diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp
index e147ab5..86534f6 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp
+++ b/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
-    4.0 * STIFFNESS_5020, // waist_roll_joint  (2x override for friction compensation)
-    4.0 * STIFFNESS_5020, // waist_pitch_joint (2x override for friction compensation)
+    200.0, // waist_roll_joint  (DIAGNOSTIC: 7x override to test if Kp matters at all)
+    200.0, // waist_pitch_joint (DIAGNOSTIC: 7x override to test if Kp matters at all)
     STIFFNESS_5020, // left_shoulder_pitch_joint
     STIFFNESS_5020, // left_shoulder_roll_joint
     STIFFNESS_5020, // left_shoulder_yaw_joint