This is my test to make hands of character front the table. (Figure 1.)
This is my steps.
1.) Import G2 Character to Stage.
2.) Go to Composer.
3.) Add prop of the table to Lower Torso.
4.) Back to Stage.
5.) Open the Layer Editor.
6.) Select hands then sent to front the table.
7.) Repeat the sixth step for left and right hand.
Below is my suggestion.
If you would like to adjust character layer relation, I recommend using G3 character.
Because of G3 character easier to modify prop and character layer relation.