(find xacro)/xacro '$(find fh_desc)/model.urdf'"

node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model smart_grasping_sandbox" respawn="false" output="screen"

Inside the model.urdf put the description of your gripper.

There is that exact example ready to use in RDS Theconstructsim in the section of Public Simulations. Its exactly what you were asking.