Gazebo Multiple Robot and ros_control Interfaces

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I have an unique world with two Robots, first i have a Kuka-LWR taken from:

https://github.com/lar-lab-unibo/kuka...

and i have a custom Gripper from:

https://github.com/m4nh/trimod_gripper

Now LWR use a custom HW Interface, so its TRANSMISSION Parser take care about only of "LWR" transmissions in Robot_Description URDF. But Gripper use standard "libgazebo_ros_control.so" plugin to parse Transmissions in URDF. The latter so parses also LWR transmission again causing some bugs because LWR controllers now fails to actuate IK or FK.

How can i tell to "libgazebo_ros_control.so" to parse only my Gripper Transmissions?