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Hey Zahra, even i am facing a similar issue trying to start gazebo using the command:

roslaunch atlas_utils vrc_task_1.launch . Following error is displayed :

[gazebo-2] process has died [pid 2671, exit code 127, cmd /usr/local/share/drcsim-2.7/ros/atlas_utils/scripts/run_gazebo -q -r --record_encoding=zlib --record_path=/tmp/vrc_task_1 __name:=gazebo __log:=/home/tania/.ros/log/5704913c-0b8c-11e3-ba22-6c8814fca2c8/gazebo-2.log]. log file: /home/tania/.ros/log/5704913c-0b8c-11e3-ba22-6c8814fca2c8/gazebo-2*.log

Can you please tell me how you fixed it?