set_physics_properties service never discovered if arm not being used

If I just run rosrun osrf_gear gear.py -o /tmp -f src/osrf_gear/config/comp_conf1.yaml, the environment comes up but the competition doesn't start properly.

It seems to be waiting for set_physics_properties, because the last output is:

[ INFO] [1473790445.906232805]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1473790445.926624037]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

The following never appears, as it does if you run rosrun osrf_gear gear.py -o /tmp -f src/gear_example/config/sample_gear_conf.yaml src/osrf_gear/config/comp_conf1.yaml:

[ INFO] [1473790715.910736839]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1473790715.913725535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1473790719.339348029]: Laser Plugin (robotNamespace = ariac), Info: Using the 'robotNamespace' param: 'ariac'
[ INFO] [1473790719.339474374]: Starting Laser Plugin (ns = ariac)!
[ INFO] [1473790719.345051457]: Laser Plugin (ns = ariac)  <tf_prefix_>, set to "ariac"
[INFO] [WallTime: 1473790719.499126] [0.000000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1473790720.472498] [0.000000] Spawn status: SpawnModel: Successfully spawned model
[INFO] [WallTime: 1473790720.472822] [0.000000] Waiting for service /gazebo/set_model_configuration
[INFO] [WallTime: 1473790720.474370] [0.000000] temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1473790720.539903535]: Loading gazebo_ros_control plugin
[ INFO] [1473790720.540234081]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1473790720.542239110]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1473790720.766346010]: Loaded gazebo_ros_control.
Loaded joint_state_controller
Loaded ariac/arm
[INFO] [WallTime: 1473790721.475998] [0.000000] Calling service /gazebo/set_model_configuration
[INFO] [WallTime: 1473790721.481828] [0.000000] Set model configuration status: SetModelConfiguration: success
Started ['joint_state_controller'] successfully
Started ['ariac/arm'] successfully
[ INFO] [1473790721.564465600, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1473790721.700165674, 0.042000000]: Physics dynamic reconfigure ready.

Adding an arm to the config file appears to fix it.

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