How to Make a Simulation - General Advice Needed

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Hi all,

I currently have a working pick-and-place ROS package (with a real robot). I would like to create a Gazebo simulation. Currently, I can use RVIZ+Moveit to control my robot model in gazebo manually (in an empty world).

I would like to add the target objects (fruit) during run time. Should I add the fruit to my robot urdf file? Or is it better to try and add these objects in a gazebo world?

I am fairly new to gazebo and trying to simulate a ROS environment, so any advice helps. If anyone has a link to a good example project, I would appreciate it.