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 1adb0c1..20b5559 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
@@ -2829,10 +2829,9 @@ class G1Deploy {
       MotorCommand motor_command_tmp;
 
       // Neutral hold mode: bypass NN, command default angles directly (key 'n')
-      // Uses 10x gains for stiff hold — useful for visual joint calibration.
-      // Robot must be in test harness (free-hanging) for this mode.
+      // Uses 3x gains for firm hold — useful for visual joint calibration.
       if (g_neutral_hold_mode.load()) {
-        constexpr float neutral_gain_mult = 10.0f;
+        constexpr float neutral_gain_mult = 3.0f;
         for (int i = 0; i < G1_NUM_MOTOR; i++) {
           motor_command_tmp.q_target.at(i) = static_cast<float>(default_angles[i]);
           motor_command_tmp.tau_ff.at(i) = 0.0;