If I understand your question correctly, you want to append a robotiq gripper trajectory at the end of your ur5 robot trajectory. This shouldn't be a problem since the [moveit trajectory execution manager](
https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h) takes in a [moveit_msgs/RobotTrajectory](
http://docs.ros.org/melodic/api/moveit_msgs/html/msg/RobotTrajectory.html) which simply maps the trajectory for each joint in joint_names to an appropriate controller for that joint.
In the video that you provide, it is unclear what you are displaying, please include the rviz displays side panel. If you are able to see the robot moving with only the planning_scene robot visualized, then you are on the right track. If you are instead just displaying the published joint trajectory, then you need to look into how you are connecting to gazebo.
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