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I'm aware of the issue since I have a similar setup, only that twice. I solved it in a more natural and easy way, and you don't loose the coupling of the hand and arm in gazebo, which otherwise would be bad for dynamics, since the arm wouldn't account for the hand weight and inertia. However it requires (not so complicated and not conflicting) changes in the gazebo_ros_control plugin and in the transmission_interface package.

Take a look at this issue, where I propose the answer.