Error in Creating a new world similar to the atlas_utils pkg to make a robot stand up

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I am trying to create a new world with a new humanoid robot (similar to the atlas )model initialed in it. My main aim is to keep the robot standing first.

I only have the model urdf file.I want to create a controller that gives the joints a inital torque to keep the robot standing. I use the following tutorial to create my files.

http://gazebosim.org/wiki/Tutorials/drcsim/1.3/changingcontrollerconfiguration

I try to replicate the atlas_utils package for my robot and I get a error.

I first created a mysim.lauch file in ~/ros/hubo_trial/launch/ directory,which has the following script

    <launch>

      <!-- start gazebo with the Hubo -->
      <include file="$(find hubo_utils)/launch/hubo_no_controllers.launch"/>

      <!-- Controller Manager -->
      <include file="$(find pr2_controller_manager)/controller_manager.launch" />

      <!-- Fake Calibration -->
      <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
            args="pub /calibrated std_msgs/Bool true" />

      <!-- Whole Body -->
      <rosparam command="load" file="$(find hubo)/ros/whole_body_trajectory_controller.yaml" />

       <!-- Controllers that come up started -->
       <node name="hubo_urdf_controller_spawner"
          pkg="pr2_controller_manager" type="spawner" output="screen"
          args="--wait-for=/calibrated Hubo_controller" />

    </launch>

my hubonocontrollers.launch file is as follows

    <launch>

      <arg name="gzname" default="gazebo"/>
      <arg name="gzworld" default="hubo.world"/>
      <param name="/use_sim_time" type="bool" value="true"/>

      <!-- start gazebo with the Hubo -->
      <node name="gazebo" pkg="hubo_utils" type="run_$(arg gzname)" args="$(arg gzworld)" output="screen" />

      <!-- Robot Description -->
      <param name="robot_description" textfile="$(find hubo)/model.urdf"/>

    </launch>

my whole_body_trajectory_controller.yaml is as follows

Hubo_controller:
  type: "robot_mechanism_controllers/JointTrajectoryActionController"
  joints:
    - LHY
    - LHR
    - LHP
    - LKP
    - LAP
    - LAR
    - RHY
    - RHR
    - RHP
    - RKP
    - RAP
    - RAR
  gains:
    LHY: {p:     5.0, d:  0.01, i:   0.0, i_clamp:    0.0}
    LHR: {p:   100.0, d:   1.0, i:   0.0, i_clamp:    0.0}
    LHP: {p:  2000.0, d:  10.0, i:   0.0, i_clamp:    0.0}
    LKP: {p:  1000.0, d:  10.0, i:   0.0, i_clamp:    0.0}
    LAP: {p:   900.0, d:   8.0, i:   0.0, i_clamp:    0.0}
    LAR: {p:   300.0, d:   2.0, i:   0.0, i_clamp:    0.0}
    RHY: {p:     5.0, d:  0.01, i:   0.0, i_clamp:    0.0}
    RHR: {p:   100.0, d:   1.0, i:   0.0, i_clamp:    0.0}
    RHP: {p:  2000.0, d:  10.0, i:   0.0, i_clamp:    0.0}
    RKP: {p:  1000.0, d:  10.0, i:   0.0, i_clamp:    0.0}
    RAP: {p:   900.0, d:   8.0, i:   0.0, i_clamp:    0.0}
    RAR: {p:   300.0, d:   2.0, i:   0.0, i_clamp:    0.0}
  joint_trajectory_action_node:
    joints:
    - LHY
    - LHR
    - LHP
    - LKP
    - LAP
    - LAR
    - RHY
    - RHR
    - RHP
    - RKP
    - RAP
    - RAR
  constraints:
      goal_time: 0.0
      LHY:
        goal: 0.02
      LHR:
        goal: 0.02
      LHP:
        goal: 0.02
      LKP:
        goal: 0.02
      LAP:
        goal: 0.02
      LAR:
        goal: 0.02
      RHY:
        goal: 0.02
      RHR:
        goal: 0.02
      RHP:
        goal: 0.02
      RKP:
        goal: 0.02
      RAP:
        goal: 0.02
      RAR:
        goal: 0.02

Are these the only 3 files that I need to set up the pkage?

I run it saying roslaunch hubo_trial mysim.launch ... (more)