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Yes. Models (robots included) are all able to be moved.

Manipulation plugins and actors in SDF-land and controllers in urdf-land.

You should take a look at the gazebo wiki in general. Every week it is getting more complete.

Assuming that your 3D hand has joints, there is a tutorial on the wiki that shows how to do joint animation. There is also the option of pose animation as well.

Hope this helps.

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