Reduce waist Kp to 125, Kd to 7 to avoid oscillation

Kp=200 caused waist shaking. Back off to 125/7 — still 4x stiffer
than default (28.5) but within stable range.

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

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) {