Update getPDgains for atlas_version
Update getPDgains for atlas_version

It's used in drakeAtlasSimulation. Not sure we should be using it at all
though.

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro