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You can ignore the VRCScoringPlugin error message, it's only used for scoring in vrc worlds. Try launching atlas_sandia_hands.launch and you should not see this message as the plugin is taken out from this world.

As for the laser sensor not found error message, it is complaining that the head_hokuyo_sensor is not found. I do not see this on my machine, so I would verify whether or not laser is working by running

rostopic echo /multisense_sl/laser/scan