The standard software allows you to configure your own gripper fingers.
Configuring a gripper finger is very simple. However, there are a number of details that need to be taken into account. Think about the ratio of the material, the roughness of the material, the type of material, the weight, etc. There are various tools available to help with the design of gripper fingers. Think of a manual for custom inlays and grip fingers and template CAD files that can serve as a starting point.
Watch the video about configuring gripper fingers.