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Lorenzo,

the planning stacks currently require joint state information for all joints in the robot. With incomplete information, its not possible to compute the full state of the robot for planning. Its possible that you have joints states for your arm but maybe you are missing a few joints on the hand in the joint states message. That's why the first failure is happening.

disable_collision_monitoring does exactly what it says. It disables the monitoring when executing a trajectory. move_arm is the only node that uses it currently. The fact that you are getting straight line trajectories implies that the planner thinks there is empty space everywhere. How are you adding obstacles to the environment? Do you have sensors that do this? Can you try and visualize your collision_map and the collision_environment using these tutorials - http://www.ros.org/wiki/motion_planning_environment/Tutorials