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So

Warning [parser.cc:377] SDF has no <sdf> element in file[/usr/share/drcsim-1.3/models/atlas/model.urdf]

is expected, however,

Error [parser.cc:619] Unable to read file[/usr/share/drcsim-1.3/models/atlas/model.urdf]

should not be there as the parser should then try and parse the model as urdf next. This seems to suggest that ros-fuerte-urdfdom, ros-fuerte-urdfdom-headers, ros-fuerte-console-bridge are not installed properly, or you are running a version of gazebo compiled locally without urdfdom support.