diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgain.dat
new file mode 100644
index 00000000..b4c29d90
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgain.dat
@@ -0,0 +1,23 @@
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+
+4.0 0.4 40
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diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgains_sim.dat
new file mode 100644
index 00000000..b474708b
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2G.PDgains_sim.dat
@@ -0,0 +1,23 @@
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\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgain.dat
index fe9ae702..e01d0f45 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgain.dat
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgain.dat
@@ -1,32 +1,37 @@
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\ No newline at end of file
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diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgains_sim.dat
new file mode 100644
index 00000000..2efb0fba
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgains_sim.dat
@@ -0,0 +1,37 @@
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\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat
index 03969be1..4b941e35 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat
@@ -1,46 +1,53 @@
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\ No newline at end of file
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diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgains_sim.dat
new file mode 100644
index 00000000..b9276513
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgains_sim.dat
@@ -0,0 +1,53 @@
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\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat
index 03969be1..4b941e35 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat
@@ -1,46 +1,53 @@
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\ No newline at end of file
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diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgains_sim.dat
new file mode 100644
index 00000000..b9276513
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgains_sim.dat
@@ -0,0 +1,53 @@
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\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgain.dat
new file mode 100644
index 00000000..b4c29d90
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgain.dat
@@ -0,0 +1,23 @@
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diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgains_sim.dat
new file mode 100644
index 00000000..b474708b
--- /dev/null
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2W.PDgains_sim.dat
@@ -0,0 +1,23 @@
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\ No newline at end of file