diff --git a/nextage_ros_bridge/conf/realrobot_fixedpath_-2015.conf b/nextage_ros_bridge/conf/realrobot_fixedpath_-2015.conf
new file mode 100644
index 00000000..7413f46a
--- /dev/null
+++ b/nextage_ros_bridge/conf/realrobot_fixedpath_-2015.conf
@@ -0,0 +1,4 @@
+collision_pair: RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
+
+model: file:///opt/jsk/etc/HIRONX/model/main.wrl
+dt: 0.005