diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
index 44f4447..b29aac0 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
@@ -2842,10 +2842,10 @@ class G1Deploy {
       // avoid stripping gears against a clamp, but without the clamp the waist
       // flops under dynamic loads. Higher gains keep it rigid.
       // MuJoCo 13 = waist_roll, 14 = waist_pitch.
-      motor_command_tmp.kp.at(13) = 200.0f;
-      motor_command_tmp.kd.at(13) = 10.0f;
-      motor_command_tmp.kp.at(14) = 200.0f;
-      motor_command_tmp.kd.at(14) = 10.0f;
+      motor_command_tmp.kp.at(13) = 125.0f;
+      motor_command_tmp.kd.at(13) = 7.0f;
+      motor_command_tmp.kp.at(14) = 125.0f;
+      motor_command_tmp.kd.at(14) = 7.0f;
       // Optional pitch offset (keys 7/8). Default 0°.
       double waist_offset_rad = g_waist_pitch_offset_deg.load() * M_PI / 180.0;
       if (waist_offset_rad != 0.0) {