Double waist roll/pitch Kp to overcome joint friction

Motor test confirmed waist pitch (motor 14) physically moves when
commanded at Kp=60 but not at Kp=28.5. Real-world friction threshold
is ~3 Nm. Doubling Kp from 28.5 to 57 should allow the NN's waist
commands to actually reach their targets.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp

@@ -154,8 +154,8 @@ const std::array<float, 29> kps = {
     2.0 * STIFFNESS_5020, // right_ankle_pitch_joint
     2.0 * STIFFNESS_5020, // right_ankle_roll_joint
     STIFFNESS_7520_14, // waist_yaw_joint
-    2.0 * STIFFNESS_5020, // waist_roll_joint
-    2.0 * STIFFNESS_5020, // waist_pitch_joint
+    4.0 * STIFFNESS_5020, // waist_roll_joint  (2x override for friction compensation)
+    4.0 * STIFFNESS_5020, // waist_pitch_joint (2x override for friction compensation)
     STIFFNESS_5020, // left_shoulder_pitch_joint
     STIFFNESS_5020, // left_shoulder_roll_joint
     STIFFNESS_5020, // left_shoulder_yaw_joint