diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
index 645fc5a..4d1a231 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
@@ -50,8 +50,8 @@
 inline std::atomic<double> g_imu_pitch_offset_deg{0.0};
 
 /// Runtime-adjustable waist pitch offset (degrees). Keys 7/8 to adjust via tmux.
-/// Default 0° — waist should stay neutral. Higher Kp/Kd simulate the missing
-/// physical waist clamp so the motors hold rigid during dynamic motion.
+/// SONIC is trained for 29-DOF free waist — all 3 waist DOFs are actively
+/// controlled by the policy NN. This offset is for experimentation only.
 inline std::atomic<double> g_waist_pitch_offset_deg{0.0};
 
 #if HAS_ROS2
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 32e2d15..237ac75 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
@@ -2836,18 +2836,27 @@ class G1Deploy {
         motor_command_tmp.kd.at(i) = kds[i];
         motor_command_tmp.dq_target.at(i) = 0.0;
       }
-      // Stiffen waist roll/pitch to simulate the missing physical waist clamp.
-      // Policy was trained for locked-waist variant (mode_machine=6) where
-      // roll/pitch are fixed joints. Default Kp=28.5 is intentionally low to
-      // 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.
       // Optional waist 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) {
         motor_command_tmp.q_target.at(14) += static_cast<float>(waist_offset_rad);
       }
 
+      // Debug: log raw NN actions for waist joints every 5 seconds
+      static int waist_dbg_ctr = 0;
+      if (++waist_dbg_ctr >= 250) {
+        waist_dbg_ctr = 0;
+        double raw_yaw = floatarr[isaaclab_to_mujoco[12]];
+        double raw_roll = floatarr[isaaclab_to_mujoco[13]];
+        double raw_pitch = floatarr[isaaclab_to_mujoco[14]];
+        printf("[WAIST NN] raw(y/r/p)=%.4f/%.4f/%.4f  "
+               "cmd_deg=%.2f/%.2f/%.2f\n",
+               raw_yaw, raw_roll, raw_pitch,
+               motor_command_tmp.q_target.at(12) * 180.0/M_PI,
+               motor_command_tmp.q_target.at(13) * 180.0/M_PI,
+               motor_command_tmp.q_target.at(14) * 180.0/M_PI);
+      }
+
       motor_command_buffer_.SetData(motor_command_tmp);
       return true;
     }