Does the gripper tag still work in Gazebo 7?

I'm trying to use the old hacky way for gripping in Gazebo 7/ROS Kinetic, as described in [this thread](http://answers.gazebosim.org/question/4324/gripper-tag-gazebophysicsgripper-doesnt-create-the-fixed-joint-between-the-gripper-and-the-object-within-it/). I've had no success with the object attaching to the gripper. Is gazebo still supposed to attach the object to the gripper? I've got a dual gripper configuration - the surface properties are as follows: 1.01.00.0053e215 Since the gripper fingers are effort controlled, I've had to reduce the kp value considerably to have sustained stable contacts. My usage of the gripper hack looks as follows:5101${name}_left_gripper_link{name}_right_gripper_link Any advice to get this working would be appreciated. Thanks!