ARIAC UR10 Arm Controller Spawner Hangs on Launch [closed]

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Hi, I'm trying to bring up the ARIAC sim as per the GEAR tutorial. I built it from source and it generated no build errors. I'm launching it with the following command:

rosrun osrf_gear gear.py -f "$(catkin_find --first-only --share osrf_gear)/config/sample.yaml"

The simulation comes up, the arm spawns, the parts show up, but the arm_controller_spawner hangs in a sleep and never finishes, so the /ariac/arm topics are never published.

The rosrun output and stack trace is here: http://pastebin.com/fGDvz09L

I've seen other issues where the arm controller can't be found because of a missing package, but I'm not receiving similar errors and have those packages installed.

Thanks for any help you can provide.