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Just FYI, I managed to simulate the pincher arm in gazebo. This is my repository where I had to create a gazebo package, a control package and a separate MoveIt package for the gazebo simulation. For the real arm, a different MoveIt package (also in my repo) and a specific version of the arbotix controllers (this one) is necessary. I previously thought it should be possible to control the arm in gazebo with the arbotix controllers, but it turned out to be easier to just have separate MoveIt packages and controllers.

Note that after days of trying and failing I had to abandon the gripper completely in the simulation. So the gripper has no controller and can not be moved in the simulation, and its joints are also fixed. Some issues regarding the pincher gripper can be found here.

I hope this helps if you are facing the same problems!